Radar-based angle determination method, device and storage medium

Abstract

The present invention discloses a radar-based angle determination method, device and storage medium, which relates to the field of target detection technology and solves the problem of large amount of calculation and low accuracy when determining the angle between two targets and a vehicle. It includes: determining two amplitude peaks and the first angle and the second angle corresponding to each other according to the echo signal. When the difference between the two amplitude peaks is less than the first preset value, the maximum likelihood method is used to determine the first angle group and the second angle group, each first group includes the first angle and the preset angle, and each second group includes the second angle and the preset angle. Determine the first target angle group corresponding to each angle group, the two angles of each angle group belong to the first angle range and the second angle range respectively, and the first target angle group is obtained by processing the first angle range and the second angle range. Determine the second target angle group from multiple first target angle groups, and determine the two angles in the second target angle group as the target angle.

Description

Technical Field

[0001] The present invention relates to the field of target detection technology, and in particular to a radar-based angle determination method, device and storage medium. Background Art

[0002] Vehicle-mounted millimeter-wave radar is an important component of the advanced driver assistance system, which is used to determine the angle between the target object and the vehicle while the vehicle is driving.

[0003] When the distance between the two targets and the vehicle is the same and the moving speed of the two targets is also the same, the vehicle-mounted millimeter-wave radar cannot determine the angle between the two targets and the vehicle respectively. In the prior art, the vehicle-mounted millimeter-wave radar determines the angle between the two targets and the vehicle by traversing the scanning angle range. However, this method requires a large amount of calculation and the accuracy of the determined angle is low, resulting in low positioning accuracy of the two targets, affecting the user experience. Summary of the invention

[0004] The present invention provides a radar-based angle determination method, device and storage medium, which solve the problem of large amount of calculation and low accuracy when determining the angle between two targets and a vehicle.

[0005] In order to achieve the above object, the present invention adopts the following technical scheme:

[0006] In a first aspect, the present invention provides a radar-based angle determination method, the method comprising:

[0007] Determining two amplitude peaks that meet a preset condition according to an echo signal received by a radar of the vehicle, the two amplitude peaks corresponding to a first angle and a second angle respectively;

[0008] When the difference between the two amplitude peaks is less than a first preset value, a maximum likelihood method is used to determine a first angle group from the M first groups, and a second angle group from the M second groups, each first group includes a first angle and a preset angle, each second group includes a second angle and a preset angle, the preset angle is an angle within the scanning angle range of the radar, and M is an integer greater than 1;

[0009] Determine a first target angle group corresponding to each angle group in a plurality of angle groups, the plurality of angle groups include a first angle group and a second angle group, the two angles included in each angle group belong to a first angle range and a second angle range respectively, the first target angle group is obtained by processing the first angle range and the second angle range, and the first angle range and the second angle range belong to a scanning angle range;

[0010] A second target angle group is determined from a plurality of first target angle groups using a maximum likelihood method, and two angles in the second target angle group are determined as target angles, which are used to indicate angles between two target objects and the vehicle, respectively.

[0011] The present invention provides a radar-based angle determination method. When determining the target angle, two angle searches are performed. Before the first angle search, the vehicle-mounted terminal processes the echo signal to obtain two amplitude peaks that meet the preset conditions. During the first angle search, the first angle and the second angle corresponding to the two amplitude peaks are used as the basis to perform angle search within the scanning angle range of the radar, so that the obtained two angles included in multiple angle groups close to the real angle of the target object and the vehicle can be obtained. During the second angle search, the vehicle-mounted terminal processes the first angle range and the second angle range to which the two angles in each angle group belong based on the two angles included in each angle group, obtains a more accurate first target angle group, and then obtains the two target angles included in the second target angle group. In this way, during the second angle search, not only the search range is reduced, the search operation amount is greatly reduced, the second target angle group can be quickly obtained, and the accuracy of the target angle in the second target angle group is higher.

[0012] In a possible implementation manner, the preset angles in the first group are the same as the preset angles in the second group, and the M preset angles are angles obtained by dividing the scanning angle range into equal intervals.

[0013] In a possible implementation, the determining of the first target angle group corresponding to each angle group in the multiple angle groups includes:

[0014] According to the two angles in each angle group and the pre-stored floating angle, determine the first angle range and the second angle range to which the two angles belong respectively;

[0015] Updating the upper boundary angle or the lower boundary angle of the first angle range, and the upper boundary angle or the lower boundary angle of the second angle range;

[0016] When the difference between the upper boundary angle and the lower boundary angle of the updated first angle range is less than the second preset value, and the difference between the upper boundary angle and the lower boundary angle of the updated second angle range is less than the second preset value, the first target angle group is determined based on the average value of the upper boundary angle and the lower boundary angle of the updated first angle range, and the average value of the upper boundary angle and the lower boundary angle of the updated second angle range.

[0017] In a possible implementation, the above radar-based angle determination method further includes:

[0018] When the difference between the upper boundary angle and the lower boundary angle of the updated first angle range is greater than the second preset value, or the difference between the upper boundary angle and the lower boundary angle of the updated second angle range is greater than the second preset value, continue to update the first angle range or the second angle range.

[0019] In a possible implementation manner, updating the upper boundary angle or the lower boundary angle of the first angle range includes:

[0020] Determining a first angle step according to the first angle range;

[0021] The third angle is obtained by subtracting the first angle step from the upper boundary angle of the first angle range, and the fourth angle is obtained by adding the first angle step to the lower boundary angle of the first angle range;

[0022] The third angle and the median angle form a third target angle group, and the fourth angle and the median angle form a fourth target angle group, where the median angle is the average of the upper boundary angle and the lower boundary angle of the second angle range;

[0023] The maximum likelihood method is adopted to update the upper boundary angle or the lower boundary angle of the first angle range according to the third target angle group and the fourth target angle group.

[0024] In a possible implementation, the maximum likelihood method is used to update the upper boundary angle or the lower boundary angle of the first angle range according to the third target angle group and the fourth target angle group, including:

[0025] Determine a first amplitude value corresponding to a third target angle group, and a second amplitude value corresponding to a fourth target angle group;

[0026] If the first amplitude value is greater than the second amplitude value, the fourth angle is determined as the lower boundary angle of the first angle range, and the upper boundary angle of the first angle range remains unchanged;

[0027] If the second amplitude value is greater than the first amplitude value, the third angle is determined as the upper boundary angle of the first angle range, and the lower boundary angle of the first angle range remains unchanged.

[0028] In a possible implementation manner, determining the first angle step according to the first angle range includes:

[0029] The first angle step is determined according to the difference between the upper boundary angle and the lower boundary angle of the first angle range and a pre-stored cost coefficient, where the cost coefficient is a positive number less than 1.

[0030] In a possible implementation, the above-mentioned determining two amplitude peaks satisfying a preset condition according to the echo signal received by the radar of the vehicle includes:

[0031] Determine an azimuth spectrum according to the echo signal, the azimuth spectrum is used to represent the relationship between the amplitude of the echo signal and the angle, and the azimuth spectrum includes a plurality of amplitude peaks;

[0032] The multiple amplitude peaks are sorted from large to small, and the first two amplitude peaks after the sorting are determined as the two amplitude peaks.

[0033] In a second aspect, the present invention provides a radar-based angle determination device, the radar-based angle determination device comprising:

[0034] A first determining unit, configured to determine two amplitude peaks satisfying a preset condition according to an echo signal received by a radar of the vehicle, the two amplitude peaks corresponding to a first angle and a second angle respectively;

[0035] a processing unit, when the difference between the two amplitude peaks is less than a first preset value, using a maximum likelihood method to determine a first angle group from the M first groups, and to determine a second angle group from the M second groups, each first group including a first angle and a preset angle, each second group including a second angle and a preset angle, the preset angle being an angle within a scanning angle range of the radar, and M being an integer greater than 1;

[0036] a second determining unit, determining a first target angle group corresponding to each angle group in a plurality of angle groups, the plurality of angle groups comprising a first angle group and a second angle group, the two angles included in each angle group respectively belonging to a first angle range and a second angle range, the first target angle group being obtained by processing the first angle range and the second angle range, the first angle range and the second angle range belonging to a scanning angle range;

[0037] The third determination unit uses the maximum likelihood method to determine a second target angle group from multiple first target angle groups, and determines two angles in the second target angle group as target angles, which are respectively used to indicate angles between the two targets and the vehicle.

[0038] In a possible implementation, the preset angles in the first group are the same as the preset angles in the second group, and the M preset angles are angles obtained by dividing the scanning angle range into equal intervals.

[0039] In a possible implementation manner, the second determining unit is specifically configured to:

[0040] According to the two angles in each angle group and the pre-stored floating angle, determine the first angle range and the second angle range to which the two angles belong respectively;

[0041] Updating the upper boundary angle or the lower boundary angle of the first angle range, and the upper boundary angle or the lower boundary angle of the second angle range;

[0042] When the difference between the upper boundary angle and the lower boundary angle of the updated first angle range is less than the second preset value, and the difference between the upper boundary angle and the lower boundary angle of the updated second angle range is less than the second preset value, the first target angle group is determined based on the average value of the upper boundary angle and the lower boundary angle of the updated first angle range, and the average value of the upper boundary angle and the lower boundary angle of the updated second angle range.

[0043] In a possible implementation, the above-mentioned second determination unit is also used to continue updating the first angle range or the second angle range when the difference between the upper boundary angle and the lower boundary angle of the updated first angle range is greater than the second preset value, or the difference between the upper boundary angle and the lower boundary angle of the updated second angle range is greater than the second preset value.

[0044] In a possible implementation manner, the second determining unit is specifically configured to:

[0045] Determining a first angle step according to the first angle range;

[0046] The third angle is obtained by subtracting the first angle step from the upper boundary angle of the first angle range, and the fourth angle is obtained by adding the first angle step to the lower boundary angle of the first angle range;

[0047] The third angle and the median angle form a third target angle group, and the fourth angle and the median angle form a fourth target angle group, where the median angle is the average of the upper boundary angle and the lower boundary angle of the second angle range;

[0048] The maximum likelihood method is adopted to update the upper boundary angle or the lower boundary angle of the first angle range according to the third target angle group and the fourth target angle group.

[0049] In a possible implementation manner, the second determining unit is specifically configured to:

[0050] Determine a first amplitude value corresponding to a third target angle group, and a second amplitude value corresponding to a fourth target angle group;

[0051] If the first amplitude value is greater than the second amplitude value, the fourth angle is determined as the lower boundary angle of the first angle range, and the upper boundary angle of the first angle range remains unchanged;

[0052] If the second amplitude value is greater than the first amplitude value, the third angle is determined as the upper boundary angle of the first angle range, and the lower boundary angle of the first angle range remains unchanged.

[0053] In a possible implementation manner, the second determining unit is specifically configured to:

[0054] The first angle step is determined according to the difference between the upper boundary angle and the lower boundary angle of the first angle range and a pre-stored cost coefficient, where the cost coefficient is a positive number less than 1.

[0055] In a possible implementation manner, the first determining unit is specifically configured to:

[0056] Determine an azimuth spectrum according to the echo signal, the azimuth spectrum is used to represent the relationship between the amplitude of the echo signal and the angle, and the azimuth spectrum includes multiple amplitude peaks;

[0057] The multiple amplitude peaks are sorted from large to small, and the first two amplitude peaks after the sorting are determined as the two amplitude peaks.

[0058] In a third aspect, the present invention provides a radar-based angle determination device, the radar-based angle determination device comprising: a processor and a memory. The memory is used to store computer program code, and the computer program code includes computer instructions. When the processor executes the computer instructions, the radar-based angle determination device performs the radar-based angle determination method as described in the first aspect and any possible implementation thereof.

[0059] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon. When the computer instructions are executed on a radar-based angle determination device, the radar-based angle determination device performs a radar-based angle determination method as in the first aspect or any one of the possible implementations of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 One of the structural schematic diagrams of the radar-based angle determination device provided in an embodiment of the present invention;

[0061] Figure 2 One of the flow charts of the radar-based angle determination method provided in an embodiment of the present invention;

[0062] Figure 3 A second flow chart of a radar-based angle determination method provided in an embodiment of the present invention;

[0063] Figure 4 A third flow chart of a radar-based angle determination method provided in an embodiment of the present invention;

[0064] Figure 5 The azimuth spectrum obtained by performing FFT processing on the echo signal provided in the embodiment of the present invention;

[0065] Figure 6 A two-dimensional azimuth spectrum provided by an embodiment of the present invention;

[0066] Figure 7The second structural schematic diagram of the radar-based angle determination device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "multiple" means two or more. In addition, the use of "based on" or "according to" means openness and inclusiveness, because the process, steps, calculations or other actions "based on" or "according to" one or more of the conditions or values ​​may be based on additional conditions or values ​​beyond the described values ​​in practice.

[0069] In order to solve the problem of large amount of calculation and low accuracy when determining the angle between two targets and a vehicle, an embodiment of the present invention provides a radar-based angle determination method, device and storage medium. First, the vehicle-mounted terminal processes the echo signal received by the radar of the vehicle to obtain two amplitude peaks that meet the preset conditions, and the two amplitude peaks correspond to the first angle and the second angle respectively. Secondly, the vehicle-mounted terminal uses the maximum likelihood method based on the first angle and the second angle to perform a first angle search within the scanning angle range of the radar to obtain a plurality of angle groups, each of which includes two angles. The two angles belong to the first angle range and the second angle range, respectively, and the first angle range and the second angle range belong to the scanning angle range. Then, the vehicle-mounted terminal processes the first angle range and the second angle range, that is, performs a second angle search within the first angle range and the second angle range to obtain a first target angle group corresponding to each angle group. Finally, the vehicle-mounted terminal uses the maximum likelihood method to determine the second target angle group from the plurality of first target angle groups. The two angles in the second target angle group are target angles, and the two target angles are used to indicate the angles between the two targets and the vehicle respectively. As can be seen from the above, the present invention undergoes two angle searches when determining the target angle. During the first angle search, the vehicle-mounted terminal performs an angle search within the scanning angle range of the radar based on the first angle and the second angle corresponding to the two amplitude peaks that meet the preset conditions. This can make the two angles included in each obtained angle group closer to the actual angle between the target object and the vehicle, that is, it can improve the accuracy of the two angles in each angle group, thereby improving the accuracy of the two target angles in the second target angle group. During the second angle search, the vehicle-mounted terminal processes the first angle range and the second angle range, thereby reducing the search range and greatly reducing the amount of search operations. It can quickly obtain the first target angle group from multiple angle groups, and then quickly obtain the two target angles included in the second target angle group.

[0070] The execution subject of the radar-based angle determination method provided in the embodiment of the present invention is a radar-based angle determination device. The radar-based angle determination device can be the above-mentioned vehicle-mounted terminal, or a central processing unit (CPU) in the above-mentioned vehicle-mounted terminal, or a control module for determining angles based on radar in the above-mentioned vehicle-mounted terminal, or a client for determining angles based on radar in the above-mentioned vehicle-mounted terminal. The embodiment of the present invention takes the vehicle-mounted terminal executing the radar-based angle determination method as an example to illustrate the radar-based angle determination method provided by the present invention.

[0071] The radar-based angle determination method provided in the embodiment of the present invention can be applied to a vehicle, where a radar and a vehicle-mounted terminal are installed, and the radar and the vehicle-mounted terminal are connected via wired communication or wireless communication.

[0072] Radar is used to send radio wave (radar wave) signals and receive echo signals. Echo signals are signals obtained after the radio wave signals are reflected and scattered by the targets around the vehicle.

[0073] Exemplarily, the radar may be a vehicle-mounted millimeter-wave radar, but is not limited thereto.

[0074] Figure 1 This is one of the structural schematic diagrams of the radar-based angle determination device, such as Figure 1 As shown, the radar-based angle determination device may include: a processor 11, a memory 12, a communication interface 13, and a bus 14. The processor 11, the memory 12, and the communication interface 13 may be connected via a communication bus 14.

[0075] The processor 11 is the control center of the radar-based angle determination device, and can be a processor 11 or a general term for multiple processing elements. For example, the processor 11 can be a general-purpose CPU or other general-purpose processors 11. The general-purpose processor 11 can be a microprocessor 11 or any conventional processor 11.

[0076] As an embodiment, the processor 11 may include one or more CPUs, for example, Figure 1 CPU0 and CPU1 are shown.

[0077] The memory 12 may be a read-only memory 12 (ROM) or other types of static storage devices that can store static information and instructions, a random access memory 12 (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory 12 (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0078] In a possible implementation, the memory 12 may exist independently of the processor 11, and the memory 12 may be connected to the processor 11 via a bus 14, and is used to store instructions or program codes. When the processor 11 calls and executes the instructions or program codes stored in the memory 12, the radar-based angle determination method provided in the following embodiment of the present invention can be implemented.

[0079] In another possible implementation, the memory 12 may also be integrated with the processor 11 .

[0080] The communication interface 13 is used for connecting the computing device to other devices through a communication network, and the communication network may be Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc. The communication interface 13 may include a receiving unit for receiving data and a sending unit for sending data.

[0081] The bus 14 may be an Industry Standard Architecture (ISA) bus 14, a Peripheral Component Interconnect (PCI) bus 14, or an Extended Industry Standard Architecture (EISA) bus 14. The bus 14 may be divided into an address bus 14, a data bus 14, a control bus 14, etc. For ease of representation, Figure 1 Although only one thick line is used in the figure, it does not mean that there is only one bus 14 or only one type of bus 14.

[0082] It should be pointed out that Figure 1 The structure shown in the figure does not constitute a limitation on the radar-based angle determination device, except Figure 1 In addition to the components shown, the radar-based angle determination device may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0083] The radar-based angle determination method provided by an embodiment of the present invention is described below with reference to the accompanying drawings.

[0084] like Figure 2 As shown, the radar-based angle determination method provided by the embodiment of the present invention includes the following steps 201-204.

[0085] 201. The vehicle-mounted terminal determines two amplitude peaks that meet preset conditions according to an echo signal received by a radar of the vehicle, where the two amplitude peaks correspond to a first angle and a second angle, respectively.

[0086] Optionally, the radar of the vehicle includes multiple transmitting antennas and multiple receiving antennas. The transmitting antenna is used to transmit radio wave signals, and the receiving antenna is used to receive echo signals. The echo signals are signals obtained after the radio wave signals are reflected and scattered by targets around the vehicle.

[0087] In one scenario, when a vehicle is driving, the radar's transmitting antenna will emit radio wave signals. When there are two targets around the vehicle, the two targets will reflect and scatter the radio wave signals, obtain echo signals, and send the echo signals to the radar. Each receiving antenna of the radar receives an echo signal and sends multiple echo signals to the vehicle terminal.

[0088] Exemplarily, the mathematical model of the echo signal can be expressed by the following formula (1).

[0089] x(t)=A(θ)×s(t)+N(t) (1)

[0090] Wherein, t represents the time; x(t) represents the echo signal; θ is the angle; A(θ) represents the steering vector in the direction of angle θ; s(t) represents the target amplitude and phase information; N(t) represents the noise of the echo signal.

[0091] Optionally, after receiving multiple echo signals, the vehicle-mounted terminal needs to perform the following steps to determine two amplitude peaks that meet preset conditions. First, the vehicle-mounted terminal determines the azimuth spectrum based on the echo signal. The azimuth spectrum is used to represent the relationship between the amplitude of the echo signal and the angle, and the azimuth spectrum includes multiple amplitude peaks. Secondly, the vehicle-mounted terminal sorts the multiple amplitude peaks from large to small, and determines the first two amplitude peaks after sorting as two amplitude peaks. In this way, two angles that are closer to the actual angle can be obtained, thereby avoiding the peak search from falling into a local optimal solution.

[0092] Optionally, in the process of determining the azimuth spectrum according to the echo signal, the vehicle terminal first sorts the multiple echo signals according to the antenna array element positions of the multiple receiving antennas, and then performs Fast Fourier Transform (FFT) processing on the sorted multiple echo signals to obtain an azimuth spectrum corresponding to the multiple echo signals.

[0093] Exemplarily, when the vehicle-mounted terminal sorts multiple echo signals, if the arrangement positions of multiple receiving antennas are sparsely arranged, zero-filling processing is performed on the array element positions corresponding to the positions without receiving antennas.

[0094] 202. When the difference between two amplitude peaks is less than a first preset value, the vehicle terminal uses a maximum likelihood method to determine a first angle group from M first groups and a second angle group from M second groups, each first group includes a first angle and a preset angle, and each second group includes a second angle and a preset angle.

[0095] Optionally, the preset angle is an angle in the scanning angle range of the radar, and M is an integer greater than 1. The difference between the two amplitude peaks is a positive value.

[0096] Optionally, the following describes the principle of using the maximum likelihood method to determine the target angle between a target object and a vehicle as an example:

[0097] Assuming that the noise N(t) in the echo signal represented by formula (1) obeys Gaussian distribution, the probability density function of the echo signal x(t) can be represented by the following formula (2).

[0098]

[0099] Among them, δ 2 is the variance of the noise of the echo signal.

[0100] According to the probability density function of the echo signal x(t), the maximum likelihood estimation of the angle θ can be expressed by the following formula (3).

[0101]

[0102] Where x(t) H A(θ) represents the conjugate transposed signal corresponding to the echo signal x(t); H Represents the conjugate transposed vector of the steering vector A(θ).

[0103] According to the following formula (4), the first objective function corresponding to each angle, that is, the amplitude value, is determined.

[0104] P(θ)=x(t) H A(θ)(A(θ) H A(θ) -1 A(θ) H x(t) (4)

[0105] Wherein, P(θ) represents the amplitude value corresponding to each angle. It can be seen from formula (3) and formula (4) that the determined angle is converted into a determined amplitude value, and the angle corresponding to the maximum amplitude value is the target angle between the target object and the vehicle.

[0106] Optionally, when there are two targets, the two different angles θ in each angle group can be calculated. 1 and θ 2The second objective function P(θ 1 ,θ 2 ). By determining the maximum value of the second objective function, the target angle group can be determined.

[0107] Optionally, when determining the first angle group, the vehicle-mounted terminal uses the first angle as the angle between a target object and the vehicle, and uses one of the M preset angles in the scanning angle range of the radar as the angle between another target object and the vehicle, so that M first groups can be obtained, and different first groups include different preset angles. The vehicle-mounted terminal calculates the amplitude value corresponding to each first group, and determines the first group corresponding to the maximum amplitude value as the first target group. Similarly, when determining the second angle group, the vehicle-mounted terminal uses the second angle as the angle between a target object and the vehicle, and uses one of the M preset angles in the scanning angle range of the radar as the angle between another target object and the vehicle, so that M second groups can be obtained, and different second groups include different preset angles. The vehicle-mounted terminal calculates the amplitude value corresponding to each first group, and determines the first group corresponding to the maximum amplitude value as the second target group.

[0108] Optionally, in order to obtain a higher accuracy of the first target group and the second target group, the preset angle in the first group is the same as the preset angle in the second group, and the M preset angles are the angles obtained by dividing the scanning angle range into equal intervals. The value of M is related to the accuracy of determining the angle and can be set according to actual conditions.

[0109] Optionally, the steering vectors corresponding to the M preset angles in the scanning angle range of the radar can be calculated in advance and pre-stored in the storage unit of the vehicle terminal, so that the steering vector corresponding to each preset angle can be directly called during the calculation process, saving calculation time.

[0110] Optionally, if the difference between the two amplitude peaks is greater than or equal to a first preset value, the maximum angle of the first angle and the second angle is used as the target angle. That is, at this time, there is only one target object around the vehicle, and the target angle is used to indicate the angle between the target object and the vehicle.

[0111] 203. The vehicle-mounted terminal determines a first target angle group corresponding to each angle group in the multiple angle groups.

[0112] Optionally, the plurality of angle groups include a first angle group and a second angle group, each angle group includes two angles belonging to a first angle range and a second angle range, respectively, and the first target angle group is obtained by processing the first angle range and the second angle range. The first angle range and the second angle range both belong to angle ranges within a scanning angle range of the radar, and the first angle range and the second angle range are both smaller than the scanning angle range of the radar, and the first angle range and the second angle range belong to the scanning angle range.

[0113] 204. The vehicle-mounted terminal uses a maximum likelihood method to determine a second target angle group from multiple first target angle groups, and determines two angles in the second target angle group as target angles, which are used to indicate angles between the two targets and the vehicle, respectively.

[0114] The present invention provides a radar-based angle determination method. When determining the target angle, two angle searches are performed. Before the first angle search, the vehicle-mounted terminal processes the echo signal to obtain two amplitude peaks that meet the preset conditions. During the first angle search, the first angle and the second angle corresponding to the two amplitude peaks are used as the basis to perform angle search within the scanning angle range of the radar, so that the obtained two angles included in multiple angle groups close to the real angle of the target object and the vehicle can be obtained. During the second angle search, the vehicle-mounted terminal processes the first angle range and the second angle range to which the two angles in each angle group belong based on the two angles included in each angle group, obtains a more accurate first target angle group, and then obtains the two target angles included in the second target angle group. In this way, during the second angle search, not only the search range is reduced, the search operation amount is greatly reduced, the second target angle group can be quickly obtained, and the accuracy of the target angle in the second target angle group is higher.

[0115] Combination Figure 2 ,like Figure 3 As shown, the above step 203 may specifically include the following steps 301 to 303.

[0116] 301. The vehicle-mounted terminal determines, according to two angles in each angle group and a pre-stored floating angle, a first angle range and a second angle range to which the two angles belong respectively.

[0117] Exemplarily, taking the angle group as the first angle group, and the two angles included in the first angle group as the first angle and the preset angle as an example, how to determine the first angle range and the second angle range to which the first angle and the preset angle respectively belong is introduced. Taking the first angle as the median angle, and combining with the pre-stored floating angle, a first upper boundary angle and a first lower boundary angle can be determined respectively, and the first angle range can be determined based on the first upper boundary angle and the first lower boundary angle, as well as the floating angle. Taking the preset angle as the median angle, and combining with the pre-stored floating angle, a second upper boundary angle and a second lower boundary angle can be determined, and the second angle range can be determined based on the second upper boundary angle and the second lower boundary angle, as well as the floating angle.

[0118] For example, if the first angle is 6° and the pre-stored floating angle is 3°, then the first upper boundary angle is 9°, the first lower boundary angle is 3°, and the first angle range is 3° to 9°. The principle of determining the upper and lower boundary angles of the second angle range is the same as the first angle range and will not be repeated here. The upper and lower boundary angles of the first angle range and the upper and lower boundary angles of the second angle range together constitute a positive direction area. In other words, during the second angle search process, a two-dimensional fast search is performed, which minimizes the amount of calculation without losing angle accuracy.

[0119] 302. The vehicle-mounted terminal updates the upper boundary angle or the lower boundary angle of the first angle range.

[0120] 303. The vehicle-mounted terminal updates the upper boundary angle or the lower boundary angle of the second angle range.

[0121] 304. When the difference between the upper boundary angle and the lower boundary angle of the updated first angle range is less than the second preset value, and the difference between the upper boundary angle and the lower boundary angle of the updated second angle range is less than the second preset value, the vehicle terminal determines the first target angle group based on the average value of the upper boundary angle and the lower boundary angle of the updated first angle range, and the average value of the upper boundary angle and the lower boundary angle of the updated second angle range.

[0122] Optionally, when the difference between the upper boundary angle and the lower boundary angle of the updated first angle range is greater than the second preset value, or the difference between the upper boundary angle and the lower boundary angle of the updated second angle range is greater than the second preset value, the vehicle terminal continues to update the first angle range or the second angle range.

[0123] Optionally, when the difference between the upper boundary angle and the lower boundary angle of the updated first angle range is equal to the second preset value, or the difference between the upper boundary angle and the lower boundary angle of the updated second angle range is equal to the second preset value, the vehicle terminal may choose to continue updating the first angle range or the second angle range, or may choose to determine the first target angle group based on the average value of the upper boundary angle and the lower boundary angle of the updated first angle range, and the average value of the upper boundary angle and the lower boundary angle of the updated second angle range.

[0124] It should be understood that the second preset value is the angle accuracy and can be set according to actual conditions.

[0125] Combination Figure 3 ,like Figure 4 As shown, the above step 302 may specifically include the following steps 401 to 404.

[0126] 401. The vehicle-mounted terminal determines a first angle step according to a first angle range.

[0127] Optionally, the vehicle terminal may determine the first angle step according to the difference between the upper boundary angle and the lower boundary angle of the first angle range and a pre-stored cost coefficient, where the cost coefficient is a positive number less than 1.

[0128] Exemplarily, the first angle step may be expressed by the following formula (5).

[0129] Δθ 1 =α(θ 1h -θ 1l ) (5)

[0130] Among them, Δθ 1 represents the first angle step; α represents the cost coefficient; θ 1h is the upper boundary angle of the first angle range; θ 1l is the lower boundary angle of the first angle range.

[0131] It should be understood that, since the upper boundary angle and the lower boundary angle of the first angle range are constantly changing during the process of updating the first angle range, the first angle step size will also change accordingly, which can make the updated first angle range more accurate.

[0132] 402. The vehicle-mounted terminal subtracts the first angle step from the upper boundary angle of the first angle range to obtain a third angle, and adds the first angle step to the lower boundary angle of the first angle range to obtain a fourth angle.

[0133] Exemplarily, the third angle may be expressed by the following formula (6), and the fourth angle may be expressed by the following formula (7).

[0134] θ 3 =θ 1h -Δθ 1 (6)

[0135] θ 4 =θ 1l +Δθ 1 (7)

[0136] Among them, θ 3 Represents the third angle; θ 4 Indicates the fourth angle.

[0137] 403. The vehicle-mounted terminal combines the third angle and the median angle into a third target angle group, and combines the fourth angle and the median angle into a fourth target angle group.

[0138] Optionally, the median angle is an average value of an upper boundary angle and a lower boundary angle of the second angle range.

[0139] Exemplarily, the median angle can be expressed by the following formula (8).

[0140]

[0141] Among them, θ 2中 represents the median angle of the second angle range; θ 2h Represents the upper boundary angle of the second angle range; θ 2l Indicates the lower boundary angle of the second angle range.

[0142] Exemplarily, the third target angle group can be expressed as (θ 3 ,θ 2中 ), the fourth target angle group can be expressed as (θ 4 ,θ 2中 ).

[0143] 404. The vehicle-mounted terminal uses a maximum likelihood method to update an upper boundary angle or a lower boundary angle of the first angle range according to the third target angle group and the fourth target angle group.

[0144] Optionally, the vehicle terminal updates the upper boundary angle or the lower boundary angle of the first angle range, which may include the following steps: First, the vehicle terminal determines the first amplitude value corresponding to the third target angle group, and the second amplitude value corresponding to the fourth target angle group. Secondly, if the first amplitude value is greater than the second amplitude value, the vehicle terminal determines the fourth angle as the lower boundary angle of the first angle range, and the upper boundary angle of the first angle range remains unchanged. If the second amplitude value is greater than the first amplitude value, the vehicle terminal determines the third angle as the upper boundary angle of the first angle range, and the lower boundary angle of the first angle range remains unchanged.

[0145] Exemplarily, when determining the first amplitude value corresponding to the third target angle group, two angles in the third target angle group can be substituted into formula (4) to obtain P(θ 3 ,θ 2中 When determining the fourth target angle group, the two angles in the fourth target angle group can be substituted into formula (4) to obtain P(θ 4 ,θ 2中 ). If P(θ 3 ,θ 2中 )>P(θ 4 ,θ 2中 ), then the lower boundary angle of the first angle range is updated to θ 4 , and the upper boundary angle of the first angle range is still θ 1h If P(θ 3 ,θ 2中 ) <P(θ 4 ,θ 2中 ), then the upper boundary angle of the first angle range is updated to θ 3 , and the lower boundary angle of the first angle range is still θ 1l .

[0146] It should be understood that the process of updating the upper boundary angle or lower boundary angle of the second angle range by the vehicle terminal is the same as the process of updating the upper boundary angle or lower boundary angle of the first angle range. First, determine the second angle step of the second angle range; secondly, determine that the fifth angle is obtained by subtracting the second angle step from the upper boundary angle of the second angle range, and the sixth angle is obtained by adding the second angle step to the lower boundary angle of the second angle range; then, the fifth angle and the median angle of the first angle range are combined into the fifth target angle group, and the sixth angle and the median angle of the first angle range are combined into the sixth target angle group; finally, the maximum likelihood method is used to update the upper boundary angle or lower boundary angle of the second angle range according to the fifth target angle group and the sixth target angle group. The specific process is not repeated here. Moreover, the update order of the first angle range and the second angle range is not limited, that is, the first angle range can be updated first, or the second angle range can be updated first. If the second angle range is updated later, then when the second angle range is updated, the median angle of the first angle range is the median angle of the updated first angle range.

[0147] The following example illustrates a process of determining two target angles included in the second target angle group using the radar-based angle determination method provided in an embodiment of the present invention.

[0148] Two 10dB corner reflectors are used as two targets, one of which has a -5.5° angle with the vehicle, the other has a 0° angle with the vehicle, and the distances between the two corner reflectors and the vehicle are the same, both 5m. The radar on the vehicle includes two transmitting antennas and four receiving antennas, and the antenna array is a dense array, that is, the spacing between adjacent receiving antennas is one wavelength, and the spacing between two transmitting antennas is half a wavelength. In this way, the equivalent array elements of the dense array antenna array can be arranged into 8 adjacent one-dimensional uniform linear arrays with a spacing of half a wavelength. The half-power beamwidth of the 8-element uniform linear array is 12.69°.

[0149] Figure 5 FIG. 2 shows the azimuth spectrum obtained after FFT processing of the echo signal. Figure 5 As shown, the first angle corresponding to the first amplitude value is 10.8°, and the second angle corresponding to the second amplitude value is -5.38°. At this time, the first angle is obviously inconsistent with the true angle, while the second angle is relatively close to the true angle.

[0150] Assume that the scanning angle range of the radar is [-45°, 45°], and the angle step size in the first angle search process is 3°, that is, the scanning angle range is divided into 31 preset angles. Then, the first angle group obtained after the first angle search is (-11°, 4°), and the second angle group is (-5°, 1°). At this time, the two angles in the second angle group are closer to the true angle, but there is still a large error.

[0151] Assuming the floating angle is 6° and the second preset value is 0.1°, only 11 cycles are needed after the second angle search to achieve the 0.1° angle accuracy requirement. Figure 6 A two-dimensional azimuthal spectrum is shown, such as Figure 6 As shown in the figure, "o" in the figure is two angles in the second target angle group, and the second target angle group is (-5.7°, 0.1°). It can be seen that the maximum deviation between the two targets in the second target angle group and the actual angle is 0.2°. In other words, the accuracy of the angle finally determined is high, and the amount of calculation is small.

[0152] The above mainly introduces the solution provided by the embodiment of the present invention from the perspective of the device. It is understandable that in order to realize the above functions, the device includes a hardware structure and / or software module corresponding to each function. Those skilled in the art should easily realize that, in combination with the algorithm steps of each example described in the embodiment disclosed in this article, the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0153] Figure 7 A possible schematic diagram of the composition of the radar-based angle determination device 700 involved in the above embodiment is shown. Figure 7 As shown, the radar-based angle determination device 700 may include: a first determination unit 701 , a processing unit 702 , a second determination unit 703 and a third determination unit 704 .

[0154] Wherein, the first determination unit 701 is used to determine two amplitude peaks that meet the preset conditions according to the echo signal received by the radar of the vehicle, and the two amplitude peaks correspond to the first angle and the second angle respectively. The processing unit 702, when the difference between the two amplitude peaks is less than the first preset value, uses the maximum likelihood method to determine the first angle group from the M first groups, and determines the second angle group from the M second groups, each of the first groups includes a first angle and a preset angle, each of the second groups includes a second angle and a preset angle, the preset angle is an angle in the scanning angle range of the radar, and M is an integer greater than 1. The second determination unit 703 determines the first target angle group corresponding to each angle group in the multiple angle groups, the multiple angle groups include the first angle group and the second angle group, the two angles included in each angle group belong to the first angle range and the second angle range respectively, the first target angle group is obtained by processing the first angle range and the second angle range, and the first angle range and the second angle range belong to the scanning angle range. The third determination unit 704, uses the maximum likelihood method to determine the second target angle group from the multiple first target angle groups, and determines the two angles in the second target angle group as target angles, and the target angles are used to indicate the angles of the two targets and the vehicle respectively.

[0155] Optionally, the preset angles in the first group are the same as the preset angles in the second group, and the M preset angles are angles obtained by dividing the scanning angle range into equal intervals.

[0156] Optionally, the second determining unit 703 is specifically configured to:

[0157] According to the two angles in each angle group and the pre-stored floating angle, determine the first angle range and the second angle range to which the two angles belong respectively;

[0158] Updating the upper boundary angle or the lower boundary angle of the first angle range, and the upper boundary angle or the lower boundary angle of the second angle range;

[0159] When the difference between the upper boundary angle and the lower boundary angle of the updated first angle range is less than the second preset value, and the difference between the upper boundary angle and the lower boundary angle of the updated second angle range is less than the second preset value, the first target angle group is determined based on the average value of the upper boundary angle and the lower boundary angle of the updated first angle range, and the average value of the upper boundary angle and the lower boundary angle of the updated second angle range.

[0160] Optionally, the above-mentioned second determination unit 703 is also used to continue updating the first angle range or the second angle range when the difference between the upper boundary angle and the lower boundary angle of the updated first angle range is greater than the second preset value, or the difference between the upper boundary angle and the lower boundary angle of the updated second angle range is greater than the second preset value.

[0161] Optionally, the second determining unit 703 is specifically configured to:

[0162] Determining a first angle step according to the first angle range;

[0163] The third angle is obtained by subtracting the first angle step from the upper boundary angle of the first angle range, and the fourth angle is obtained by adding the first angle step to the lower boundary angle of the first angle range;

[0164] The third angle and the median angle form a third target angle group, and the fourth angle and the median angle form a fourth target angle group, where the median angle is the average of the upper boundary angle and the lower boundary angle of the second angle range;

[0165] The maximum likelihood method is adopted to update the upper boundary angle or the lower boundary angle of the first angle range according to the third target angle group and the fourth target angle group.

[0166] Optionally, the second determining unit 703 is specifically configured to:

[0167] Determine a first amplitude value corresponding to a third target angle group, and a second amplitude value corresponding to a fourth target angle group;

[0168] If the first amplitude value is greater than the second amplitude value, the fourth angle is determined as the lower boundary angle of the first angle range, and the upper boundary angle of the first angle range remains unchanged;

[0169] If the second amplitude value is greater than the first amplitude value, the third angle is determined as the upper boundary angle of the first angle range, and the lower boundary angle of the first angle range remains unchanged.

[0170] Optionally, the second determining unit 703 is specifically configured to:

[0171] The first angle step is determined according to the difference between the upper boundary angle and the lower boundary angle of the first angle range and a pre-stored cost coefficient, where the cost coefficient is a positive number less than 1.

[0172] Optionally, the first determining unit 701 is specifically configured to:

[0173] Determine an azimuth spectrum according to the echo signal, the azimuth spectrum is used to represent the relationship between the amplitude of the echo signal and the angle, and the azimuth spectrum includes multiple amplitude peaks;

[0174] The multiple amplitude peaks are sorted from large to small, and the first two amplitude peaks after the sorting are determined as the two amplitude peaks.

[0175] Of course, the radar-based angle determination device 700 provided in the embodiment of the present invention includes but is not limited to the above modules.

[0176] Another embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on the radar-based angle determination device 700, the radar-based angle determination device 700 executes each step executed by the radar-based angle determination device in the method flow shown in the above method embodiment.

[0177] Another embodiment of the present invention further provides a chip system, which is applied to a radar-based angle determination device 700. The chip system includes one or more interface circuits and one or more processors 11. The interface circuit and the processor 11 are interconnected through a line. The interface circuit is used to receive a signal from a memory 12 of the radar-based angle determination device 700 and send the signal to the processor 11, wherein the signal includes a computer instruction stored in the memory 12. When the processor 11 executes the computer instruction, the radar-based angle determination device 700 performs each step performed by the radar-based angle determination device 700 in the method flow shown in the above method embodiment.

[0178] In another embodiment of the present invention, a computer program product is also provided, which includes instructions. When the instructions are executed on the radar-based angle determination device 700, the radar-based angle determination device 700 executes each step executed by the radar-based angle determination device 700 in the method flow shown in the above method embodiment.

[0179] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer execution instruction is loaded and executed on the computer, the process or function according to the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more servers that can be integrated with the medium. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0180] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A radar-based angle determination method, characterized in that: include: Determine two amplitude peaks that meet a preset condition according to the echo signal received by the radar of the vehicle, wherein the two amplitude peaks correspond to a first angle and a second angle respectively; When the difference between the two amplitude peaks is less than a first preset value, a maximum likelihood method is used to determine a first angle group from the M first groups, and a second angle group from the M second groups, each first group includes the first angle and a preset angle, each second group includes the second angle and a preset angle, the preset angle is an angle in the scanning angle range of the radar, and M is an integer greater than 1; Determine a first target angle group corresponding to each angle group in a plurality of angle groups, the plurality of angle groups include the first angle group and the second angle group, the two angles included in each angle group belong to a first angle range and a second angle range respectively, the first target angle group is obtained by processing the first angle range and the second angle range, and the first angle range and the second angle range belong to the scanning angle range; A second target angle group is determined from a plurality of first target angle groups using a maximum likelihood method, and two angles in the second target angle group are determined as target angles, which are respectively used to indicate angles between two target objects and the vehicle.

2. The radar-based angle determination method according to claim 1, characterized in that: The preset angles in the first group are the same as the preset angles in the second group, and the M preset angles are angles obtained by dividing the scanning angle range into equal intervals.

3. The radar-based angle determination method according to claim 1 or 2, characterized in that: The step of determining a first target angle group corresponding to each angle group in the plurality of angle groups comprises: According to two angles in each angle group and a pre-stored floating angle, determining the first angle range and the second angle range to which the two angles belong respectively; Updating an upper boundary angle or a lower boundary angle of the first angle range, and an upper boundary angle or a lower boundary angle of the second angle range; When the difference between the upper boundary angle and the lower boundary angle of the updated first angle range is less than the second preset value, and the difference between the upper boundary angle and the lower boundary angle of the updated second angle range is less than the second preset value, the first target angle group is determined based on the average value of the upper boundary angle and the lower boundary angle of the updated first angle range, and the average value of the upper boundary angle and the lower boundary angle of the updated second angle range.

4. The radar-based angle determination method according to claim 3, characterized in that: The radar-based angle determination method further includes: When the difference between the upper boundary angle and the lower boundary angle of the updated first angle range is greater than the second preset value, or the difference between the upper boundary angle and the lower boundary angle of the updated second angle range is greater than the second preset value, continue to update the first angle range or the second angle range.

5. The radar-based angle determination method according to claim 3, characterized in that: The updating of the upper boundary angle or the lower boundary angle of the first angle range includes: Determining a first angle step according to the first angle range; Subtracting the first angle step from the upper boundary angle of the first angle range to obtain a third angle, and adding the first angle step to the lower boundary angle of the first angle range to obtain a fourth angle; The third angle and the median angle form a third target angle group, and the fourth angle and the median angle form a fourth target angle group, wherein the median angle is an average value of an upper boundary angle and a lower boundary angle of the second angle range; The maximum likelihood method is adopted to update the upper boundary angle or the lower boundary angle of the first angle range according to the third target angle group and the fourth target angle group.

6. The radar-based angle determination method according to claim 5, characterized in that: The adopting of the maximum likelihood method to update the upper boundary angle or the lower boundary angle of the first angle range according to the third target angle group and the fourth target angle group includes: Determine a first amplitude value corresponding to the third target angle group, and a second amplitude value corresponding to the fourth target angle group; If the first amplitude value is greater than the second amplitude value, the fourth angle is determined as the lower boundary angle of the first angle range, and the upper boundary angle of the first angle range remains unchanged; If the second amplitude value is greater than the first amplitude value, the third angle is determined as the upper boundary angle of the first angle range, and the lower boundary angle of the first angle range remains unchanged.

7. The radar-based angle determination method according to claim 5, characterized in that: The determining the first angle step according to the first angle range includes: The first angle step is determined according to a difference between an upper boundary angle and a lower boundary angle of the first angle range and a pre-stored cost coefficient, where the cost coefficient is a positive number less than 1.

8. The radar-based angle determination method according to claim 1 or 2, characterized in that: The step of determining two amplitude peaks that meet a preset condition based on an echo signal received by a radar of the vehicle includes: Determine an azimuth spectrum according to the echo signal, wherein the azimuth spectrum is used to represent the relationship between the amplitude of the echo signal and the angle, and the azimuth spectrum includes a plurality of amplitude peaks; The multiple amplitude peak values ​​are sorted from large to small, and the first two amplitude peak values ​​after sorting are determined as the two amplitude peak values.

9. A radar-based angle determination device, characterized in that: include: A first determining unit, configured to determine two amplitude peaks satisfying a preset condition according to an echo signal received by a radar of the vehicle, wherein the two amplitude peaks correspond to a first angle and a second angle, respectively; a processing unit, when the difference between the two amplitude peaks is less than a first preset value, using a maximum likelihood method to determine a first angle group from the M first groups, and to determine a second angle group from the M second groups, each first group including the first angle and a preset angle, each second group including the second angle and a preset angle, the preset angle being an angle within a scanning angle range of the radar, and M being an integer greater than 1; a second determining unit, determining a first target angle group corresponding to each angle group in a plurality of angle groups, wherein the plurality of angle groups include the first angle group and the second angle group, wherein two angles included in each angle group belong to a first angle range and a second angle range, respectively, and wherein the first target angle group is obtained by processing the first angle range and the second angle range, and wherein the first angle range and the second angle range belong to the scanning angle range; The third determination unit uses the maximum likelihood method to determine a second target angle group from multiple first target angle groups, and determines two angles in the second target angle group as target angles, which are respectively used to indicate angles between two targets and the vehicle.

10. The radar-based angle determination device according to claim 9, characterized in that: The preset angles in the first group are the same as the preset angles in the second group, and the M preset angles are angles obtained by dividing the scanning angle range into equal intervals.

11. The radar-based angle determination device according to claim 9 or 10, characterized in that The second determining unit is specifically configured to: According to two angles in each angle group and a pre-stored floating angle, determining the first angle range and the second angle range to which the two angles belong respectively; Updating an upper boundary angle or a lower boundary angle of the first angle range, and an upper boundary angle or a lower boundary angle of the second angle range; When the difference between the upper boundary angle and the lower boundary angle of the updated first angle range is less than the second preset value, and the difference between the upper boundary angle and the lower boundary angle of the updated second angle range is less than the second preset value, the first target angle group is determined based on the average value of the upper boundary angle and the lower boundary angle of the updated first angle range, and the average value of the upper boundary angle and the lower boundary angle of the updated second angle range.

12. The radar-based angle determination device according to claim 11, characterized in that The second determination unit is also used to continue updating the first angle range or the second angle range when the difference between the upper boundary angle and the lower boundary angle of the updated first angle range is greater than the second preset value, or the difference between the upper boundary angle and the lower boundary angle of the updated second angle range is greater than the second preset value.

13. The radar-based angle determination device according to claim 11, characterized in that: The second determining unit is specifically configured to: Determining a first angle step according to the first angle range; Subtracting the first angle step from the upper boundary angle of the first angle range to obtain a third angle, and adding the first angle step to the lower boundary angle of the first angle range to obtain a fourth angle; The third angle and the median angle form a third target angle group, and the fourth angle and the median angle form a fourth target angle group, wherein the median angle is an average value of an upper boundary angle and a lower boundary angle of the second angle range; The maximum likelihood method is adopted to update the upper boundary angle or the lower boundary angle of the first angle range according to the third target angle group and the fourth target angle group.

14. The radar-based angle determination device according to claim 13, characterized in that: The second determining unit is specifically configured to: Determine a first amplitude value corresponding to the third target angle group, and a second amplitude value corresponding to the fourth target angle group; If the first amplitude value is greater than the second amplitude value, the fourth angle is determined as the lower boundary angle of the first angle range, and the upper boundary angle of the first angle range remains unchanged; If the second amplitude value is greater than the first amplitude value, the third angle is determined as the upper boundary angle of the first angle range, and the lower boundary angle of the first angle range remains unchanged.

15. The radar-based angle determination device of claim 13, characterized in that: The second determining unit is specifically configured to: The first angle step is determined according to a difference between an upper boundary angle and a lower boundary angle of the first angle range and a pre-stored cost coefficient, where the cost coefficient is a positive number less than 1.

16. The radar-based angle determination device according to claim 9 or 10, characterized in that The first determining unit is specifically configured to: Determine an azimuth spectrum according to the echo signal, wherein the azimuth spectrum is used to represent the relationship between the amplitude of the echo signal and the angle, and the azimuth spectrum includes a plurality of amplitude peaks; The multiple amplitude peak values ​​are sorted from large to small, and the first two amplitude peak values ​​after sorting are determined as the two amplitude peak values.

17. A radar-based angle determination device, characterized in that: The radar-based angle determination device includes: a processor and a memory; the memory is used to store computer program code, and the computer program code includes computer instructions; when the processor executes the computer instructions, the radar-based angle determination device performs the radar-based angle determination method as described in any one of claims 1-8.

18. A computer-readable storage medium, characterized in that: The invention comprises computer instructions, which, when executed on a radar-based angle determination device, cause the radar-based angle determination device to perform the radar-based angle determination method according to any one of claims 1 to 8.

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