A method, device, equipment and storage medium for determining radar elevation angle

Abstract

The present application proposes a method, device, equipment and storage medium for determining the radar pitch angle. The method includes: obtaining multiple reflection signals, where the reflection signal is a signal emitted by the target device in response to the target signal emitted by the radar; determining the signal-to-noise ratio information corresponding to each of the multiple reflection signals; determining the signal-to-noise ratio difference between any two signal-to-noise ratio information according to the signal-to-noise ratio information corresponding to each of the multiple reflection signals; and determining the radar pitch angle according to the signal-to-noise ratio difference and the target signal. In the method for determining the radar pitch angle provided in the present application, there is no need to stagger the physical positions (positions in the pitch direction) of some antennas in the radar, thereby avoiding the decrease in azimuth angle measurement accuracy and resolution in the subsequent process due to the staggered physical positions of the antennas, and at the same time improving the efficiency of the pitch angle determination method.

Description

Technical Field

[0001] The present invention relates to the field of radars, and in particular to a method, device, equipment and storage medium for determining a radar elevation angle. Background Art

[0002] In order to adapt to higher levels of autonomous driving, vehicle-mounted millimeter-wave radars usually need to have pitch angle measurement functions to distinguish targets at different heights, prevent false alarms, missed alarms, etc., and ensure driving safety.

[0003] Traditional radars use the method of staggering some antennas in the elevation direction to form a certain aperture to achieve elevation angle measurement, but this will affect the array effect in the azimuth direction, resulting in a decrease in the accuracy and resolution of azimuth angle measurement. Summary of the invention

[0004] The present application proposes a method, device, equipment and storage medium for determining a radar elevation angle, which can at least solve the technical problem that the existing radar antenna elevation angle measurement technology reduces the azimuth angle measurement accuracy and resolution.

[0005] According to one aspect of the present application, a method for determining a radar elevation angle is provided, the method comprising:

[0006] Acquire a plurality of reflected signals, wherein the reflected signals are signals emitted by the target device in response to the target signal emitted by the radar;

[0007] Determine signal-to-noise ratio information corresponding to each of the multiple reflection signals;

[0008] Determine, according to the signal-to-noise ratio information corresponding to each of the plurality of reflection signals, a signal-to-noise ratio difference between any two of the signal-to-noise ratio information;

[0009] The radar elevation angle is determined according to the signal-to-noise ratio difference and the target signal.

[0010] In a possible implementation manner, determining the signal-to-noise ratio information corresponding to each of the multiple reflection signals includes:

[0011] Determine, according to the multiple reflected signals, target information corresponding to each of the multiple reflected signals, wherein the target information includes signal-to-noise ratios of multiple transceiver channels;

[0012] The signal-to-noise ratio information corresponding to each of the multiple reflected signals is determined according to the target information corresponding to each of the multiple reflected signals, where the signal-to-noise ratio information is an average value of the signal-to-noise ratios of the multiple transceiver channels.

[0013] In a possible implementation manner, determining the radar elevation angle according to the signal-to-noise ratio difference and the target signal includes:

[0014] Acquire a preset mapping relationship, where the preset mapping relationship represents a corresponding relationship between the signal-to-noise ratio difference, the target frequency of the target signal, and the radar pitch angle;

[0015] The radar elevation angle is determined according to the preset mapping relationship, the signal-to-noise ratio difference, and the target frequency of the target signal.

[0016] In a possible implementation manner, acquiring multiple reflection signals includes:

[0017] Sending the target signal to the target device a preset number of times, wherein the preset number of times is multiple;

[0018] The plurality of reflected signals transmitted by the target device in response to the target signal are received.

[0019] In a possible implementation manner, sending the target signal to the target device at a preset number of times includes:

[0020] sending the target signal to the target device;

[0021] Get the number of times the target signal has been sent;

[0022] In a case where the number of transmitted times does not reach the preset number, the process returns to the step of transmitting the target signal to the target device until the number of transmitted times equals the preset number.

[0023] In a possible implementation manner, sending the target signal to the target device includes:

[0024] determining a target frequency, the target frequency being different from a frequency of the transmitted target signal;

[0025] Based on the target frequency, the target signal is sent to the target device.

[0026] In a possible implementation manner, the target signal is a frequency modulated continuous wave signal.

[0027] According to another aspect of the present application, a device for determining a radar elevation angle is provided, comprising:

[0028] A first acquisition module is used to acquire a plurality of reflection signals, where the reflection signals are signals emitted by the target device in response to the target signal emitted by the radar;

[0029] A first determining module, used to determine the signal-to-noise ratio information corresponding to each of the multiple reflection signals;

[0030] A second determination module is used to determine the signal-to-noise ratio difference between any two pieces of signal-to-noise ratio information respectively according to the signal-to-noise ratio information corresponding to the multiple reflection signals;

[0031] The third determination module is used to determine the radar elevation angle according to the signal-to-noise ratio difference and the target signal.

[0032] According to another aspect of the present application, a device for determining a radar elevation angle is provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the above method.

[0033] According to another aspect of the present application, a non-volatile computer-readable storage medium is provided, on which computer program instructions are stored, wherein the computer program instructions implement the above method when executed by a processor.

[0034] In the method for determining the radar elevation angle provided in the present application, there is no need to stagger the physical positions (positions in the elevation direction) of some antennas in the radar. A corner reflector can be used to directly determine the radar elevation angle based on the target signal and the signal-to-noise ratio difference, thereby improving the efficiency of the method for determining the elevation angle and avoiding a decrease in the azimuth angle measurement accuracy and resolution in the subsequent process due to the staggered physical positions of the antennas. The elevation angle measurement can be achieved without sacrificing the azimuth angle measurement accuracy and resolution, thereby reducing the complexity of the elevation calibration and making the azimuth angle measurement accuracy and resolution higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 The present invention is a flow chart of a method for determining a radar elevation angle according to an exemplary embodiment;

[0037] Figure 2 is a flow chart of a method for determining a radar elevation angle according to another exemplary embodiment;

[0038] Figure 3 It is a structural schematic diagram of a comb antenna;

[0039] Figure 4 for Figure 3 The elevation pattern of the comb antenna at different frequencies;

[0040] Figure 5 for Figure 3The gain difference of the elevation plane at some frequency points of the comb antenna;

[0041] Figure 6 for Figure 3 The gain difference of the elevation plane of another part of the frequency points of the comb antenna;

[0042] Figure 7 for Figure 3 The gain difference of the elevation plane of another part of the frequency points of the comb antenna;

[0043] Figure 8 is a schematic diagram of frequencies of three target signals in a method for determining a radar elevation angle according to another exemplary embodiment;

[0044] Fig. 9 A schematic diagram of the positional relationship between the radar and the corner reflector when obtaining a preset mapping relationship;

[0045] Fig.10 A schematic diagram of the positional relationship between the radar and the corner reflector when the pitch angle is calibrated using the radar pitch angle determination method;

[0046] Fig.11 A schematic diagram of the positional relationship between the radar and the corner reflector when the pitch angle is measured using the radar pitch angle determination method;

[0047] Fig.12 The present invention is a block diagram of a device for determining a radar elevation angle according to an exemplary embodiment. DETAILED DESCRIPTION

[0048] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0049] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0050] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

[0051] The present application proposes a method, device, equipment and storage medium for determining a radar elevation angle, which can at least solve the technical problem that the existing radar antenna elevation angle measurement technology reduces the azimuth angle measurement accuracy and resolution. The present invention is specifically implemented in the following technical scheme.

[0052] Combination Figures 1 to 11 As shown, an embodiment of this specification provides a method for determining a radar elevation angle, characterized in that the method includes:

[0053] Step S101: Acquire multiple reflection signals, where the reflection signals are signals emitted by the target device in response to the target signal emitted by the radar;

[0054] In the embodiments of this specification, the radar may be a vehicle-mounted millimeter-wave radar. In order to adapt to a higher level of autonomous driving, the vehicle-mounted millimeter-wave radar usually needs to have a pitch angle measurement function to distinguish targets at different heights, prevent false alarms, missed alarms, etc., and ensure driving safety. The target device may be a corner reflector (radar reflector), which is a radar wave reflector made of a metal plate. The target device responds to the target signal emitted by the radar, which may mean that the target device can directly reflect the target signal. The reflected signal obtained by the radar is the target signal reflected by the target device. The number of reflected signals is multiple, and the multiple may be three or more, and one reflected signal corresponds to one target signal. In the embodiments of this specification, the target frequencies of the multiple target signals emitted by the radar are different; the target frequency may be the starting frequency of the target signal, that is, the frequency of the target signal at the start time of being emitted.

[0055] Step S102: determining signal-to-noise ratio information corresponding to each of the plurality of reflected signals;

[0056] The signal-to-noise ratio refers to the ratio of the signal to the noise in an electronic device or electronic system. In the embodiment of this specification, a reflection signal corresponds to a signal-to-noise ratio information. The signal-to-noise ratio information is used to characterize the average signal-to-noise ratio of multiple groups of radar transceiver channels. The radar includes multiple transmitting channels and multiple receiving channels. The transmitting channel is used to transmit signals, and the receiving channel is used to receive signals. The transceiver channel is a combination of a transmitting channel and a receiving channel. A group of transceiver channels includes a transmitting channel and a receiving channel.

[0057] In the embodiment of this specification, step S102 can be executed in series with step S101, that is, after obtaining multiple reflection signals, multiple signal-to-noise ratio information is determined; or it can be executed in parallel, that is, each time a reflection signal is obtained, the corresponding signal-to-noise ratio information is determined, and then the next reflection signal is obtained and the corresponding signal-to-noise ratio information is determined.

[0058] Step S103: determining the signal-to-noise ratio difference between any two pieces of signal-to-noise ratio information respectively according to the signal-to-noise ratio information corresponding to the plurality of reflection signals;

[0059] In the embodiment of this specification, one reflection signal corresponds to one signal-to-noise ratio information, and multiple reflection signals correspond to multiple signal-to-noise ratio information. Multiple signal-to-noise ratio information can be subtracted from each other to obtain multiple signal-to-noise ratio difference values.

[0060] Step S104: Determine the radar elevation angle according to the signal-to-noise ratio difference and the target signal.

[0061] In the embodiment of the present specification, the radar pitch angle can be determined according to multiple signal-to-noise ratio differences and multiple target signals. In one example, the number of target signals is three, the number of reflected signals is three, the number of signal-to-noise ratio information is three, and three signal-to-noise ratio differences can be obtained. The radar pitch angle can be determined according to the three signal-to-noise ratio differences and the three target signals.

[0062] In the method for determining the radar elevation angle provided in the embodiments of this specification, there is no need to stagger the physical positions (positions in the elevation direction) of some antennas in the radar. A corner reflector can be used to directly determine the radar elevation angle based on the target signal and the signal-to-noise ratio difference, thereby improving the efficiency of the method for determining the elevation angle and avoiding the decrease in azimuth angle measurement accuracy and resolution in subsequent processes due to the staggered physical positions of the antennas. The elevation angle measurement can be achieved without sacrificing the azimuth angle measurement accuracy and resolution, thereby reducing the complexity of the elevation calibration and making the azimuth angle measurement accuracy and resolution higher.

[0063] In a possible implementation, step S101 includes:

[0064] Step S1011: sending a target signal to a target device for a preset number of times, where the preset number of times is multiple;

[0065] Step S1012: receiving a plurality of reflected signals emitted by the target device in response to the target signal.

[0066] In the embodiment of this specification, the preset number of times can be three or more, and the preset number of times can be customized according to actual needs. In one example, after transmitting a target signal, a reflected signal is received, and then the next target signal is transmitted. In the embodiment of this specification, a required number of reflected signals can be obtained, and then the radar pitch angle can be determined based on a sufficient number of reflected signals, thereby improving the accuracy of the radar pitch angle.

[0067] In a possible implementation, step S1011 includes:

[0068] Sending a target signal to a target device;

[0069] Get the number of times the target signal has been sent;

[0070] When the number of transmissions does not reach the preset number, the process returns to the step of transmitting the target signal to the target device until the number of transmissions reaches the preset number.

[0071] In one example, the preset number of times is three, and the first target signal is sent to the target device first. At this time, the number of times sent is one, and the number of times sent is less than three, so the second target signal is sent to the target device. At this time, the number of times sent is two, and the number of times sent is less than three, so the third target signal is sent to the target device. At this time, the number of times sent is three, and the number of times sent is equal to the preset number, and no further transmission is required.

[0072] In a possible implementation manner, sending the target signal to the target device includes:

[0073] determining a target frequency, the target frequency being different from the frequency of the transmitted target signal;

[0074] Based on the target frequency, a target signal is sent to the target device.

[0075] In the embodiment of this specification, the target frequencies of the multiple target signals emitted by the radar are different, and the target frequency is a frequency within the operating frequency range of the radar. After determining the target frequency, the target signal can be generated and sent based on the target frequency. In a possible implementation, the target signal is a frequency modulated continuous wave signal, and the frequency of the same target signal can change over time, and the target frequency is the starting frequency of the target signal.

[0076] In a possible implementation, step S103 includes:

[0077] Step S1031: determining target information corresponding to each of the multiple reflected signals according to the multiple reflected signals, where the target information includes signal-to-noise ratios of the multiple transceiver channels;

[0078] Step S1032: determining signal-to-noise ratio information corresponding to each of the multiple reflected signals according to the target information corresponding to each of the multiple reflected signals, where the signal-to-noise ratio information is an average value of the signal-to-noise ratios of the multiple transmitting and receiving channels.

[0079] In the embodiment of this specification, the radar includes a plurality of transmitting channels and a plurality of receiving channels, the transmitting channels are used to transmit signals, and the receiving channels are used to receive signals. The transceiver channel is a combination of a transmitting channel and a receiving channel, and one (group) of transceiver channels includes one transmitting channel and one receiving channel. The number of transceiver channels is the product of the number of transmitting channels and the number of receiving channels. Each (group) of transceiver channels corresponds to a signal-to-noise ratio. One reflection signal corresponds to all transceiver channels of the radar, so one reflection signal corresponds to the signal-to-noise ratio of all transceiver channels. The signal-to-noise ratio information corresponding to the reflection signal may be the average value of the signal-to-noise ratio of all transceiver channels corresponding to the reflection signal. One reflection signal corresponds to an average value, i.e., one signal-to-noise ratio information.

[0080] In the embodiments of the present specification, the radar elevation angle is determined according to the signal-to-noise ratio of the transmitting and receiving channels corresponding to the target signal and the reflected signal. Only signal transmission, signal reception and data analysis are required to determine the radar elevation angle. There is no need to stagger the physical positions of some antennas in the radar, thereby improving the efficiency of the elevation angle determination method.

[0081] In a possible implementation, step S104 includes:

[0082] Step S1041: obtaining a preset mapping relationship, where the preset mapping relationship represents a correspondence between a signal-to-noise ratio difference, a target frequency of a target signal, and a radar pitch angle;

[0083] Step S1042: Determine the radar pitch angle according to the preset mapping relationship, the signal-to-noise ratio difference, and the target frequency of the target signal.

[0084] In the embodiment of the present specification, the preset mapping relationship can be a calibration information, which can reflect the calibration relationship between the signal-to-noise ratio difference, the target frequency of the target signal, and the radar pitch angle. The file format of the preset mapping relationship can be in a table format. The target frequency is the starting frequency of the target signal. In the embodiment of the present specification, the corresponding radar pitch angle can be obtained based on the signal-to-noise ratio difference and the target frequency of the target signal, and based on the preset mapping relationship, using a table lookup method, thereby improving the accuracy of the radar pitch angle.

[0085] Combination Figure 3 Taking the comb antenna shown as an example, the left side of the antenna is the signal input end, and the antenna is provided with multiple antenna patches. Figure 4 The directional diagrams of the elevation plane at different frequencies are given. It can be seen that as the frequency increases, the electrical length of the antenna increases, and the elevation plane beam gradually deflects to a positive angle, with the maximum direction approximately equal to θ = arcsin[2(1-f0 / f)]; where f0 is the antenna design center frequency, which is 76.5GHz here, and f is the antenna operating frequency. When f = f0, θ = 0°, that is, the antenna elevation plane beam is not deflected. Figure 4 By subtracting the two curves in the figure, we can get the gain difference of the elevation plane at different frequencies, such as Figures 5 to 7 shown.

[0086] It can be seen that within a certain angle range, the amplitude difference is linear; the smaller the linear slope, the larger the angle range, and vice versa; different frequency combinations can correspond to similar linear relationships.

[0087] The embodiments of this specification can utilize the characteristic that the amplitude difference of the elevation plane radiation patterns of the same antenna at different frequencies is linear within a certain angle range, and determine the elevation angle of the target relative to the radar by measuring the amplitude difference of the elevation plane radiation patterns at different frequencies.

[0088] By using these characteristics, when the radar antenna transmission frequency is reasonably selected and the difference in the amplitude of the received signal at different frequencies is obtained, the pitch angle of the target relative to the radar can be determined accordingly. Among them, the frequency combination with a small linear slope can first determine the approximate angle range, and then the frequency combination with a large linear slope can be used to accurately locate the angle value. In addition, different frequency combinations with similar linear relationships can be used for multiple measurements and averaged to further improve the accuracy of the pitch angle measurement. If the pitch angles measured by different frequency combinations are θ1, θ2, …, θ N , then the final pitch angle is In the previous section, we only discussed the single-transmission case of radar. A spectrum analyzer is needed as a receiver to test the amplitude difference at different frequencies (the single-transmission case is expressed as gain, and the combined transmission and reception is expressed as signal-to-noise ratio, but both can be expressed in amplitude. The signal-to-noise ratio is the difference between the signal and the noise).

[0089] In one example, one can design Figure 8 The waveforms of the three target signals shown in the figure use the radar's own receiving antenna to test the amplitude difference at different frequencies. First, the radar transmitting antenna transmits several narrowband frequency modulated continuous waves (target signals) in sequence, and then the average signal-to-noise ratio of each channel corresponding to each narrowband frequency modulated continuous wave is calculated, and finally the elevation installation angle of the radar is obtained by comparing the difference between each signal-to-noise ratio. Figure 8 In the figure, f1, f2, f3 represent the starting frequencies of the first target signal, the second target signal, and the third target signal, i.e., the target frequencies, and Δf represents the bandwidth of each narrowband frequency modulated continuous wave (target signal). Here, f1, f2, f3 can be selected as 76 GHz, 77 GHz, 78 GHz, respectively, and Δf can be selected as 0.1 GHz.

[0090] Combination Fig. 9 As shown, in the embodiment of the present specification, the preset mapping relationship can be obtained during the test phase before the radar leaves the factory; first, ensure that the radar and the corner reflector are perpendicular to the ground, and align the centers of the radar and the corner reflector. The corresponding relationship between the pitch amplitude difference and the angle at different frequencies and the target frequency of the target signal is obtained through actual measurement and used as the preset mapping relationship.

[0091] Combination Fig.10 As shown, the embodiments of this specification can be applied to the pitch angle calibration of vehicle radar; first, ensure that the corner reflector is perpendicular to the ground and aligned with the center of the radar, and calibrate the radar pitch installation deviation by testing the amplitude difference corresponding to different frequency points; if there is a deviation, correct the radar pitch angle to improve the radar detection performance and avoid excessive radar detection errors.

[0092] Combination Fig.11As shown, the embodiments of this specification can also be applied to the pitch angle measurement between the vehicle radar and the target device. In this case, there is no need to align the target device with the center of the radar. The target device can be a corner reflector. The actual pitch angle between the vehicle radar and the target device can be obtained based on the test results.

[0093] The embodiments of this specification do not require individual antennas to be staggered in the pitch plane in order to enable the radar to have the pitch angle measurement function, and can be used for vehicle-mounted millimeter-wave radar pitch angle measurement and calibration. Pitch calibration can share a set of test equipment with azimuth calibration, and only requires a corner reflector or a metal reflector plate to complete it. At the same time, the antenna can be used for azimuth angle measurement, which can further improve the radar azimuth angle measurement accuracy and resolution. In addition, the radar's own pitch beam deflection angle can be determined by only testing the amplitude difference of different frequency points at 0° in the azimuth plane, without the need to rotate the radar 90° for pitch pattern testing, which can improve test efficiency.

[0094] Combination Fig.12 As shown, the embodiment of this specification provides a device for determining a radar elevation angle, including:

[0095] A first acquisition module 10 is used to acquire a plurality of reflection signals, where the reflection signals are signals emitted by the target device in response to the target signal emitted by the radar;

[0096] A first determination module 20, configured to determine signal-to-noise ratio information corresponding to each of the plurality of reflection signals;

[0097] A second determination module 30 is used to determine the signal-to-noise ratio difference between any two signal-to-noise ratio information respectively according to the signal-to-noise ratio information corresponding to the multiple reflection signals;

[0098] The third determination module 40 is used to determine the radar elevation angle according to the signal-to-noise ratio difference and the target signal.

[0099] In the method for determining the radar elevation angle provided in the embodiments of this specification, there is no need to stagger the physical positions (positions in the elevation direction) of some antennas in the radar. A corner reflector can be used to directly determine the radar elevation angle based on the target signal and the signal-to-noise ratio difference, thereby improving the efficiency of the method for determining the elevation angle and avoiding the decrease in azimuth angle measurement accuracy and resolution in subsequent processes due to the staggered physical positions of the antennas. The elevation angle measurement can be achieved without sacrificing the azimuth angle measurement accuracy and resolution, thereby reducing the complexity of the elevation calibration and making the azimuth angle measurement accuracy and resolution higher.

[0100] In a possible implementation manner, the first determining module includes:

[0101] A first determining unit, configured to determine target information corresponding to each of the multiple reflection signals according to the multiple reflection signals, wherein the target information includes signal-to-noise ratios of the multiple transceiver channels;

[0102] The second determining unit is used to determine the signal-to-noise ratio information corresponding to each of the multiple reflected signals according to the target information corresponding to each of the multiple reflected signals, where the signal-to-noise ratio information is an average value of the signal-to-noise ratios of the multiple transmitting and receiving channels.

[0103] In a possible implementation, the third determining module includes:

[0104] A first acquisition unit is used to acquire a preset mapping relationship, where the preset mapping relationship represents a correspondence between a signal-to-noise ratio difference, a target frequency of a target signal, and a radar pitch angle;

[0105] The third determination unit is used to determine the radar elevation angle according to a preset mapping relationship, a signal-to-noise ratio difference, and a target frequency of the target signal.

[0106] In a possible implementation, the first acquisition module includes:

[0107] A first sending unit, used for sending a target signal to a target device at a preset number of times, where the preset number of times is multiple;

[0108] The first receiving unit is used to receive a plurality of reflected signals emitted by a target device in response to a target signal.

[0109] In a possible implementation manner, the first sending unit includes:

[0110] A first sending subunit, used for sending a target signal to a target device;

[0111] A first acquisition subunit, used to acquire the number of times the target signal has been sent;

[0112] The triggering subunit is used to trigger the first sending subunit when the number of sent times does not reach the preset number of times, until the number of sent times equals the preset number of times.

[0113] In a possible implementation manner, the first sending subunit is used for:

[0114] determining a target frequency, the target frequency being different from the frequency of the transmitted target signal;

[0115] Based on the target frequency, a target signal is sent to the target device.

[0116] In a possible implementation manner, the target signal is a frequency modulated continuous wave signal.

[0117] The embodiments of this specification do not require individual antennas to be staggered in the pitch plane in order to enable the radar to have the pitch angle measurement function, and can be used for vehicle-mounted millimeter-wave radar pitch angle measurement and calibration. Pitch calibration can share a set of test equipment with azimuth calibration, and only requires a corner reflector or a metal reflector plate to complete it. At the same time, the antenna can be used for azimuth angle measurement, which can further improve the radar azimuth angle measurement accuracy and resolution. In addition, the radar's own pitch beam deflection angle can be determined by only testing the amplitude difference of different frequency points at 0° in the azimuth plane, without the need to rotate the radar 90° for pitch pattern testing, which can improve test efficiency.

[0118] It should be noted that the device provided in the above embodiment, when implementing its functions, is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0119] An embodiment of the present specification also provides a method for determining a radar elevation angle, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the above method.

[0120] In addition, an embodiment of the present specification also provides a non-volatile computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the above-mentioned method for determining the radar pitch angle is implemented.

[0121] The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present application.

[0122] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0123] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0124] The computer program instructions for performing the operation of the present application can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet). In some embodiments, by using the state information of computer-readable program instructions to personalize electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs) or programmable logic arrays (PLAs), the electronic circuits can execute computer-readable program instructions, thereby realizing various aspects of the present application.

[0125] Various aspects of the present application are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0126] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0127] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0128] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special-purpose hardware and computer instructions.

[0129] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for determining a radar pitch angle, characterized in that: The method comprises: Acquire a plurality of reflection signals, wherein the reflection signals are signals reflected by the target device in response to the target signal transmitted by the radar; Determine signal-to-noise ratio information corresponding to each of the multiple reflection signals; Determine, according to the signal-to-noise ratio information corresponding to each of the plurality of reflection signals, a signal-to-noise ratio difference between any two of the signal-to-noise ratio information; Acquire a preset mapping relationship, where the preset mapping relationship represents a corresponding relationship between the signal-to-noise ratio difference, the target frequency of the target signal, and the radar pitch angle; The radar elevation angle is determined according to the preset mapping relationship, the signal-to-noise ratio difference, and the target frequency of the target signal.

2. The method for determining the radar elevation angle according to claim 1, characterized in that: The determining of the signal-to-noise ratio information corresponding to each of the plurality of reflection signals comprises: Determine, according to the multiple reflected signals, target information corresponding to each of the multiple reflected signals, wherein the target information includes signal-to-noise ratios of multiple transceiver channels; The signal-to-noise ratio information corresponding to each of the multiple reflected signals is determined according to the target information corresponding to each of the multiple reflected signals, where the signal-to-noise ratio information is an average value of the signal-to-noise ratios of the multiple transceiver channels.

3. The method for determining the radar elevation angle according to claim 1, characterized in that: The acquiring of multiple reflection signals comprises: Sending the target signal to the target device a preset number of times, wherein the preset number of times is multiple; The plurality of reflected signals reflected by the target device in response to the target signal are received.

4. The method for determining the radar elevation angle according to claim 3, characterized in that: The sending the target signal to the target device at a preset number of times includes: sending the target signal to the target device; Get the number of times the target signal has been sent; In a case where the number of transmitted times does not reach the preset number, the process returns to the step of transmitting the target signal to the target device until the number of transmitted times equals the preset number.

5. The method for determining the radar elevation angle according to claim 4, characterized in that: The sending the target signal to the target device comprises: determining a target frequency, the target frequency being different from a frequency of the transmitted target signal; Based on the target frequency, the target signal is sent to the target device.

6. The method for determining the radar elevation angle according to claim 1, characterized in that: The target signal is a frequency modulated continuous wave signal.

7. A device for determining a radar pitch angle, characterized in that: include: A first acquisition module is used to acquire a plurality of reflection signals, where the reflection signals are signals reflected by the target device in response to the target signal transmitted by the radar; A first determining module, used to determine the signal-to-noise ratio information corresponding to each of the multiple reflection signals; A second determination module is used to determine the signal-to-noise ratio difference between any two pieces of signal-to-noise ratio information respectively according to the signal-to-noise ratio information corresponding to the multiple reflection signals; The third determination module includes a first acquisition unit and a third determination unit, wherein the first acquisition unit is used to acquire a preset mapping relationship, wherein the preset mapping relationship represents a correspondence between a signal-to-noise ratio difference, a target frequency of a target signal, and a radar elevation angle; The third determination unit is used to determine the radar elevation angle according to the preset mapping relationship, the signal-to-noise ratio difference, and the target frequency of the target signal.

8. A device for determining a radar elevation angle, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the method according to any one of claims 1 to 6.

9. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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