Radar-based angle detection method, device, vehicle and storage medium

Abstract

The present application discloses a radar-based angle detection method, device, vehicle and storage medium, which relates to the field of radar detection technology and can detect whether the angle measurement result of an object is correct, thereby eliminating false targets. The specific scheme includes determining a first relationship according to a first detection signal, a first fuzzy speed and a first preset flip value, the first relationship being a waveform relationship between the amplitude of a first angle of the target object and the size of the first angle, and the first preset flip value is not a flip value corresponding to a first fuzzy coefficient; determining a second relationship according to a second detection signal, a second fuzzy speed and a second preset flip value corresponding to a second fuzzy coefficient, the second relationship being a waveform relationship between the amplitude of a second angle of the target object and the size of the second angle; determining the angle corresponding to the maximum amplitude peak in the second relationship as the angle measurement result of the target object under the second detection signal; and detecting whether the angle measurement result is correct according to the first relationship and the second relationship.

Description

Technical Field

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

[0002] With the popularization and development of intelligent driving technology in vehicles, higher requirements are put forward for the information collection of the external environment. The millimeter wave radar on the vehicle is a sensor that uses electromagnetic waves to detect the surrounding environment. It has excellent distance measurement, speed measurement, angle measurement capabilities and good environmental adaptability, and has become an important part of intelligent driving technology to perceive the external environment.

[0003] Due to the diversity and complexity of actual detection scenarios, there is a certain probability that there will be two targets at the same distance and speed in the actual environment of millimeter-wave radar, or two targets at the same distance but with a speed difference that is an integer multiple of the maximum unambiguous speed of the radar. For such scenarios, the existing technology has a probability of measuring the wrong object angle, but cannot detect whether the angle measurement result of the object is correct, resulting in false targets appearing in the scene finally detected by the vehicle. Summary of the invention

[0004] The present application provides a radar-based angle detection method, device, vehicle and storage medium, which can detect whether the angle measurement result of an object is correct, thereby eliminating false targets.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect of an embodiment of the present application, a radar-based angle detection method is provided, the method comprising:

[0007] Acquire, by radar, a first fuzzy velocity of the target object under a first detection signal and a second fuzzy velocity of the target object under a second detection signal;

[0008] determining a first relationship according to the first detection signal, the first fuzzy speed, and the first preset flip value, the first relationship being a waveform relationship between the amplitude of the first angle of the target object and the size of the first angle, the first preset flip value not being a flip value corresponding to the first fuzzy coefficient, and the first fuzzy coefficient being determined according to the first detection signal and the first fuzzy speed;

[0009] Determine a second relationship according to the second detection signal, the second fuzzy speed, and a second preset flip value corresponding to the second fuzzy coefficient, the second relationship being a waveform relationship between the amplitude of the second angle of the target object and the size of the second angle, and the second fuzzy coefficient is determined according to the second detection signal and the second fuzzy speed;

[0010] Determine the angle corresponding to the maximum amplitude peak in the second relationship as the angle measurement result of the target object under the second detection signal;

[0011] Whether the angle measurement result is correct is detected based on the first relationship and the second relationship.

[0012] In one embodiment, detecting whether the angle measurement result is correct according to the first relationship and the second relationship includes:

[0013] Obtain two first amplitude peak values ​​of the first relationship and first angle values ​​corresponding to the first amplitude peak values, wherein the two first amplitude peak values ​​are first two amplitude peak values ​​after sorting the multiple amplitude peak values ​​of the first relationship from largest to smallest;

[0014] Obtain three second amplitude peak values ​​of the second relationship and second angle values ​​corresponding to each second amplitude peak value, wherein the three second amplitude peak values ​​are first three amplitude peak values ​​after sorting the multiple amplitude peak values ​​in the second relationship from large to small;

[0015] Whether the angle measurement result is correct is detected according to the two first amplitude peak values, the three second amplitude peak values, the two first angle values ​​and the three second angle values.

[0016] In one embodiment, detecting whether the angle measurement result is correct according to the two first amplitude peak values, the three second amplitude peak values, the two first angle values, and the three second angle values ​​includes:

[0017] If there are two target amplitude peaks among the three second amplitude peaks, the second angle values ​​corresponding to the two target amplitude peaks are the same as the two first angle values;

[0018] Furthermore, the difference between each target amplitude peak value and the corresponding first amplitude peak value is smaller than the difference between the first amplitude peak value and the remaining amplitude peak values, and the remaining amplitude peak values ​​are the values ​​of the three second amplitude peak values ​​except the two target amplitude peak values;

[0019] Furthermore, if one of the two target amplitude peaks is the amplitude peak corresponding to the angle measurement result, it is determined that the angle measurement result is wrong.

[0020] In one embodiment, detecting whether the angle measurement result is correct according to the two first amplitude peak values, the three second amplitude peak values, the two first angle values ​​and the three second angle values ​​further includes:

[0021] If two target amplitude peaks do not exist among the three second amplitude peaks, it is determined that the angle measurement result is correct;

[0022] Alternatively, if there are two target amplitude peaks among the three second amplitude peaks, and the difference between the target amplitude peak and the corresponding first amplitude peak is greater than the difference between the first amplitude peak and the remaining amplitude peaks, then it is determined that the angle measurement result is correct;

[0023] Alternatively, if there are two target amplitude peaks among the three second amplitude peaks, and the difference between each target amplitude peak and the corresponding first amplitude peak is smaller than the difference between the first amplitude peak and the remaining amplitude peaks, and any target amplitude peak is not the amplitude peak corresponding to the angle measurement result, then the angle measurement result is determined to be correct.

[0024] In one embodiment, after obtaining the first fuzzy velocity of the target object under the first detection signal by radar, the method further includes:

[0025] Determine a third relationship according to the first detection signal, the first fuzzy speed, and the flip value corresponding to the first fuzzy coefficient, the third relationship being a waveform relationship between an amplitude of a third angle of the target object and a size of the third angle;

[0026] An angle value of a first object among the target objects is determined according to the third relationship.

[0027] In one embodiment, after determining that the angle measurement result is wrong, the method further includes:

[0028] determining a median value of the amplitude in the second relationship based on the respective amplitude values ​​in the second relationship;

[0029] If the difference between the residual energy value and the median value is greater than a preset threshold, the second angle value corresponding to the residual amplitude peak value is determined as the angle value of the second object of the two target objects.

[0030] In one embodiment, determining the first relationship according to the first detection signal, the first fuzzy speed and the first preset flip value includes:

[0031] Obtaining a maximum unambiguous velocity of the first detection signal;

[0032] Acquire a phase compensation vector corresponding to the first detection signal, wherein a value of the phase compensation vector is used to indicate a spacing ratio of the radar antenna after phase compensation;

[0033] Determining a first preset flip value according to the first fuzzy coefficient;

[0034] A first relationship is obtained according to the first preset flip value and a phase compensation vector corresponding to the first detection signal.

[0035] In one embodiment, obtaining a first relationship according to a first preset flip value and a phase compensation vector corresponding to the first detection signal includes:

[0036] Obtaining a flip compensation vector according to the first preset flip value and the phase compensation vector;

[0037] The flip compensation vector is subjected to Fourier transform processing in the angle dimension to obtain a first relationship.

[0038] In one embodiment, obtaining a phase compensation vector corresponding to the first detection signal includes:

[0039] Calculating a coefficient difference between the first fuzzy coefficient and the second fuzzy coefficient, and if the coefficient difference is an odd number, obtaining a corresponding first phase compensation value according to the first fuzzy coefficient;

[0040] Obtaining a first initial vector corresponding to the first detection signal, where the first initial vector is used to indicate a spacing ratio between antennas;

[0041] A phase compensation vector corresponding to the first detection signal is obtained according to the first phase compensation value and the first initial vector.

[0042] In one embodiment, before obtaining the first fuzzy velocity of the target object under the first detection signal by radar, the method further includes:

[0043] Analyze the first detection signal to obtain energy values ​​corresponding to each object;

[0044] The objects whose energy values ​​are greater than a preset threshold value are determined as reference objects, and the target objects are determined from the reference objects.

[0045] According to a second aspect of an embodiment of the present application, a radar-based angle detection device is provided, the device comprising:

[0046] An acquisition module, used for acquiring a first fuzzy velocity of the target object under a first detection signal and a second fuzzy velocity under a second detection signal through a radar;

[0047] a first determination module, configured to determine a first relationship according to a first detection signal, a first fuzzy speed, and a first preset flip value, wherein the first relationship is a waveform relationship between an amplitude of a first angle of the target object and a size of the first angle, the first preset flip value is not a flip value corresponding to a first fuzzy coefficient, and the first fuzzy coefficient is determined according to the first detection signal and the first fuzzy speed;

[0048] a second determination module, configured to determine a second relationship according to a second detection signal, a second fuzzy speed, and a second preset flip value corresponding to a second fuzzy coefficient, wherein the second relationship is a waveform relationship between an amplitude of a second angle of the target object and a size of the second angle, and the second fuzzy coefficient is determined according to the second detection signal and the second fuzzy speed;

[0049] A third determination module is used to determine the angle corresponding to the maximum amplitude peak in the second relationship as the angle measurement result of the target object under the second detection signal;

[0050] The detection module is used to detect whether the angle measurement result is correct according to the first relationship and the second relationship.

[0051] According to a third aspect of an embodiment of the present application, a vehicle is provided, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the radar-based angle detection method of the first aspect of an embodiment of the present application is implemented.

[0052] According to a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the radar-based angle detection method according to the first aspect of the embodiments of the present application is implemented.

[0053] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0054] The radar-based angle detection method provided in the embodiment of the present application obtains the first fuzzy speed of the target object under the first detection signal and the second fuzzy speed under the second detection signal through the radar; determines the first relationship according to the first detection signal, the first fuzzy speed and the first preset flip value, the first relationship is the waveform relationship between the amplitude of the first angle of the target object and the size of the first angle, and the first preset flip value is not the flip value corresponding to the first fuzzy coefficient; determines the second relationship according to the second detection signal, the second fuzzy speed and the second preset flip value corresponding to the second fuzzy coefficient, the second relationship is the waveform relationship between the amplitude of the second angle of the target object and the size of the second angle; determines the angle corresponding to the maximum amplitude peak in the second relationship as the angle measurement result of the target object under the second detection signal; detects whether the angle measurement result is correct according to the first relationship and the second relationship. The radar-based angle detection method provided in the embodiment of the present application can detect whether the angle measurement result is correct by using the angle amplitude relationship obtained by the first detection signal under error compensation and the angle amplitude relationship of the second detection signal under correct compensation, thereby eliminating false targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic diagram of the internal structure of a vehicle-mounted terminal provided in an embodiment of the present application;

[0056] Figure 2 A flowchart of a radar-based angle detection method provided in an embodiment of the present application;

[0057] Figure 3 A schematic diagram of an angle measurement result under a correct fuzzy coefficient provided in an embodiment of the present application;

[0058] Figure 4 A schematic diagram of an angle measurement result under an erroneous ambiguity coefficient provided in an embodiment of the present application;

[0059] Figure 5 A structural diagram of a radar-based angle detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0061] 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 the indicated technical features. Thus, a feature defined as "first" or "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, "plurality" means two or more.

[0062] Additionally, the use of “based on” or “according to” is meant to be open and inclusive, as a process, step, calculation, or other action “based on” or “according to” one or more conditions or values ​​may, in practice, be based on additional conditions or beyond values.

[0063] With the popularization and development of intelligent driving technology in vehicles, higher requirements are put forward for the information collection of the external environment. The millimeter wave radar on the vehicle is a sensor that uses electromagnetic waves to detect the surrounding environment. It has excellent distance measurement, speed measurement, angle measurement capabilities and good environmental adaptability, and has become an important part of intelligent driving technology to perceive the external environment.

[0064] Due to the diversity and complexity of actual detection scenarios, there is a certain probability that there will be two targets at the same distance and speed in the actual environment of millimeter-wave radar, or two targets at the same distance but with a speed difference that is an integer multiple of the maximum unambiguous speed of the radar. For such scenarios, the existing technology has a probability of measuring the wrong object angle, but cannot detect whether the angle measurement result of the object is correct, resulting in false targets appearing in the scene finally detected by the vehicle.

[0065] In order to solve the above problems, the embodiment of the present application provides a radar-based angle detection method, which obtains a first fuzzy speed of the target object under a first detection signal and a second fuzzy speed under a second detection signal through a radar; determines a first relationship according to the first detection signal, the first fuzzy speed and the first preset flip value, the first relationship is a waveform relationship between the amplitude of the first angle of the target object and the size of the first angle, and the first preset flip value is not a flip value corresponding to the first fuzzy coefficient; determines a second relationship according to the second detection signal, the second fuzzy speed and the second preset flip value corresponding to the second fuzzy coefficient, the second relationship is a waveform relationship between the amplitude of the second angle of the target object and the size of the second angle; determines the angle corresponding to the maximum amplitude peak in the second relationship as the angle measurement result of the target object under the second detection signal; detects whether the angle measurement result is correct according to the first relationship and the second relationship. The radar-based angle detection method provided in the embodiment of the present application can detect whether the angle measurement result is correct by using the angle amplitude relationship obtained by the first detection signal under error compensation and the angle amplitude relationship of the second detection signal under correct compensation, thereby eliminating false targets.

[0066] The executor of the radar-based angle detection method provided in the embodiment of the present application can be a vehicle. Specifically, the executor can be an on-board terminal in the vehicle or a processor in the vehicle, or a processing chip in the vehicle. The embodiment of the present application does not make any specific limitation on this.

[0067] Figure 1 This is a schematic diagram of the internal structure of a vehicle-mounted terminal provided in an embodiment of the present application. Figure 1 As shown, the vehicle-mounted terminal includes a processor and a memory connected via a system bus. The processor is used to provide computing and control capabilities. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program can be executed by the processor to implement the steps of a radar-based angle detection method provided in each of the above embodiments. The internal memory provides a cached operating environment for the operating system and computer program in the non-volatile storage medium.

[0068] Those skilled in the art will understand that Figure 1 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0069] Based on the above execution subject, the embodiment of the present application provides a radar-based angle detection method. Figure 2 As shown, the method comprises the following steps:

[0070] Step 201: Acquire a first fuzzy velocity of a target object under a first detection signal and a second fuzzy velocity of a target object under a second detection signal through a radar.

[0071] The first detection signal includes the distance information, speed information and energy information of each detected object. By analyzing the first detection signal, the fuzzy speed of the target object can be obtained, and the first fuzzy speed can be obtained. Similarly, the second fuzzy speed of the target object can be obtained by analyzing the second detection signal. The maximum unambiguous speed of the first detection signal and the second detection signal are different.

[0072] Step 202: Determine a first relationship according to a first detection signal, a first fuzzy speed and a first preset flip value.

[0073] Among them, the first relationship is a waveform relationship between the amplitude of the first angle of the target object and the size of the first angle, the first preset flip value is not the flip value corresponding to the first fuzzy coefficient, and the first fuzzy coefficient is determined based on the first detection signal and the first fuzzy speed.

[0074] Specifically, the amplitude of the first angle may be an energy value corresponding to the first angle.

[0075] Optionally, the process of determining the first preset flip value can be: obtaining a first fuzzy coefficient based on the maximum unambiguous speed and the first fuzzy speed of the first detection signal, determining a corresponding flip value based on the parity of the first fuzzy coefficient, and determining the opposite value of the flip value corresponding to the first fuzzy coefficient as the first preset flip value.

[0076] For example, if the fuzzy coefficient is an odd number, the corresponding flip value is A, and if the fuzzy coefficient is an even number, the corresponding flip value is B. Then, when the first fuzzy coefficient is an odd number, the first preset flip value is B, and if the first fuzzy coefficient is an even number, the first preset flip value is A.

[0077] Step 203: Determine a second relationship according to the second detection signal, the second fuzzy speed, and a second preset flip value corresponding to the second fuzzy coefficient.

[0078] The second relationship is a waveform relationship between the amplitude of the second angle of the target object and the size of the second angle.

[0079] Optionally, the process of determining the second preset flip value corresponding to the second fuzzy coefficient can be: obtaining the second fuzzy coefficient according to the maximum unambiguous speed and the second fuzzy speed of the second detection signal, determining the corresponding flip value according to the parity of the second fuzzy coefficient, and obtaining the second preset flip value.

[0080] For example, if the fuzzy coefficient is an odd number, the corresponding flip value is A, and if the fuzzy coefficient is an even number, the corresponding flip value is B. Then, when the second fuzzy coefficient is an odd number, the second preset flip value is A, and if the second fuzzy coefficient is an even number, the second preset flip value is B.

[0081] Step 204: determine the angle corresponding to the maximum amplitude peak in the second relationship as the angle measurement result of the target object under the second detection signal.

[0082] Step 205: Detect whether the angle measurement result is correct according to the first relationship and the second relationship.

[0083] The radar-based angle detection method provided in the embodiment of the present application obtains the first fuzzy speed of the target object under the first detection signal and the second fuzzy speed under the second detection signal through the radar; determines the first relationship according to the first detection signal, the first fuzzy speed and the first preset flip value, the first relationship is the waveform relationship between the amplitude of the first angle of the target object and the size of the first angle, and the first preset flip value is not the flip value corresponding to the first fuzzy coefficient; determines the second relationship according to the second detection signal, the second fuzzy speed and the second preset flip value corresponding to the second fuzzy speed, the second relationship is the waveform relationship between the amplitude of the second angle of the target object and the size of the second angle; determines the angle corresponding to the maximum amplitude peak in the second relationship as the angle measurement result of the target object under the second detection signal; detects whether the angle measurement result is correct according to the first relationship and the second relationship. The radar-based angle detection method provided in the embodiment of the present application can detect whether the angle measurement result is correct by using the angle amplitude relationship obtained by the first detection signal under error compensation and the angle amplitude relationship of the second detection signal under correct compensation, thereby eliminating false targets.

[0084] In one embodiment, detecting whether the angle measurement result is correct according to the first relationship and the second relationship includes:

[0085] Obtain two first amplitude peak values ​​of the first relationship and first angle values ​​corresponding to the first amplitude peak values, wherein the two first amplitude peak values ​​are first two amplitude peak values ​​after sorting the multiple amplitude peak values ​​of the first relationship from largest to smallest;

[0086] Obtain three second amplitude peak values ​​of the second relationship and second angle values ​​corresponding to the second amplitude peak values, wherein the three second amplitude peak values ​​are first three amplitude peak values ​​after sorting the multiple amplitude peak values ​​in the second relationship from large to small;

[0087] Whether the angle measurement result is correct is detected according to the two first amplitude peak values, the three second amplitude peak values, the two first angle values ​​and the three second angle values.

[0088] For example, the first relationship includes two largest peaks A1 and A2, and the angles corresponding to the two peaks are a1 and a2. The second relationship includes three largest peaks B1, B2 and B3, and the angles corresponding to these three peaks are b1, b2 and b3. The angle measurement result can be detected whether it is correct based on A1, A2, a1, a2, B1, B2, B3, b1, b2 and b3.

[0089] Specifically, detecting whether the angle measurement result is correct according to the two first amplitude peak values, the three second amplitude peak values, the two first angle values, and the three second angle values ​​includes:

[0090] If there are two target amplitude peaks among the three second amplitude peaks, the second angle values ​​corresponding to the two target amplitude peaks are the same as the two first angle values;

[0091] Furthermore, the difference between each target amplitude peak value and the corresponding first amplitude peak value is smaller than the difference between the first amplitude peak value and the remaining amplitude peak values, and the remaining amplitude peak values ​​are the values ​​of the three second amplitude peak values ​​except the two target amplitude peak values;

[0092] Furthermore, if one of the two target amplitude peaks is the amplitude peak corresponding to the angle measurement result, it is determined that the angle measurement result is wrong.

[0093] That is to say, if two of b1, b2 and b3 are the same as a1 and a2, assuming that b1 and b2 are the same as a1 and a2 respectively, and the difference between a1 and b1 and the difference between a2 and b2 are both smaller than the difference between a1 and b3 and the difference between a2 and b3, and one of b1 and b2 is the maximum peak in the second relationship, then it can be judged that the angle measurement result is wrong, and it can also be judged that b1 and b2 are false targets and can be excluded.

[0094] On the contrary, if two target amplitude peaks do not exist in the three second amplitude peaks, it is determined that the angle measurement result is correct;

[0095] Alternatively, if there are two target amplitude peaks among the three second amplitude peaks, and the difference between the target amplitude peak and the corresponding first amplitude peak is greater than the difference between the first amplitude peak and the remaining amplitude peaks, then it is determined that the angle measurement result is correct;

[0096] Alternatively, if there are two target amplitude peaks among the three second amplitude peaks, and the difference between each target amplitude peak and the corresponding first amplitude peak is smaller than the difference between the first amplitude peak and the remaining amplitude peaks, and any target amplitude peak is not the amplitude peak corresponding to the angle measurement result, then the angle measurement result is determined to be correct.

[0097] That is to say, if no two of b1, b2 and b3 are the same as a1 and a2, the angle measurement result is determined to be correct.

[0098] Alternatively, if two of b1, b2 and b3 are the same as a1 and a2, assuming that b1 and b2 are the same as a1 and a2 respectively, but the difference between a1 and b1 and the difference between a2 and b2 are not less than, or only one is less than the difference between a1 and b3 and the difference between a2 and b3, then it is determined that the angle measurement result is correct.

[0099] Alternatively, if two of b1, b2 and b3 are the same as a1 and a2, assuming that b1 and b2 are the same as a1 and a2 respectively, and the difference between a1 and b1 and the difference between a2 and b2 are both smaller than the difference between a1 and b3 and the difference between a2 and b3, but neither b1 nor b2 is the maximum peak in the second relationship, then it can also be determined that the test intersection result is correct.

[0100] In one embodiment, after obtaining the first fuzzy velocity of the target object under the first detection signal by radar, the method further includes:

[0101] A third relationship is determined based on the first detection signal, the first blur speed and the flip value corresponding to the first blur speed, where the third relationship is a waveform relationship between the amplitude of the third angle of the target object and the size of the third angle; and the angle value of the first object in the target object is determined based on the third relationship.

[0102] In one embodiment, after determining that the angle measurement result is wrong, the method further includes:

[0103] determining a median value of the amplitude in the second relationship based on the respective amplitude values ​​in the second relationship;

[0104] If the difference between the residual energy value and the median value is greater than a preset threshold, the second angle value corresponding to the residual amplitude peak value is determined as the angle value of the second object of the two target objects.

[0105] It should be noted that after excluding the two false peaks in the second relationship, the remaining amplitude peak value is determined and compared with the median value of the amplitude in the second relationship. If the difference between the median values ​​of the remaining amplitude peak values ​​is greater than a preset threshold, the angle value corresponding to the remaining amplitude peak value is determined as the angle value of the second object in the target object.

[0106] In one embodiment, determining the first relationship according to the first detection signal, the first fuzzy speed and the first preset flip value includes:

[0107] The maximum unambiguous speed of the first detection signal is obtained; a phase compensation vector corresponding to the first detection signal is obtained, wherein the value of the phase compensation vector is used to indicate the spacing ratio of the radar antenna after phase compensation; a first ambiguity coefficient is obtained according to the maximum unambiguous speed and the first ambiguity speed; a first preset flip value is determined according to the first ambiguity coefficient; and a first relationship is obtained according to the first preset flip value and the phase compensation vector corresponding to the first detection signal.

[0108] Specifically, obtaining a first relationship according to the first preset flip value and a phase compensation vector corresponding to the first detection signal includes:

[0109] A flip compensation vector is obtained according to the first preset flip value and the phase compensation vector; and a Fourier transform process of the angle dimension is performed on the flip compensation vector to obtain a first relationship.

[0110] Optionally, obtaining a phase compensation vector corresponding to the first detection signal includes: obtaining a second fuzzy coefficient based on a maximum unambiguous speed and a second fuzzy speed corresponding to the second detection signal; calculating a coefficient difference between the first fuzzy coefficient and the second fuzzy coefficient, and if the coefficient difference is an odd number, obtaining a corresponding first phase compensation value based on the first unambiguous speed value; obtaining a first initial vector corresponding to the first detection signal, the first initial vector being used to indicate a spacing ratio between each antenna; and obtaining a phase compensation vector corresponding to the first detection signal based on the first phase compensation value and the first initial vector.

[0111] For example, a target with only 50 degrees of velocity unit at a certain distance is taken as an example. The vector of Formula 1 is the antenna channel after multiple-in-multiple-out (MIMO).

[0112] ant_pos=(0,3,6,11,1,4,7,12) Formula 1

[0113] Among them, ant_pos is the preset antenna array arrangement.

[0114] The vector in Formula 2 is the channel vector initialized by Formula 1.

[0115] Channel_Vec=zeros(1,13) Formula 2

[0116] Wherein, Channel_Vec refers to the antenna vector after MIMO initialized according to the array aperture of Formula 1.

[0117] Formula 3 is the radar antenna channel vector corresponding to the target with an angle of theta.

[0118] Channel_Vec(ant_pos[i],theta)=(exp(-1j*(ant_pos[i]*sind(theta)*pi))) Formula 3

[0119] Among them, Channel_Vec refers to the antenna vector after MIMO of the target with an angle of theta, ant_pos refers to formula 1, theta refers to the target angle, pi is 3.1415926, sind represents the angle taken from sin (sin is a trigonometric function), exp represents the exponential function, and -1j represents a complex number.

[0120] The result of Fourier transform of formula 3 is as shown in formula 4. The angle corresponding to k with the largest amplitude in formula 4 is the calculated target angle.

[0121]

[0122] Among them, FFT_Result represents the Fourier transform result, and Channel_Vec represents Formula 3.

[0123] k represents a value in the Fourier transform points. Assuming a 64-point FFT, k is an integer between 0 and 63. N is the total number of Fourier transform points, which is a constant. n is an integer between 0 and N-1, representing the nth sampling point. Theta is the target angle, and pi is 3.1415926.

[0124] According to the changing speed of the phase in the angle dimension, the position of k with the largest amplitude in Formula 4 is obtained as shown in Formula 5.

[0125] sind(theta)*pi=-2*pi*k / 64 Formula 5

[0126] The 8-channel vector formula under the error ambiguity coefficient is as shown in Formula 6.

[0127] Channel_Vec_wrong(ant_pos[i],theta)=(exp(-1j*(ant_pos[i]*sind(theta)*pi)));i<=4

[0128] Channel_Vec_wrong(ant_pos[i],theta)=-(exp(-1j*(ant_pos[i]*sind(theta)*pi)));i>4,

[0129] Formula 6

[0130] Wherein, i represents the antenna array arrangement number, which is related to Formula 1 and is an integer between 1 and 8.

[0131] The result of Fourier transform of Formula 6 is shown in Formula 7, and the position corresponding to k with the largest amplitude in Formula 7 is shown in Formula 8.

[0132]

[0133]

[0134] Wherein, a is the deviation coefficient caused by the antenna array, i.e., Formula 1.

[0135] The angle measurement results of the simulation target under the correct fuzzy coefficient are as follows: Figure 3 , the angle measurement result under the wrong ambiguity coefficient is as follows Figure 4 ,in, Figure 3 and Figure 4 The horizontal coordinate azimIdx is the index value corresponding to the angle measured, and the vertical coordinate fft is the amplitude result after Fourier transform.

[0136] In one embodiment, before obtaining the first fuzzy velocity of the target object under the first detection signal by radar, the method further includes:

[0137] Analyze the first detection signal to obtain energy values ​​corresponding to each object;

[0138] The objects whose energy values ​​are greater than a preset threshold value are determined as reference objects, and the target objects are determined from the reference objects.

[0139] It should be noted that after receiving the first detection signal, the first detection signal can be analyzed to obtain the energy value of each detected object, and the energy value greater than the preset threshold can be determined as an object, and the energy value less than the preset threshold can be determined as noise, wherein the energy value of the target object is greater than the preset threshold.

[0140] The radar-based angle detection method provided in the embodiment of the present application obtains the first fuzzy speed of the target object under the first detection signal and the second fuzzy speed under the second detection signal through the radar; determines the first relationship according to the first detection signal, the first fuzzy speed and the first preset flip value, the first relationship is the waveform relationship between the amplitude of the first angle of the target object and the size of the first angle, and the first preset flip value is not the flip value corresponding to the first fuzzy coefficient; determines the second relationship according to the second detection signal, the second fuzzy speed and the second preset flip value corresponding to the second fuzzy coefficient, the second relationship is the waveform relationship between the amplitude of the second angle of the target object and the size of the second angle; determines the angle corresponding to the maximum amplitude peak in the second relationship as the angle measurement result of the target object under the second detection signal; detects whether the angle measurement result is correct according to the first relationship and the second relationship. The radar-based angle detection method provided in the embodiment of the present application can detect whether the angle measurement result is correct by using the angle amplitude relationship obtained by the first detection signal under error compensation and the angle amplitude relationship of the second detection signal under correct compensation, thereby eliminating false targets.

[0141] like Figure 5As shown, an embodiment of the present application provides a radar-based angle detection device, the device comprising:

[0142] An acquisition module 11 is used to acquire a first fuzzy velocity of the target object under a first detection signal and a second fuzzy velocity under a second detection signal through a radar;

[0143] a first determination module 12, configured to determine a first relationship according to the first detection signal, the first fuzzy speed, and a first preset flip value, wherein the first relationship is a waveform relationship between an amplitude of a first angle of the target object and a size of the first angle, the first preset flip value is not a flip value corresponding to a first fuzzy coefficient, and the first fuzzy coefficient is determined according to the first detection signal and the first fuzzy speed;

[0144] A second determination module 13 is used to determine a second relationship according to the second detection signal, the second fuzzy speed, and a second preset flip value corresponding to the second fuzzy coefficient, the second relationship being a waveform relationship between the amplitude of the second angle of the target object and the size of the second angle, and the second fuzzy coefficient is determined according to the second detection signal and the second fuzzy speed;

[0145] The detection module 14 is used to detect whether the angle measurement result is correct according to the first relationship and the second relationship.

[0146] In one embodiment, the detection module 14 is specifically used for:

[0147] Obtain two first amplitude peak values ​​of the first relationship and first angle values ​​corresponding to the first amplitude peak values, wherein the two first amplitude peak values ​​are first two amplitude peak values ​​after sorting the multiple amplitude peak values ​​of the first relationship from largest to smallest;

[0148] Obtain three second amplitude peak values ​​of the second relationship and second angle values ​​corresponding to each second amplitude peak value, wherein the three second amplitude peak values ​​are first three amplitude peak values ​​after sorting the multiple amplitude peak values ​​in the second relationship from large to small;

[0149] Whether the angle measurement result is correct is detected according to the two first amplitude peak values, the three second amplitude peak values, the two first angle values ​​and the three second angle values.

[0150] In one embodiment, the detection module 14 is specifically used for:

[0151] If there are two target amplitude peaks among the three second amplitude peaks, the second angle values ​​corresponding to the two target amplitude peaks are the same as the two first angle values;

[0152] Furthermore, the difference between each target amplitude peak value and the corresponding first amplitude peak value is smaller than the difference between the first amplitude peak value and the remaining amplitude peak values, and the remaining amplitude peak values ​​are the values ​​of the three second amplitude peak values ​​except the two target amplitude peak values;

[0153] Furthermore, if one of the two target amplitude peaks is the amplitude peak corresponding to the angle measurement result, it is determined that the angle measurement result is wrong.

[0154] In one embodiment, the detection module 14 is further used to: determine that the angle measurement result is correct if two target amplitude peaks do not exist in the three second amplitude peaks; and determine that the angle measurement result is correct;

[0155] Alternatively, if there are two target amplitude peaks among the three second amplitude peaks, and the difference between the target amplitude peak and the corresponding first amplitude peak is greater than the difference between the first amplitude peak and the remaining amplitude peaks, it is determined that the angle measurement result is correct.

[0156] Alternatively, if there are two target amplitude peaks among the three second amplitude peaks, and the difference between each target amplitude peak and the corresponding first amplitude peak is smaller than the difference between the first amplitude peak and the remaining amplitude peaks, and any target amplitude peak is not the amplitude peak corresponding to the angle measurement result, then the angle measurement result is determined to be correct.

[0157] In one embodiment, the device further includes: a fourth determining module 15;

[0158] A fourth determination module 15 is used to determine a third relationship according to the first detection signal, the first blur speed, and the flip value corresponding to the first coefficient, where the third relationship is a waveform relationship between the amplitude of the third angle of the target object and the size of the third angle;

[0159] An angle value of a first object among the target objects is determined according to the third relationship.

[0160] In one embodiment, the fourth determining module 15 is further configured to:

[0161] determining a median value of the amplitude in the second relationship based on the respective amplitude values ​​in the second relationship;

[0162] If the difference between the residual energy value and the median value is greater than a preset threshold, the second angle value corresponding to the residual amplitude peak value is determined as the angle value of the second object of the two target objects.

[0163] In one embodiment, the first determining module 12 is specifically configured to:

[0164] Obtaining a maximum unambiguous velocity of the first detection signal;

[0165] Acquire a phase compensation vector corresponding to the first detection signal, wherein a value of the phase compensation vector is used to indicate a spacing ratio of the radar antenna after phase compensation;

[0166] Determining a first preset flip value according to the first fuzzy coefficient;

[0167] A first relationship is obtained according to the first preset flip value and a phase compensation vector corresponding to the first detection signal.

[0168] In one embodiment, the first determining module 12 is specifically configured to:

[0169] Obtaining a flip compensation vector according to the first preset flip value and the phase compensation vector;

[0170] The flip compensation vector is subjected to Fourier transform processing in the angle dimension to obtain a first relationship.

[0171] In one embodiment, the first determining module 12 is specifically configured to:

[0172] Calculating a coefficient difference between the first fuzzy coefficient and the second fuzzy coefficient, and if the coefficient difference is an odd number, obtaining a corresponding first phase compensation value according to the first unambiguous velocity value;

[0173] Obtaining a first initial vector corresponding to the first detection signal, where the first initial vector is used to indicate a spacing ratio between antennas;

[0174] A phase compensation vector corresponding to the first detection signal is obtained according to the first phase compensation value and the first initial vector.

[0175] In one embodiment, the apparatus further comprises a parsing module, wherein the parsing module is configured to:

[0176] The first detection signal is analyzed to obtain energy values ​​corresponding to each object, and objects whose energy values ​​are greater than a preset threshold are determined as reference objects, and target objects are determined from the reference objects.

[0177] The radar-based angle detection device provided in the embodiment of the present application obtains the first fuzzy speed of the target object under the first detection signal and the second fuzzy speed under the second detection signal through the radar; determines the first relationship according to the first detection signal, the first fuzzy speed and the first preset flip value, the first relationship is the waveform relationship between the amplitude of the first angle of the target object and the size of the first angle, and the first preset flip value is not the flip value corresponding to the first fuzzy coefficient; determines the second relationship according to the second detection signal, the second fuzzy speed and the second preset flip value corresponding to the second fuzzy coefficient, the second relationship is the waveform relationship between the amplitude of the second angle of the target object and the size of the second angle; determines the angle corresponding to the maximum amplitude peak in the second relationship as the angle measurement result of the target object under the second detection signal; detects whether the angle measurement result is correct according to the first relationship and the second relationship. The radar-based angle detection device provided in the embodiment of the present application can detect whether the angle measurement result is correct by using the angle amplitude relationship obtained by the first detection signal under error compensation and the angle amplitude relationship of the second detection signal under correct compensation, thereby eliminating false targets.

[0178] The radar-based angle detection device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0179] For the specific definition of the radar-based angle detection device, please refer to the definition of the radar-based angle detection method above, which will not be repeated here. Each module in the above-mentioned radar-based angle detection device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the server in the form of hardware, or can be stored in the memory in the server in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0180] In another embodiment of the present application, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of radar-based angle detection as in the embodiment of the present application are implemented.

[0181] In another embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the radar-based angle detection method in the embodiment of the present application are implemented.

[0182] In another embodiment of the present application, a computer program product is also provided. The computer program product includes computer instructions. When the computer instructions are executed on a radar-based angle detection device, the radar-based angle detection device executes each step of the radar-based angle detection method in the method flow shown in the above method embodiment.

[0183] 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 loading and executing computer execution instructions on a computer, the process or function according to the embodiment of the present application 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. 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, 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 a computer can access or a data storage device such as a server, data center, etc. that contains one or more servers that can be integrated with a 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)).

[0184] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0185] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A radar-based angle detection method, characterized in that: The method comprises: Acquire, by radar, a first fuzzy velocity of the target object under a first detection signal and a second fuzzy velocity of the target object under a second detection signal; determining a first relationship according to the first detection signal, the first fuzzy speed, and a first preset flip value, wherein the first relationship is a waveform relationship between an amplitude of a first angle of the target object and a size of the first angle, the first preset flip value is not a flip value corresponding to a first fuzzy coefficient, and the first fuzzy coefficient is determined according to the first detection signal and the first fuzzy speed; determining a second relationship according to the second detection signal, the second fuzzy speed, and a second preset flip value corresponding to a second fuzzy coefficient, wherein the second relationship is a waveform relationship between the amplitude of the second angle of the target object and the size of the second angle, and the second fuzzy coefficient is determined according to the second detection signal and the second fuzzy speed; Determine the angle corresponding to the maximum amplitude peak in the second relationship as the angle measurement result of the target object under the second detection signal; Detecting whether the angle measurement result is correct according to the first relationship and the second relationship; The process of determining the first preset flip value includes: obtaining the first fuzzy coefficient according to the maximum unambiguous speed of the first detection signal and the first fuzzy speed, determining the corresponding flip value according to the parity of the first fuzzy coefficient, and determining the opposite value of the flip value corresponding to the first fuzzy coefficient as the first preset flip value; The process of determining the second preset flip value includes: obtaining the second fuzzy coefficient according to the maximum unambiguous speed of the second detection signal and the second fuzzy speed, determining the corresponding flip value according to the parity of the second fuzzy coefficient, and obtaining the second preset flip value.

2. The method according to claim 1, characterized in that The detecting whether the angle measurement result is correct according to the first relationship and the second relationship includes: Obtaining two first amplitude peak values ​​of the first relationship and first angle values ​​corresponding to the first amplitude peak values, wherein the two first amplitude peak values ​​are first two amplitude peak values ​​after sorting the multiple amplitude peak values ​​of the first relationship from largest to smallest; Obtain three second amplitude peak values ​​of the second relationship and second angle values ​​corresponding to each of the second amplitude peak values, where the three second amplitude peak values ​​are first three amplitude peak values ​​after sorting the multiple amplitude peak values ​​in the second relationship from largest to smallest; Whether the angle measurement result is correct is detected according to the two first amplitude peak values, the three second amplitude peak values, the two first angle values ​​and the three second angle values.

3. The method according to claim 2, characterized in that The detecting whether the angle measurement result is correct according to the two first amplitude peak values, the three second amplitude peak values, the two first angle values ​​and the three second angle values ​​comprises: If there are two target amplitude peaks among the three second amplitude peaks, the second angle values ​​corresponding to the two target amplitude peaks are the same as the two first angle values; Furthermore, the difference between each of the target amplitude peak values ​​and the corresponding first amplitude peak value is smaller than the difference between the first amplitude peak value and the remaining amplitude peak values, and the remaining amplitude peak value is the value of the three second amplitude peak values ​​except the two target amplitude peak values; Furthermore, if one of the two target amplitude peaks is the amplitude peak corresponding to the angle measurement result, it is determined that the angle measurement result is wrong.

4. The method according to claim 3, characterized in that The detecting whether the angle measurement result is correct according to the two first amplitude peak values, the three second amplitude peak values, the two first angle values ​​and the three second angle values ​​also includes: If two of the target amplitude peaks do not exist among the three second amplitude peaks, it is determined that the angle measurement result is correct; Alternatively, if there are two target amplitude peaks among the three second amplitude peaks, and the difference between the target amplitude peak and the corresponding first amplitude peak is greater than the difference between the first amplitude peak and the remaining amplitude peaks, then it is determined that the angle measurement result is correct; Alternatively, if there are two target amplitude peaks among the three second amplitude peaks, and the difference between each target amplitude peak and the corresponding first amplitude peak is less than the difference between the first amplitude peak and the remaining amplitude peaks, and any of the target amplitude peaks is not the amplitude peak corresponding to the angle measurement result, then it is determined that the angle measurement result is correct.

5. The method according to claim 1, characterized in that: After acquiring the first fuzzy velocity of the target object under the first detection signal by radar, the method further includes: determining a third relationship according to the first detection signal, the first fuzzy speed, and a flip value corresponding to the first fuzzy coefficient, the third relationship being a waveform relationship between an amplitude of a third angle of the target object and a size of the third angle; An angle value of a first object among the target objects is determined according to the third relationship.

6. The method according to claim 3, characterized in that After determining that the angle measurement result is wrong, the method further includes: determining a median value of the amplitude in the second relationship according to each amplitude value in the second relationship; If the difference between the residual amplitude peak value and the median value is greater than a preset threshold, the second angle value corresponding to the residual amplitude peak value is determined as the angle value of the second object of the two target objects.

7. The method according to claim 1, characterized in that The determining the first relationship according to the first detection signal, the first fuzzy speed and a first preset flip value includes: Obtaining a maximum unambiguous velocity of the first detection signal; Acquire a phase compensation vector corresponding to the first detection signal, wherein a value of the phase compensation vector is used to indicate a spacing ratio of the radar antenna after phase compensation; Determining the first preset flip value according to the first fuzzy coefficient; The first relationship is obtained according to the first preset flip value and a phase compensation vector corresponding to the first detection signal.

8. The method according to claim 7, characterized in that The obtaining the first relationship according to the first preset flip value and the phase compensation vector corresponding to the first detection signal includes: Obtaining a flip compensation vector according to the first preset flip value and the phase compensation vector; Performing Fourier transform processing in the angle dimension on the flip compensation vector to obtain the first relationship.

9. The method according to claim 7, characterized in that: The acquiring a phase compensation vector corresponding to the first detection signal includes: Calculating a coefficient difference between the first fuzzy coefficient and the second fuzzy coefficient, and if the coefficient difference is an odd number, obtaining a corresponding first phase compensation value according to the first fuzzy coefficient; Acquire a first initial vector corresponding to the first detection signal, where the first initial vector is used to indicate a spacing ratio between the antennas; A phase compensation vector corresponding to the first detection signal is obtained according to the first phase compensation value and the first initial vector.

10. The method according to claim 1, characterized in that Before acquiring the first fuzzy velocity of the target object under the first detection signal by radar, the method further includes: Analyzing the first detection signal to obtain energy values ​​corresponding to each object; An object whose energy value is greater than a preset threshold among the objects is determined as a reference object, and the target object is determined from the reference objects.

11. A radar-based angle detection device, characterized in that: The device comprises: An acquisition module, used for acquiring a first fuzzy velocity of the target object under a first detection signal and a second fuzzy velocity under a second detection signal through a radar; a first determination module, configured to determine a first relationship according to the first detection signal, the first fuzzy speed, and a first preset flip value, wherein the first relationship is a waveform relationship between an amplitude of a first angle of the target object and a size of the first angle, the first preset flip value is not a flip value corresponding to a first fuzzy coefficient, and the first fuzzy coefficient is determined according to the first detection signal and the first fuzzy speed; a second determination module, configured to determine a second relationship according to the second detection signal, the second fuzzy speed, and a second preset flip value corresponding to a second fuzzy coefficient, wherein the second relationship is a waveform relationship between the amplitude of the second angle of the target object and the size of the second angle, and the second fuzzy coefficient is determined according to the second detection signal and the second fuzzy speed; A third determination module, configured to determine the angle corresponding to the maximum amplitude peak in the second relationship as the angle measurement result of the target object under the second detection signal; A detection module, configured to detect whether the angle measurement result is correct according to the first relationship and the second relationship; The first determination module is further configured to obtain the first fuzzy coefficient according to the maximum unambiguous speed of the first detection signal and the first fuzzy speed, determine the corresponding flip value according to the parity of the first fuzzy coefficient, and determine the opposite value of the flip value corresponding to the first fuzzy coefficient as the first preset flip value; The second determination module is further configured to obtain the second fuzzy coefficient according to the maximum unambiguous speed of the second detection signal and the second fuzzy speed, determine the corresponding flip value according to the parity of the second fuzzy coefficient, and obtain the second preset flip value.

12. A vehicle, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the radar-based angle detection method according to any one of claims 1 to 10 is implemented.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the radar-based angle detection method according to any one of claims 1 to 10 is implemented.

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