Calibration methods, devices, storage media, and calibration equipment for radar angle measurement

Abstract

This application provides a calibration method, apparatus, storage medium, and calibration device for radar angle measurement. The radar includes a radar body and a cover. The radar body includes a receiving antenna. The calibration method includes: acquiring a first phase change, which is determined based on the distance between different receiving antennas; acquiring a second phase change, which includes the phase change caused by the radar body's influence on the reflected wave and the phase change caused by the cover's influence on the reflected wave; calculating the sum of the first and second phase changes to obtain a phase calibration value in the echo direction; and calibrating the phases to be calibrated measured in multiple echo directions based on the phase calibration value to obtain multiple calibration data. This application solves the problem that traditional radar angle measurement calibration methods do not consider the influence of the radar cover on the angle measurement accuracy by calibrating the radar body and the cover as a whole.

Description

Technical Field

[0001] This application relates to the field of radar detection, and more specifically, to a radar angle measurement calibration method, apparatus, computer-readable storage medium, and calibration device. Background Technology

[0002] With the development of intelligent driving technology, vehicle sensors, especially 77GHz automotive millimeter-wave radar, are playing a crucial role and are gradually becoming the mainstream in the market. As the protective component of the radar, the radar cover's wave transmission performance directly affects the radar's performance. Poor quality covers can significantly attenuate the electromagnetic waves emitted by the radar, leading to poor amplitude-phase consistency and consequently increasing the radar's angular measurement error and reducing its detection accuracy.

[0003] Traditional radar angle measurement calibration methods only perform angle measurement calibration on the radar itself, without compensating for the effects caused by the overlay. Summary of the Invention

[0004] The main objective of this application is to provide a radar angle measurement calibration method, apparatus, computer-readable storage medium, and calibration device to at least solve the problem that traditional radar angle measurement calibration methods do not take into account the impact of radar overlays on angle measurement accuracy.

[0005] To achieve the above objectives, according to one aspect of this application, a calibration method for radar angle measurement is provided. The radar includes a radar body and a cover, the radar body including a receiving antenna, and the method includes: acquiring a first phase change, the first phase change being determined based on the distance between different receiving antennas; acquiring a second phase change, the second phase change including a phase change caused by the radar body influencing the reflected wave and a phase change caused by the cover influencing the reflected wave; calculating the sum of the first phase change and the second phase change to obtain a phase calibration value in the echo direction; and calibrating the phase to be calibrated measured in multiple echo directions according to the phase calibration value to obtain multiple calibration data, wherein one of the phase calibration values ​​is the deviation of the phase of the reflected wave in one echo direction.

[0006] Optionally, the radar body further includes a transmitting antenna to acquire a second phase change, comprising: acquiring a fixed phase change of the reflected wave, wherein the fixed phase change is the phase change generated when the reflected wave is emitted by the transmitting antenna and received by the receiving antenna; acquiring a directional phase change in the echo direction, wherein the directional phase change is caused by different angles at which the receiving antenna receives the reflected wave; acquiring a phase change of the covering element in the echo direction; and determining the second phase change based on the fixed phase change, the directional phase change, and the phase change of the covering element.

[0007] Optionally, determining the second phase change based on the fixed phase change, the directional phase change, and the phase change of the cover element includes: constructing a first formula ψ(θ) = ψ0 + δ(θ) + Bumper(θ), where ψ(θ) is the second phase change, ψ0 is the fixed phase change, δ(θ) is the directional phase change, and Bumper(θ) is the phase change of the cover element; and determining the second phase change based on the first formula, the fixed phase change, the directional phase change, and the phase change of the cover element.

[0008] Optionally, the echo direction is a predetermined angle direction. Based on the phase calibration amount, the phases to be calibrated measured in multiple echo directions are calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the reflected wave's phase in one echo direction. This includes: acquiring multiple phases to be calibrated, wherein one phase to be calibrated corresponds to one echo direction, and the phase to be calibrated is the sum of a first phase change and a second phase change in the echo direction; and obtaining multiple calibration data based on the phase calibration amount in the predetermined angle direction and the multiple phases to be calibrated, where the calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the predetermined angle direction.

[0009] Optionally, multiple calibration data are obtained based on the phase calibration amount in the predetermined angular direction and multiple phases to be calibrated, including: constructing a second formula. Where θ is the echo direction, a is the predetermined angular direction, and ΔΦ comp (θ) represents the calibration data. Let ψ(θ) be the first phase change in the echo direction, ψ(θ) be the second phase change in the echo direction, and ΔΦ(a) be the phase calibration amount in the predetermined angle direction; according to the second formula, the phase calibration amount in the predetermined angle direction, and the phase to be calibrated, multiple calibration data are obtained.

[0010] Optionally, there are multiple echo directions. Based on the phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the phase of the reflected wave in one echo direction, including: obtaining multiple calibration data based on multiple phase calibration amounts and multiple phases to be calibrated, wherein the calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the echo direction.

[0011] Optionally, obtaining the first phase change includes: obtaining the angle of the echo direction; obtaining the wavelength of the received wave; obtaining the distance interval between two adjacent receiving antennas; and determining the first phase change based on the angle of the echo direction, the wavelength of the received wave, and the distance interval between the receiving antennas.

[0012] According to another aspect of this application, a radar angle measurement calibration device is provided. The radar includes a radar body and a cover. The radar body includes a receiving antenna and includes: a first acquisition unit for acquiring a first phase change, the first phase change being determined based on the distance between different receiving antennas; a second acquisition unit for acquiring a second phase change, the second phase change including a phase change caused by the radar body influencing the reflected wave and a phase change caused by the cover influencing the reflected wave; a calculation unit for calculating the sum of the first phase change and the second phase change to obtain a phase calibration value in the echo direction; and a calibration unit for calibrating the phase to be calibrated measured in multiple echo directions according to the phase calibration value to obtain multiple calibration data, wherein one of the phase calibration values ​​is the deviation of the phase of the reflected wave in one echo direction.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the radar angle measurement calibration methods described above.

[0014] According to another aspect of this application, a calibration device is provided, comprising: one or more processors, a memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a calibration method for performing any of the radar angle measurement methods described above.

[0015] Applying the technical solution of this application, the above-mentioned radar angle measurement calibration method includes a radar body and a cover, wherein the radar body includes a receiving antenna. The method includes: firstly, acquiring a first phase change, which is determined based on the distance between different receiving antennas; acquiring a second phase change, which includes the phase change caused by the radar body's influence on the reflected wave and the phase change caused by the cover's influence on the reflected wave; then calculating the sum of the first phase change and the second phase change to obtain a phase calibration value in the echo direction; finally, calibrating the phases to be calibrated measured in multiple echo directions according to the phase calibration value to obtain multiple calibration data, wherein one phase calibration value is the deviation of the reflected wave phase in one echo direction. This application, by calibrating the radar body and the cover as a whole, considers the radar amplitude-phase inconsistency problem caused by the cover, compensates for the angle measurement, reduces the angle measurement error, improves the radar's angle measurement accuracy, and solves the problem that traditional radar angle measurement calibration methods do not consider the influence of the radar cover on the angle measurement accuracy, thereby improving the radar's detection performance. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A hardware structure block diagram of a mobile terminal for performing a radar angle measurement calibration method according to an embodiment of this application is shown.

[0018] Figure 2 A schematic flowchart of a radar angle measurement calibration method according to an embodiment of this application is shown;

[0019] Figure 3 A schematic diagram of an antenna array for a radar angle measurement calibration method according to an embodiment of this application is shown;

[0020] Figure 4 A comparison diagram is shown of the angle measurement error curves obtained by the radar angle measurement calibration method provided in the embodiments of this application and the angle measurement error curves obtained by the calibration method of the prior art.

[0021] Figure 5 A structural block diagram of a radar angle measurement calibration device provided according to an embodiment of this application is shown. Detailed Implementation

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] For ease of description, the following explains some of the nouns or terms used in the embodiments of this application:

[0026] Angle measurement error: The difference between the target's true angle and the angle at which the radar identifies the target, relative to the radar.

[0027] Coverings: Car bumpers or radar shields and the body structure located in front of the radar.

[0028] FOV: Abbreviation for Field of View, and refers to the field of view range of millimeter-wave radar.

[0029] FFT: Fast Fourier Transform.

[0030] As described in the background section, existing radar angle measurement calibration methods only perform angle measurement calibration on the radar itself without compensating for the influence of the cover. To address the problem that traditional radar angle measurement calibration methods do not consider the influence of the radar cover on the angle measurement accuracy, embodiments of this application provide a radar angle measurement calibration method, apparatus, computer-readable storage medium, and calibration device.

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0032] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a radar angle measurement calibration method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0033] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the device information display method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0034] This embodiment provides a radar angle measurement calibration method that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here.

[0035] In existing technologies, the principle of angle measurement calibration for vehicle-mounted millimeter-wave radar with a cover is as follows: Millimeter wave (mmWave) is a special type of radar technology that uses short-wavelength electromagnetic waves. The electromagnetic wave signal emitted by the radar system is reflected when blocked by an object in its transmission path. By capturing the reflected signal, the radar system can determine the distance, velocity, and angle of the object. Frequency-modulated continuous wave (FMCW) radar systems can estimate the angle of the reflected signal using a horizontal plane; this angle is also called the angle of arrival (AoA). Angle estimation is based on the observation that even a small change in the object's distance can cause a phase change in the distance FFT or Doppler FFT peak. This phase change can be used for angle estimation, which uses at least two receiving antennas. The distance difference between the object and the two antennas causes a phase change in the FFT peak. This phase change allows the angle to be estimated.

[0036] Figure 2 This is a flowchart of a radar angle measurement calibration method according to an embodiment of this application. The radar includes a radar body and a cover, and the radar body includes a receiving antenna, such as... Figure 2 As shown, the method includes the following steps:

[0037] Step S201: Obtain the first phase change amount, which is determined based on the distance between different receiving antennas;

[0038] The specific implementation steps of step S201 are as follows:

[0039] Step S2011: Obtain the angle of the above echo direction;

[0040] Step S2012: Obtain the wavelength of the received wave;

[0041] Step S2013: Obtain the distance interval between two adjacent receiving antennas;

[0042] Step S2014: Determine the first phase change amount based on the angle of the echo direction, the wavelength of the received wave, and the distance between the receiving antennas.

[0043] Specifically, after the transmitting antenna emits a wave, the wave will be reflected back when it comes into contact with an object. The receiving antenna receives the reflected wave. At this time, multiple receiving antennas receive the reflected wave, and the reflected wave received by multiple receiving antennas directly has a phase change, that is, the first phase change.

[0044] Step S202: Obtain the second phase change amount, which includes the phase change amount caused by the influence of the radar body on the reflected wave and the phase change amount caused by the influence of the covering part on the reflected wave.

[0045] Ideally, the transmit / receive phases of each transmit and receive channel are consistent at every angle, meaning the initial transmit / receive phases are the same at every angle, and the second phase change is zero. However, in reality, the second phase change is not zero and is affected by a variety of factors.

[0046] The radar body mentioned above also includes a transmitting antenna. The specific implementation steps of step S202 are as follows:

[0047] Step S2021: Obtain the fixed phase change of the reflected wave. The fixed phase change is the phase change generated when the reflected wave is emitted by the transmitting antenna and received by the receiving antenna. The process of transmitting and receiving the wave is one channel. Due to the difference in the radio frequency links of different channels, the initial phase of each channel is different, resulting in a fixed phase difference between channels, i.e., a fixed phase change.

[0048] Step S2022: Obtain the directional phase change in the direction of the echo. The directional phase change is caused by the different angles at which the receiving antenna receives the reflected wave. Since ideal phase consistency cannot be achieved, there is a phase difference between the channels that varies with the direction of the incoming wave, i.e., the directional phase change.

[0049] Step S2023: Obtain the phase change of the cover element in the above echo direction; moreover, due to the influence of the radar cover element, the cover element at different angles will also cause a phase difference, that is, the phase change of the cover element.

[0050] Step S2024: Determine the second phase change amount based on the fixed phase change amount, the directional phase change amount, and the phase change amount of the cover piece.

[0051] The determination of the second phase change based on the aforementioned fixed phase change, directional phase change, and covering phase change includes: constructing a first formula:

[0052] ψ(θ)=ψ0+δ(θ)+Bumper(θ) (Formula 1)

[0053] Wherein, ψ(θ) is the second phase change, ψ0 is the fixed phase change, δ(θ) is the directional phase change, and Bumper(θ) is the phase change of the cover; the second phase change is determined according to the first formula, the fixed phase change, the directional phase change, and the phase change of the cover.

[0054] Specifically, such as Figure 3 As shown, Rx is the receiving antenna, Tx is the transmitting antenna, θ is the echo angle, and d is the distance between two adjacent receiving antennas.

[0055] Step S203: Calculate the sum of the first phase change and the second phase change to obtain the phase calibration amount in the echo direction;

[0056] Step S204: Based on the aforementioned phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the aforementioned phase calibration amounts is the deviation of the phase of the reflected wave in one of the aforementioned echo directions.

[0057] Wherein, the aforementioned echo direction is a predetermined angular direction. In one example, based on the aforementioned phase calibration amount, the phases to be calibrated measured in multiple echo directions are calibrated to obtain multiple calibration data. One of the aforementioned phase calibration amounts is the deviation of the phase of the reflected wave in one of the aforementioned echo directions, including:

[0058] Step S301: Obtain multiple phases to be calibrated, wherein one phase to be calibrated corresponds to one echo direction, and the phase to be calibrated is the sum of the first phase change in the echo direction and the second phase change in the echo direction.

[0059] Step S302: Based on the phase calibration amount in the predetermined angle direction and the plurality of phases to be calibrated, a plurality of calibration data are obtained. The calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the predetermined angle direction.

[0060] Specifically, based on the phase calibration amount in the predetermined angle direction and the multiple phases to be calibrated, multiple calibration data are obtained, including: constructing a second formula:

[0061]

[0062] Where θ is the echo direction, a is the predetermined angle direction, and ΔΦ comp (θ) represents the calibration data mentioned above. ψ(θ) is the first phase change in the echo direction, ψ(θ) is the second phase change in the echo direction, and ΔΦ(a) is the phase calibration amount in the predetermined angle direction.

[0063] Based on the second formula, the phase calibration amount in the predetermined angular direction, and the phase to be calibrated, multiple calibration data are obtained.

[0064] The phase calibration amount in the predetermined angle direction can be calculated using formula 3:

[0065]

[0066] Where 'a' represents the predetermined angular direction, ΔΦ(a) is the phase calibration amount, and ψ0 is the fixed phase change amount. Let δ(a) be the first phase change in the predetermined angular direction, δ(a) be the directional phase change in the predetermined angular direction, and Bumper(a) be the phase change of the cover in the predetermined angular direction. Therefore, combining Formulas 1, 2, and 3 yields Formula 4:

[0067]

[0068] The second phase change in the echo direction can be obtained from Formula 1 above.

[0069] Typically, the predetermined angle is 0°, i.e., 0-degree channel calibration. Based on the 0-degree angle reflected wave measured in the anechoic chamber, the inter-channel phase difference information (phase calibration amount) when the echo direction is 0 degrees is obtained, and this is used to perform phase compensation for target echoes at all angles. The angle measurement deviation after 0-degree channel calibration is related to the consistency of the antenna and the consistency of the covering components; the better the consistency, the higher the angle measurement accuracy. This not only reduces the number of experiments and saves costs, but also improves the angle measurement efficiency.

[0070] There are multiple echo directions. In one example, based on the phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the phase of the reflected wave in one of the echo directions. This includes obtaining multiple calibration data based on multiple phase calibration amounts and multiple phases to be calibrated, wherein the calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the echo direction.

[0071] Based on the channel calibration analysis, if the measured phase information of each angle within the FOV, after the radar band is covered, can be obtained, the influence of the cover can be eliminated, and higher angle measurement accuracy can be achieved.

[0072] Divide the FOV into multiple angles at 1° intervals and save the echo data corresponding to each angle. Of course, you can also divide the angles into equal intervals of 2° or 0.5°.

[0073] By processing incoming wave data from any unknown angle, phase difference information is obtained and phase compensation is performed. After compensating for the phase difference caused by the overlay, the angular measurement error within the entire FOV of the radar is significantly reduced. Generally, the FOV angle range is -80° to 80°.

[0074] like Figure 4 As shown, L1 is the angle measurement error curve obtained by the calibration method of the prior art, and L2 is the angle measurement error curve obtained by the radar angle measurement calibration method provided in the embodiment of this application. The angle measurement error after calibration by the above radar angle measurement calibration method is obviously much smaller than the angle measurement error in the prior art, and the angle measurement error after calibration by the above radar angle measurement calibration method is close to zero, which proves that the radar has high angle measurement accuracy and the radar detection performance has been greatly improved.

[0075] The radar angle measurement calibration method of this application includes a radar body and a cover, wherein the radar body includes a receiving antenna. The method comprises: firstly, acquiring a first phase change, which is determined based on the distance between different receiving antennas; acquiring a second phase change, which includes the phase change caused by the radar body's influence on the reflected wave and the phase change caused by the cover's influence on the reflected wave; then calculating the sum of the first and second phase changes to obtain a phase calibration value in the echo direction; finally, calibrating the phases to be calibrated measured in multiple echo directions based on the phase calibration value to obtain multiple calibration data, wherein one of the phase calibration values ​​is the deviation of the reflected wave phase in one echo direction. This application calibrates the radar body and cover as a whole, taking into account the radar amplitude-phase inconsistency problem caused by the cover, compensating for the angle measurement error, improving the radar's angle measurement accuracy, and solving the problem that traditional radar angle measurement calibration methods do not consider the influence of the radar cover on the angle measurement accuracy, thereby improving the radar's detection performance.

[0076] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0077] This application also provides a radar angle measurement calibration device. It should be noted that the radar angle measurement calibration device of this application can be used to execute the radar angle measurement calibration method provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0078] The following describes the radar angle measurement calibration device provided in the embodiments of this application.

[0079] Figure 5 This is a structural block diagram of a radar angle measurement calibration device according to an embodiment of this application. The radar includes a radar body and a cover, wherein the radar body includes a receiving antenna, such as... Figure 5 As shown, the device includes a first acquisition unit 10, a second acquisition unit 20, a calculation unit 30, and a calibration unit 40. The first acquisition unit 10 is used to acquire a first phase change, which is determined based on the distance between different receiving antennas. The second acquisition unit 20 is used to acquire a second phase change, which includes the phase change caused by the radar body's influence on the reflected wave and the phase change caused by the covering material's influence on the reflected wave. The calculation unit 30 is used to calculate the sum of the first phase change and the second phase change to obtain a phase calibration value in the echo direction. The calibration unit 40 is used to calibrate the phases to be calibrated measured in multiple echo directions based on the phase calibration value to obtain multiple calibration data. One of the phase calibration values ​​is the deviation of the reflected wave's phase in one of the echo directions.

[0080] In an optional example, the radar body further includes a transmitting antenna. The first acquisition unit includes a first acquisition module, a second acquisition module, a third acquisition module, and a first determination module. The first acquisition module is used to acquire a fixed phase change of the reflected wave, which is the phase change generated when the reflected wave is emitted from the transmitting antenna and received by the receiving antenna. The second acquisition module is used to acquire a directional phase change in the echo direction, which is caused by different angles at which the reflected wave is received by the receiving antenna. The third acquisition module is used to acquire a phase change of the covering element in the echo direction. The first determination module is used to determine a second phase change based on the fixed phase change, the directional phase change, and the phase change of the covering element. The above embodiment considers the radar amplitude-phase inconsistency problem caused by the covering element, compensates for angle measurement, reduces angle measurement error, improves the radar's angle measurement accuracy, and thus improves the radar's detection performance.

[0081] For example, the first determining module includes a first constructing module and a second determining module. The first constructing module is used to construct a first formula ψ(θ) = ψ0 + δ(θ) + Bumper(θ), where ψ(θ) is the second phase change, ψ0 is the fixed phase change, δ(θ) is the directional phase change, and Bumper(θ) is the phase change of the covering element. The second determining module is used to determine the second phase change based on the first formula, the fixed phase change, the directional phase change, and the phase change of the covering element. Taking into account the fixed phase change, the directional phase change, and the phase change of the covering element improves the accuracy of angle measurement.

[0082] In one embodiment, the echo direction is a predetermined angular direction. The calibration unit includes a third acquisition module and a first execution module. The third acquisition module acquires multiple phases to be calibrated, wherein each phase to be calibrated corresponds to one echo direction, and the phase to be calibrated is the sum of a first phase change and a second phase change in the echo direction. The execution module obtains multiple calibration data based on the phase calibration amount in the predetermined angular direction and the multiple phases to be calibrated. The calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the predetermined angular direction. This reduces the number of experiments, saves costs, and improves angle measurement efficiency.

[0083] In one alternative approach, the execution module includes a second building module and a first execution module, wherein the second building module is used to construct the second formula. Where θ is the echo direction, a is the predetermined angle direction, and ΔΦ comp (θ) represents the calibration data mentioned above. Let ψ(θ) be the first phase change in the echo direction, φ(θ) be the second phase change in the echo direction, and ΔΦ(a) be the phase calibration value in the predetermined angle direction. The first execution module is used to obtain multiple calibration data based on the second formula, the phase calibration value in the predetermined angle direction, and the phase to be calibrated. This can result in higher angle measurement accuracy and smaller angle measurement error.

[0084] In an optional embodiment, there are multiple echo directions. The calibration unit includes a second execution module, which is used to obtain multiple calibration data based on the multiple phase calibration values ​​and the multiple phases to be calibrated. The calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration value in the echo direction. This can eliminate the influence of the covering element and achieve higher angle measurement accuracy.

[0085] In one example, the first acquisition unit includes a fourth acquisition module, a fifth acquisition module, a sixth acquisition module, and a third determination module. The fourth acquisition module is used to acquire the angle of the echo direction; the fifth acquisition module is used to acquire the wavelength of the received wave; the sixth acquisition module is used to acquire the distance interval between two adjacent receiving antennas; and the third determination module is used to determine the first phase change based on the angle of the echo direction, the wavelength of the received wave, and the distance interval between the receiving antennas. This reduces angle measurement error and improves the radar's angle measurement accuracy.

[0086] The radar angle measurement calibration device of this application includes a radar body and a cover. The radar body includes a receiving antenna and comprises: a first acquisition unit for acquiring a first phase change, the first phase change being determined based on the distance between different receiving antennas; a second acquisition unit for acquiring a second phase change, the second phase change including the phase change caused by the radar body's influence on the reflected wave and the phase change caused by the cover's influence on the reflected wave; a calculation unit for calculating the sum of the first phase change and the second phase change to obtain a phase calibration amount in the echo direction; and a calibration unit for calibrating the phase to be calibrated measured in multiple echo directions based on the phase calibration amount to obtain multiple calibration data, wherein one of the phase calibration amounts is the deviation of the phase of the reflected wave in one of the echo directions. This application calibrates the radar body and the cover as a whole for angle measurement, taking into account the inconsistency between radar amplitude and phase caused by the cover. It compensates for the angle measurement error, improves the angle measurement accuracy of the radar, and solves the problem that traditional radar angle measurement calibration methods do not take into account the impact of the radar cover on the angle measurement accuracy, thereby improving the radar's detection performance.

[0087] The aforementioned radar angle measurement calibration device includes a processor and a memory. The first acquisition unit and other components are stored as program units in the memory, and the processor executes these program units to achieve the corresponding functions. All of the aforementioned modules reside in the same processor; alternatively, the modules may be located in different processors in any combination.

[0088] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and adjusting kernel parameters can address the issue that traditional radar angle measurement calibration methods do not consider the impact of radar overlays on angle measurement accuracy.

[0089] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0090] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the radar angle measurement calibration method.

[0091] Specifically, the calibration methods for radar angle measurement include:

[0092] Step S201: Obtain the first phase change amount, which is determined based on the distance between different receiving antennas;

[0093] Specifically, after the transmitting antenna emits a wave, the wave will be reflected back when it comes into contact with an object. The receiving antenna receives the reflected wave. At this time, multiple receiving antennas receive the reflected wave, and the reflected wave received by multiple receiving antennas directly has a phase change, that is, the first phase change.

[0094] Step S202: Obtain the second phase change amount, which includes the phase change amount caused by the influence of the radar body on the reflected wave and the phase change amount caused by the influence of the covering part on the reflected wave.

[0095] Specifically, in an ideal situation, the transmission / reception phases of each transmission and reception channel are consistent at each angle, that is, the initial phases of transmission / reception are the same at each angle, and the second phase change is zero. However, in reality, the second phase change is not zero and is affected by a variety of factors.

[0096] Step S203: Calculate the sum of the first phase change and the second phase change to obtain the phase calibration amount in the echo direction;

[0097] Specifically, step S203 takes into account the inconsistency between radar amplitude and phase caused by the cover, improves the radar's angle measurement accuracy, and thus improves the radar's detection performance.

[0098] Step S204: Based on the aforementioned phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the aforementioned phase calibration amounts is the deviation of the phase of the reflected wave in one of the aforementioned echo directions.

[0099] Specifically, step S204 performs angle measurement calibration on the radar and the cover as a whole, and improves the angle measurement accuracy by compensating for the angle measurement after adding the cover.

[0100] Optionally, the radar body further includes a transmitting antenna, and the acquisition of the second phase change includes: acquiring a fixed phase change of the reflected wave, wherein the fixed phase change is the phase change generated when the reflected wave is emitted by the transmitting antenna and received by the receiving antenna; acquiring a directional phase change in the echo direction, wherein the directional phase change is caused by the different angles at which the receiving antenna receives the reflected wave; acquiring a phase change of the covering element in the echo direction; and determining the second phase change based on the fixed phase change, the directional phase change, and the phase change of the covering element.

[0101] Optionally, determining the second phase change based on the fixed phase change, the directional phase change, and the phase change of the cover element includes: constructing a first formula ψ(θ)=ψ0+δ(θ)+Bumper(θ), where ψ(θ) is the second phase change, ψ(θ) is the fixed phase change, δ(θ) is the directional phase change, and Bumper(θ) is the phase change of the cover element; and determining the second phase change based on the first formula, the fixed phase change, the directional phase change, and the phase change of the cover element.

[0102] Optionally, the echo direction is a predetermined angle direction. Based on the phase calibration amount, the phases to be calibrated measured in multiple echo directions are calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the phase of the reflected wave in one of the echo directions. This includes: acquiring multiple phases to be calibrated, wherein one phase to be calibrated corresponds to one echo direction, and the phase to be calibrated is the sum of a first phase change and a second phase change in the echo direction; and obtaining multiple calibration data based on the phase calibration amount in the predetermined angle direction and the multiple phases to be calibrated, wherein the calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the predetermined angle direction.

[0103] Optionally, based on the phase calibration amount in the predetermined angular direction and the multiple phases to be calibrated, multiple calibration data are obtained, including: constructing a second formula. Where θ is the echo direction, a is the predetermined angle direction, and ΔΦ comp (θ) represents the calibration data mentioned above. Let ψ(θ) be the first phase change in the echo direction, ψ(θ) be the second phase change in the echo direction, and ΔΦ(a) be the phase calibration amount in the predetermined angle direction. Based on the second formula, the phase calibration amount in the predetermined angle direction, and the phase to be calibrated, multiple calibration data are obtained.

[0104] Optionally, there are multiple echo directions. Based on the phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the phase of the reflected wave in one of the echo directions. This includes obtaining multiple calibration data based on multiple phase calibration amounts and multiple phases to be calibrated, wherein the calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the echo direction.

[0105] Optionally, obtaining the first phase change includes: obtaining the angle of the echo direction; obtaining the wavelength of the received wave; obtaining the distance interval between two adjacent receiving antennas; and determining the first phase change based on the angle of the echo direction, the wavelength of the received wave, and the distance interval between the receiving antennas.

[0106] This invention provides a processor for running a program, wherein the program executes the radar angle measurement calibration method.

[0107] Specifically, the calibration methods for radar angle measurement include:

[0108] Step S201: Obtain the first phase change amount, which is determined based on the distance between different receiving antennas;

[0109] Specifically, after the transmitting antenna emits a wave, the wave will be reflected back when it comes into contact with an object. The receiving antenna receives the reflected wave. At this time, multiple receiving antennas receive the reflected wave, and the reflected wave received by multiple receiving antennas directly has a phase change, that is, the first phase change.

[0110] Step S202: Obtain the second phase change amount, which includes the phase change amount caused by the influence of the radar body on the reflected wave and the phase change amount caused by the influence of the covering part on the reflected wave.

[0111] Specifically, in an ideal situation, the transmission / reception phases of each transmission and reception channel are consistent at each angle, that is, the initial phases of transmission / reception are the same at each angle, and the second phase change is zero. However, in reality, the second phase change is not zero and is affected by a variety of factors.

[0112] Step S203: Calculate the sum of the first phase change and the second phase change to obtain the phase calibration amount in the echo direction;

[0113] Specifically, step S203 takes into account the inconsistency between radar amplitude and phase caused by the cover, improves the radar's angle measurement accuracy, and thus improves the radar's detection performance.

[0114] Step S204: Based on the aforementioned phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the aforementioned phase calibration amounts is the deviation of the phase of the reflected wave in one of the aforementioned echo directions.

[0115] Specifically, step S204 performs angle measurement calibration on the radar and the cover as a whole, and improves the angle measurement accuracy by compensating for the angle measurement after adding the cover.

[0116] Optionally, the radar body further includes a transmitting antenna, and the acquisition of the second phase change includes: acquiring a fixed phase change of the reflected wave, wherein the fixed phase change is the phase change generated when the reflected wave is emitted by the transmitting antenna and received by the receiving antenna; acquiring a directional phase change in the echo direction, wherein the directional phase change is caused by the different angles at which the receiving antenna receives the reflected wave; acquiring a phase change of the covering element in the echo direction; and determining the second phase change based on the fixed phase change, the directional phase change, and the phase change of the covering element.

[0117] Optionally, determining the second phase change based on the fixed phase change, the directional phase change, and the phase change of the cover element includes: constructing a first formula ψ(θ)=ψ0+δ(θ)+Bumper(θ), where ψ(θ) is the second phase change, ψ0 is the fixed phase change, δ(θ) is the directional phase change, and Bumper(θ) is the phase change of the cover element; and determining the second phase change based on the first formula, the fixed phase change, the directional phase change, and the phase change of the cover element.

[0118] Optionally, the echo direction is a predetermined angle direction. Based on the phase calibration amount, the phases to be calibrated measured in multiple echo directions are calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the phase of the reflected wave in one of the echo directions. This includes: acquiring multiple phases to be calibrated, wherein one phase to be calibrated corresponds to one echo direction, and the phase to be calibrated is the sum of a first phase change and a second phase change in the echo direction; and obtaining multiple calibration data based on the phase calibration amount in the predetermined angle direction and the multiple phases to be calibrated, wherein the calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the predetermined angle direction.

[0119] Optionally, based on the phase calibration amount in the predetermined angular direction and the multiple phases to be calibrated, multiple calibration data are obtained, including: constructing a second formula. Where θ is the echo direction, a is the predetermined angle direction, and ΔΦ comp (θ) represents the calibration data mentioned above. Let ψ(θ) be the first phase change in the echo direction, ψ(θ) be the second phase change in the echo direction, and ΔΦ(a) be the phase calibration amount in the predetermined angle direction. Based on the second formula, the phase calibration amount in the predetermined angle direction, and the phase to be calibrated, multiple calibration data are obtained.

[0120] Optionally, there are multiple echo directions. Based on the phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the phase of the reflected wave in one of the echo directions. This includes obtaining multiple calibration data based on multiple phase calibration amounts and multiple phases to be calibrated, wherein the calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the echo direction.

[0121] Optionally, obtaining the first phase change includes: obtaining the angle of the echo direction; obtaining the wavelength of the received wave; obtaining the distance interval between two adjacent receiving antennas; and determining the first phase change based on the angle of the echo direction, the wavelength of the received wave, and the distance interval between the receiving antennas.

[0122] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0123] Step S201: Obtain the first phase change amount, which is determined based on the distance between different receiving antennas;

[0124] Step S202: Obtain the second phase change amount, which includes the phase change amount caused by the influence of the radar body on the reflected wave and the phase change amount caused by the influence of the covering part on the reflected wave.

[0125] Step S203: Calculate the sum of the first phase change and the second phase change to obtain the phase calibration amount in the echo direction;

[0126] Step S204: Based on the aforementioned phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the aforementioned phase calibration amounts is the deviation of the phase of the reflected wave in one of the aforementioned echo directions.

[0127] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0128] Optionally, the radar body further includes a transmitting antenna, and the acquisition of the second phase change includes: acquiring a fixed phase change of the reflected wave, wherein the fixed phase change is the phase change generated when the reflected wave is emitted by the transmitting antenna and received by the receiving antenna; acquiring a directional phase change in the echo direction, wherein the directional phase change is caused by the different angles at which the receiving antenna receives the reflected wave; acquiring a phase change of the covering element in the echo direction; and determining the second phase change based on the fixed phase change, the directional phase change, and the phase change of the covering element.

[0129] Optionally, determining the second phase change based on the fixed phase change, the directional phase change, and the phase change of the cover element includes: constructing a first formula ψ(θ)=ψ0+δ(θ)+Bumper(θ), where ψ(θ) is the second phase change, ψ0 is the fixed phase change, δ(θ) is the directional phase change, and Bumper(θ) is the phase change of the cover element; and determining the second phase change based on the first formula, the fixed phase change, the directional phase change, and the phase change of the cover element.

[0130] Optionally, the echo direction is a predetermined angle direction. Based on the phase calibration amount, the phases to be calibrated measured in multiple echo directions are calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the phase of the reflected wave in one of the echo directions. This includes: acquiring multiple phases to be calibrated, wherein one phase to be calibrated corresponds to one echo direction, and the phase to be calibrated is the sum of a first phase change and a second phase change in the echo direction; and obtaining multiple calibration data based on the phase calibration amount in the predetermined angle direction and the multiple phases to be calibrated, wherein the calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the predetermined angle direction.

[0131] Optionally, based on the phase calibration amount in the predetermined angular direction and the multiple phases to be calibrated, multiple calibration data are obtained, including: constructing a second formula. Where θ is the echo direction, a is the predetermined angle direction, and ΔΦ comp(θ) represents the calibration data mentioned above. Let ψ(θ) be the first phase change in the echo direction, ψ(θ) be the second phase change in the echo direction, and ΔΦ(a) be the phase calibration amount in the predetermined angle direction. Based on the second formula, the phase calibration amount in the predetermined angle direction, and the phase to be calibrated, multiple calibration data are obtained.

[0132] Optionally, there are multiple echo directions. Based on the phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the phase of the reflected wave in one of the echo directions. This includes obtaining multiple calibration data based on multiple phase calibration amounts and multiple phases to be calibrated, wherein the calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the echo direction.

[0133] Optionally, obtaining the first phase change includes: obtaining the angle of the echo direction; obtaining the wavelength of the received wave; obtaining the distance interval between two adjacent receiving antennas; and determining the first phase change based on the angle of the echo direction, the wavelength of the received wave, and the distance interval between the receiving antennas.

[0134] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps: step S201, obtaining a first phase change amount, wherein the first phase change amount is determined based on the distance between different receiving antennas;

[0135] Step S202: Obtain the second phase change amount, which includes the phase change amount caused by the influence of the radar body on the reflected wave and the phase change amount caused by the influence of the covering part on the reflected wave.

[0136] Step S203: Calculate the sum of the first phase change and the second phase change to obtain the phase calibration amount in the echo direction;

[0137] Step S204: Based on the aforementioned phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the aforementioned phase calibration amounts is the deviation of the phase of the reflected wave in one of the aforementioned echo directions.

[0138] Optionally, the radar body further includes a transmitting antenna, and the acquisition of the second phase change includes: acquiring a fixed phase change of the reflected wave, wherein the fixed phase change is the phase change generated when the reflected wave is emitted by the transmitting antenna and received by the receiving antenna; acquiring a directional phase change in the echo direction, wherein the directional phase change is caused by the different angles at which the receiving antenna receives the reflected wave; acquiring a phase change of the covering element in the echo direction; and determining the second phase change based on the fixed phase change, the directional phase change, and the phase change of the covering element.

[0139] Optionally, determining the second phase change based on the fixed phase change, the directional phase change, and the phase change of the cover element includes: constructing a first formula ψ(θ)=ψ0+δ(θ)+Bumper(θ), where ψ(θ) is the second phase change, ψ0 is the fixed phase change, δ(θ) is the directional phase change, and Bumper(θ) is the phase change of the cover element; and determining the second phase change based on the first formula, the fixed phase change, the directional phase change, and the phase change of the cover element.

[0140] Optionally, the echo direction is a predetermined angle direction. Based on the phase calibration amount, the phases to be calibrated measured in multiple echo directions are calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the phase of the reflected wave in one of the echo directions. This includes: acquiring multiple phases to be calibrated, wherein one phase to be calibrated corresponds to one echo direction, and the phase to be calibrated is the sum of a first phase change and a second phase change in the echo direction; and obtaining multiple calibration data based on the phase calibration amount in the predetermined angle direction and the multiple phases to be calibrated, wherein the calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the predetermined angle direction.

[0141] Optionally, based on the phase calibration amount in the predetermined angular direction and the multiple phases to be calibrated, multiple calibration data are obtained, including: constructing a second formula. Where θ is the echo direction, a is the predetermined angle direction, and ΔΦ comp (θ) represents the calibration data mentioned above. Let ψ(θ) be the first phase change in the echo direction, ψ(θ) be the second phase change in the echo direction, and ΔΦ(a) be the phase calibration amount in the predetermined angle direction. Based on the second formula, the phase calibration amount in the predetermined angle direction, and the phase to be calibrated, multiple calibration data are obtained.

[0142] Optionally, there are multiple echo directions. Based on the phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the phase of the reflected wave in one of the echo directions. This includes obtaining multiple calibration data based on multiple phase calibration amounts and multiple phases to be calibrated, wherein the calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the echo direction.

[0143] Optionally, obtaining the first phase change includes: obtaining the angle of the echo direction; obtaining the wavelength of the received wave; obtaining the distance interval between two adjacent receiving antennas; and determining the first phase change based on the angle of the echo direction, the wavelength of the received wave, and the distance interval between the receiving antennas.

[0144] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0145] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0146] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0147] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0148] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0149] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0150] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0151] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0152] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0153] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0154] 1) The radar angle measurement calibration method of this application includes a radar body and a cover, wherein the radar body includes a receiving antenna. The method includes: firstly, acquiring a first phase change, which is determined based on the distance between different receiving antennas; acquiring a second phase change, which includes the phase change caused by the radar body's influence on the reflected wave and the phase change caused by the cover's influence on the reflected wave; then calculating the sum of the first and second phase changes to obtain a phase calibration value in the echo direction; finally, calibrating the phases to be calibrated measured in multiple echo directions based on the phase calibration value to obtain multiple calibration data, wherein one of the phase calibration values ​​is the deviation of the reflected wave phase in one echo direction. This application calibrates the radar body and cover as a whole, taking into account the radar amplitude-phase inconsistency problem caused by the cover, compensating for the angle measurement error, improving the radar's angle measurement accuracy, and solving the problem that traditional radar angle measurement calibration methods do not consider the influence of the radar cover on the angle measurement accuracy, thereby improving the radar's detection performance.

[0155] 2) The radar angle measurement calibration device of this application includes a radar body and a cover. The radar body includes a receiving antenna. A first acquisition unit is used to acquire a first phase change, which is determined based on the distance between different receiving antennas. A second acquisition unit is used to acquire a second phase change, which includes the phase change caused by the radar body's influence on the reflected wave and the phase change caused by the cover's influence on the reflected wave. A calculation unit is used to calculate the sum of the first and second phase changes to obtain a phase calibration value in the echo direction. A calibration unit is used to calibrate the phases to be calibrated measured in multiple echo directions based on the phase calibration value to obtain multiple calibration data. One of the phase calibration values ​​is the deviation of the phase of the reflected wave in one echo direction. This application performs angle measurement calibration by treating the radar body and the cover as a whole, taking into account the radar amplitude-phase inconsistency problem caused by the cover, compensating for the angle measurement, reducing the angle measurement error, improving the radar's angle measurement accuracy, and solving the problem that traditional radar angle measurement calibration methods do not consider the influence of the radar cover on the angle measurement accuracy, thereby improving the radar's detection performance.

[0156] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method of calibrating a radar angle measurement, characterized by, The radar includes a radar body and a cover, wherein the radar body includes a receiving antenna, and the calibration method includes: Obtain the first phase change amount, which is determined based on the distance between different receiving antennas; The second phase change amount is obtained, which includes the phase change amount caused by the influence of the radar body on the reflected wave and the phase change amount caused by the influence of the covering part on the reflected wave; The sum of the first phase change and the second phase change is calculated to obtain the phase calibration amount in the echo direction; According to the phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data, and one of the phase calibration amounts is the deviation of the phase of the reflected wave in one of the echo directions.

2. The calibration method according to claim 1, characterized in that, The radar body also includes a transmitting antenna to acquire the second phase change, including: Obtain the fixed phase change of the reflected wave, wherein the fixed phase change is the phase change of the reflected wave when it is emitted by the transmitting antenna and received by the receiving antenna; The directional phase change in the direction of the echo is obtained, and the directional phase change is caused by the different angles at which the receiving antenna receives the reflected wave. Obtain the amount of phase change of the cover in the echo direction; The second phase change is determined based on the fixed phase change, the directional phase change, and the phase change of the cover.

3. The calibration method according to claim 2, characterized in that, Determining the second phase change based on the fixed phase change, the directional phase change, and the phase change of the cover element includes: Constructing the first formula ,in, This is the second phase change amount. This refers to the fixed phase change. The change in phase in the stated direction. The phase change of the cover element. The direction of the echo; The second phase change is determined based on the first formula, the fixed phase change, the directional phase change, and the phase change of the cover.

4. The calibration method according to claim 1, characterized in that, The echo direction is a predetermined angular direction. Based on the phase calibration amount, the phases to be calibrated measured in multiple echo directions are calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the reflected wave's phase in one echo direction, including: Multiple phases to be calibrated are acquired, wherein one phase to be calibrated corresponds to one echo direction; Based on the phase calibration amount in the predetermined angle direction and the multiple phases to be calibrated, multiple calibration data are obtained, wherein the calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration amount in the predetermined angle direction.

5. The calibration method according to claim 4, characterized in that, According to the phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the reflected wave phase in one echo direction, and further includes: Constructing the second formula ,in, The direction of the echo. For the predetermined angle direction, For the calibration data, For a fixed phase change, The first phase change in the echo direction. The distance interval between two adjacent receiving antennas. The directional phase change in the direction of the echo. The phase change of the cover element in the echo direction. The phase calibration amount; According to the second formula and the phase calibration amount, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the phase calibration amounts is the deviation of the phase of the reflected wave in one echo direction. The phase to be calibrated is the sum of the first phase change amount in the echo direction and the second phase change amount in the echo direction.

6. The calibration method according to claim 1, characterized in that, There are multiple echo directions. Based on the phase calibration value, the phase to be calibrated measured in multiple echo directions is calibrated to obtain multiple calibration data. One of the phase calibration values ​​is the deviation of the reflected wave's phase in one of the echo directions, including: Multiple calibration data are obtained based on multiple phase calibration values ​​and multiple phases to be calibrated, wherein the calibration data is the difference between the phase to be calibrated in the echo direction and the phase calibration value in the echo direction.

7. The calibration method according to any one of claims 1 to 6, characterized in that, Obtaining the first phase change includes: Obtain the angle of the echo direction; Obtain the wavelength of the received wave; Obtain the distance interval between two adjacent receiving antennas; The first phase change is determined based on the angle of the echo direction, the wavelength of the received wave, and the distance between the receiving antennas.

8. A calibration device for radar angle measurement, characterized in that, The radar includes a radar body and a cover, the radar body including a receiving antenna, and the calibration device including: The first acquisition unit is used to acquire a first phase change amount, wherein the first phase change amount is determined based on the distance between different receiving antennas; The second acquisition unit is used to acquire a second phase change amount, which includes the phase change amount caused by the influence of the radar body on the reflected wave and the phase change amount caused by the influence of the covering part on the reflected wave. The calculation unit is used to calculate the sum of the first phase change and the second phase change to obtain the phase calibration amount in the echo direction; A calibration unit is used to calibrate the phase to be calibrated measured in multiple echo directions according to the phase calibration amount to obtain multiple calibration data, wherein one of the phase calibration amounts is the deviation of the phase of the reflected wave in one of the echo directions.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the radar angle measurement calibration method according to any one of claims 1 to 7.

10. A calibration device, characterized in that, include: One or more processors, a memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a calibration method for performing radar angle measurement according to any one of claims 1 to 7.

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