A target angle detection method, device, apparatus and storage medium

Abstract

Embodiments of the present application disclose a target angle detection method, device and equipment, and a storage medium. The method comprises: determining an antenna subarray set from an antenna full array; wherein the antenna full array is composed of all array elements of an array antenna, and the antenna subarray set is composed of at least one antenna subarray, and the antenna subarray is composed of part array elements of the array antenna; controlling the antenna full array to scan a region within a first preset angle range to obtain a power spectrum curve; wherein the power spectrum curve represents a curve of signal power changing with an angle; determining a target antenna subarray from the antenna subarray set according to the power spectrum curve; and detecting a target angle according to the target antenna subarray. According to the method of detecting the target angle by using the antenna full array and the target antenna subarray, the effect of high resolution of the radar angle can be achieved by using lower computing power.

Description

Technical Field

[0001] The present invention relates to the field of radar target detection technology, and in particular to a method, apparatus, device and storage medium for detecting target angle. Background Technology

[0002] In recent years, with the rise of intelligent driving, various vehicle sensors have developed rapidly. Millimeter-wave radar, with its advantages of small size, low cost, and strong adaptability, has been highly favored by the vehicle market and has played an important role in intelligent driving systems.

[0003] Millimeter-wave radar acquires target position and motion information by measuring distance, velocity, and angle. Among these, angle measurement has always been one of the most important and complex functions of millimeter-wave radar. Various algorithms have been proposed for angle measurement, but they still have some problems. For example, super-resolution algorithms (MUSIC, MVDR, etc.) have excessively high algorithm complexity, consume too much computing power, and are greatly affected by noise interference, which limits their practical application. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and storage medium for detecting target angles, which can achieve high resolution of radar angles with relatively low computing power.

[0005] In a first aspect, embodiments of the present invention provide a method for detecting a target angle, comprising: determining an antenna subarray set from a full antenna array; wherein the full antenna array is composed of all array antenna elements, the antenna subarray set is composed of at least one antenna subarray, and the antenna subarray is composed of some array antenna elements; controlling the full antenna array to scan a region within a first preset angle range to obtain a power spectrum curve; wherein the power spectrum curve characterizes the curve of signal power changing with angle; determining a target antenna subarray from the antenna subarray set based on the power spectrum curve; and detecting a target angle based on the target antenna subarray.

[0006] Secondly, embodiments of the present invention provide a target angle detection device, comprising: an antenna subarray set determination module, configured to determine an antenna subarray set from a full antenna array; wherein the full antenna array is composed of all array antenna elements, the antenna subarray set is composed of at least one antenna subarray, and the antenna subarray is composed of some array antenna elements; a scanning module, configured to control the full antenna array to scan a region within a first preset angle range to obtain a power spectrum curve; wherein the power spectrum curve characterizes the curve of signal power changing with angle; a target antenna subarray determination module, configured to determine a target antenna subarray from the antenna subarray set based on the power spectrum curve; and a target angle detection module, configured to detect a target angle based on the target antenna subarray.

[0007] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising:

[0008] At least one processor; and

[0009] A memory communicatively connected to the at least one processor; wherein,

[0010] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the target angle detection method according to any embodiment of the present invention.

[0011] Fourthly, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the target angle detection method according to any embodiment of the present invention.

[0012] The technical solution of this embodiment involves determining an antenna subarray set from the full antenna array. The full antenna array consists of all elements of the array antennas, and the antenna subarray set consists of at least one antenna subarray, which in turn consists of some elements of the array antennas. The full antenna array is controlled to scan a region within a first preset angle range to obtain a power spectrum curve. This power spectrum curve represents the change in signal power with angle. A target antenna subarray is determined from the antenna subarray set based on the power spectrum curve. The target angle is then detected based on the target antenna subarray. This embodiment, by detecting the target angle using both the full antenna array and the target antenna subarray, achieves high radar angle resolution with relatively low computing power. Attached Figure Description

[0013] Figure 1 A flowchart illustrating a target angle detection method provided in an embodiment of the present invention;

[0014] Figure 2 This is a schematic diagram of the array element layout in an array antenna provided in an embodiment of the present invention;

[0015] Figure 3 The radiation patterns of the full antenna array, the first antenna subarray, and the second antenna subarray provided in the embodiments of the present invention;

[0016] Figure 4 A flowchart illustrating another target angle detection method provided in an embodiment of the present invention;

[0017] Figure 5 This is a schematic diagram of the structure of a target angle detection device provided in an embodiment of the present invention;

[0018] Figure 6This is a schematic diagram of the structure of an electronic device that implements an embodiment of the present invention. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0020] Figure 1 This is a flowchart illustrating a target angle detection method provided in an embodiment of the present invention. This embodiment is applicable to target angle detection and can be executed by a target angle detection device. Specifically, it includes the following steps:

[0021] S110. Determine the antenna subarray set from the full antenna array.

[0022] The full antenna array consists of all the array antenna elements, the antenna subarray consists of at least one antenna subarray, and the antenna subarray consists of some array antenna elements.

[0023] Specifically, one or more antenna subarrays can be identified from the entire antenna array, and the identified antenna subarrays satisfy the following conditions: the main lobe and grating lobe of the antenna subarray pattern are far apart. Furthermore, if there are multiple antenna subarrays, the grating lobe characteristics of the patterns of different antenna subarrays have significant differences. These differences can be due to different grating lobe positions or different amplitude differences, which are the amplitude differences between the main lobe and the grating lobe.

[0024] Optionally, the antenna subarray set can be determined from the full antenna array by: determining a first antenna subarray and a second antenna subarray from the full antenna array such that the first antenna subarray and the second antenna subarray satisfy a set condition; and using the first antenna subarray and / or the second antenna subarray as the final antenna subarray set.

[0025] The number of elements in the first antenna subarray is less than or equal to the number of elements in the second antenna subarray.

[0026] In this embodiment, there is no limitation on the number of array elements in the first antenna subarray and the second antenna subarray. For example, if the total number of array elements in the array antenna is 16, the number of array elements in the first antenna subarray can be 3, and the number of array elements in the second antenna subarray can be 3 or 4.

[0027] In this embodiment, the method for determining the first and second antenna subarrays from the entire antenna array can be as follows: From all the array elements in the antenna array, arbitrarily select a first number of elements to form a candidate first antenna subarray. If the candidate first antenna subarray meets a set condition, it can be used as the first antenna subarray. The first number can be 3. From all the array elements in the antenna array, arbitrarily select a second number of elements to form a candidate second antenna subarray. If the candidate second antenna subarray meets a set condition, it can be used as the second antenna subarray. The second number can be 4.

[0028] Optionally, the setting conditions include: the distance between the main lobe and the grating lobe of the radiation pattern of the first antenna subarray is greater than a first preset threshold, and the main lobe width is the narrowest among the subarrays that meet the first preset threshold condition; the distance between the main lobe and the grating lobe of the radiation pattern of the second antenna subarray is greater than a second preset threshold, and the main lobe width is the narrowest among the subarrays that meet the second preset threshold condition; the first preset threshold is less than the second preset threshold.

[0029] The antenna pattern, obtained through simulation, represents the power intensity received by the radar at different angles when a standard point target is at a distance in the far field. The distance between the main lobe and the grating lobe can be understood as the difference between the angle corresponding to the main lobe amplitude and the angle corresponding to the grating lobe amplitude. This embodiment does not limit the specific first and second preset thresholds; for example, the first preset threshold can be 20 degrees, 22 degrees, etc., and the second preset threshold can be 30 degrees. The amplitude in the pattern can be understood as the power in the pattern. It should be noted that in determining the first and second antenna subarrays, priority is given to the first antenna subarray, whose beamwidth is narrower than that of the second antenna subarray, thus possessing higher target angle detection (resolution) capability. If multiple first antenna subarrays meet the following condition, the antenna subarray with the narrowest main lobe width among them is selected as the preferred first antenna subarray: the distance between the main lobe and the grating lobe in the pattern of the first antenna subarray is greater than the first preset threshold. If there are multiple second antenna subarrays that meet the following conditions, the antenna subarray with the narrowest main lobe width among the multiple second antenna subarrays that meet the conditions will be selected as the preferred second antenna subarray: the distance between the main lobe and the grating lobe of the radiation pattern of the second antenna subarray is greater than a second preset threshold.

[0030] For example, taking a 4-transmit 4-receive MIMO radar as an example, the selection of antenna subarrays is explained. The array elements are evenly distributed, such as... Figure 2 As shown, Figure 2 This is a schematic diagram of the array element layout in an array antenna provided in an embodiment of the present invention. Figure 2There are a total of 16 channels. For the full antenna array: it can be an antenna array consisting of all 16 channels, with a 3dB beamwidth of 6.35 degrees. For the first antenna subarray: it can be an antenna subarray consisting of channels 1, 6, and 16, with a 3dB beamwidth of 4.66 degrees. For the second antenna subarray: it can be an antenna subarray consisting of channels 1, 4, 10, and 16, with a 3dB beamwidth of 5.05 degrees.

[0031] Correspondingly, the radiation patterns of the entire antenna array, the first antenna subarray, and the second antenna subarray are as follows: Figure 3 As shown, Figure 3 The radiation patterns of the full antenna array, the first antenna subarray, and the second antenna subarray provided in the embodiments of the present invention. Figure 3 In the diagram, the full array A0 (A0) represents the entire antenna array, subarray A1 (A1) represents the first antenna subarray, and subarray A2 (A2) represents the second antenna subarray. The grating lobe amplitude of the first antenna subarray can be the amplitude corresponding to angles of -24 degrees and 24 degrees, and the main lobe amplitude of the first antenna subarray can be the amplitude corresponding to an angle of 0 degrees. The spacing between the main lobe and the grating lobe of the first antenna subarray can be understood as the difference between the angle corresponding to the main lobe amplitude (0 degrees) and the angle corresponding to the grating lobe amplitude (-24 degrees), so the difference (spacing) can be 24.

[0032] S120: Control the entire antenna array to scan the region within the first preset angle range to obtain the power spectrum curve.

[0033] The power spectrum curve represents the signal power as a function of angle. In this embodiment, the specific first preset angle range is not limited; for example, it can be between -80 degrees and 80 degrees, or between -70 degrees and 70 degrees. Regarding the scanning method, this embodiment is not limited; for example, it can be a conventional beamforming (CBF) algorithm.

[0034] Specifically, the entire array of the control antenna performs a CBF scan within a region of a first preset angle range. After scanning, the target echo signal can be received. A Fast Fourier Transform (FFT) is then performed on the target echo signal to obtain the power spectrum curve. Here, "region" can be understood as the area where the target object is located.

[0035] S130. Determine the target antenna subarray from the antenna subarray set based on the power spectrum curve.

[0036] In this embodiment, the antenna subarray is determined from the antenna subarray set based on the characteristics of the power spectrum curve (such as the main lobe width corresponding to the power spectrum curve of the entire antenna array).

[0037] Optionally, if the first antenna subarray and the second antenna subarray are taken as the final antenna subarray set, the method for determining the target antenna subarray from the antenna subarray set based on the power spectrum curve can be as follows: if the main lobe width of the power spectrum curve is less than the first spacing, then the first antenna subarray is taken as the target antenna subarray; the first spacing is the spacing between the main lobe and the grating lobe of the radiation pattern of the first antenna subarray; if the main lobe width of the power spectrum curve is greater than or equal to the first spacing, then the second antenna subarray is taken as the target antenna subarray.

[0038] Optionally, if the first antenna subarray or the second antenna subarray is used as the final antenna subarray set, the method for determining the target antenna subarray based on the power spectrum curve and the antenna subarray set can be as follows: if the main lobe width of the power spectrum curve is less than the first spacing, then the first antenna subarray is used as the target antenna subarray; if the main lobe width of the power spectrum curve is greater than or equal to the first spacing, then the entire antenna array is used as the target antenna subarray; or, if the main lobe width of the power spectrum curve is less than the second spacing, then the second antenna subarray is used as the target antenna subarray; the second spacing is the spacing between the main lobe and the grating lobe of the radiation pattern of the second antenna subarray; if the main lobe width of the power spectrum curve is greater than or equal to the second spacing, then the entire antenna array is used as the target antenna subarray.

[0039] Specifically, the method for determining the target antenna subarray can be as follows: after controlling the entire antenna array to perform a CBF scan of the region within a first preset angle range, the power spectrum curve of the scanned entire antenna array can be obtained, and the subarray can be determined based on the characteristics of the power spectrum curve. Specifically, the characteristics of the power spectrum curve can be the main lobe width.

[0040] Specifically, if the antenna subarray set includes a first antenna subarray and a second antenna subarray, the first antenna subarray is first evaluated: if the main lobe width of the power spectrum curve is less than a first spacing, it indicates that the first antenna subarray will not experience angular ambiguity during subsequent scanning, and thus the first antenna subarray is selected as the target antenna subarray. The first spacing is the distance between the main lobe and the grating lobe of the first antenna subarray's radiation pattern. If the main lobe width of the power spectrum curve is greater than or equal to the first spacing, it indicates that the first antenna subarray will experience angular ambiguity during subsequent scanning, and thus the second antenna subarray is selected as the target antenna subarray. Since both the first and second antenna subarrays meet the set conditions when being determined, in practical applications with many targets, the first antenna subarray may experience angular ambiguity. However, even if the first antenna subarray experiences angular ambiguity, the second antenna subarray will usually not experience angular ambiguity (grating lobe ambiguity) during scanning.

[0041] Specifically, if the antenna subarray set includes the first antenna subarray, then the first antenna subarray is evaluated as follows: if the main lobe width of its power spectrum curve is less than the first spacing, then the first antenna subarray is selected as the target antenna subarray. Otherwise, the entire antenna array is selected as the target antenna subarray.

[0042] Specifically, if the antenna subarray set includes the second antenna subarray, the second antenna subarray is judged as follows: if the main lobe width of the power spectrum curve is less than the second spacing, then the second antenna subarray is taken as the target antenna subarray; otherwise, the entire antenna array is taken as the target antenna subarray.

[0043] S140. Detect the target angle based on the target antenna subarray.

[0044] Specifically, if the target antenna subarray is the first antenna subarray or the second antenna subarray, then based on the power spectrum curve obtained through the entire antenna array, the region corresponding to the angle range of the main lobe in the power spectrum curve is scanned through the first antenna subarray or the second antenna subarray, thereby detecting the target angle.

[0045] Specifically, if the target antenna subarray is a full antenna array, then after obtaining the power spectrum curve through the full antenna array, peak detection is performed on the power spectrum curve to obtain the peak value, and the angle corresponding to the peak value is taken as the target angle.

[0046] Optionally, the target angle can be detected by controlling the target antenna subarray to scan the region corresponding to the second preset angle range in the power spectrum curve to obtain a local power spectrum curve. The target angle is then detected based on the local power spectrum curve.

[0047] The second preset angle range is the angle range corresponding to the main lobe in the power spectrum curve, and the second preset angle range is smaller than the first preset angle range. Specifically, the target antenna subarray is controlled to perform CBF scanning on the region corresponding to the second preset angle range in the power spectrum curve to obtain a local power spectrum curve relative to the first preset angle range, thereby detecting the target angle based on the local power spectrum curve.

[0048] In this embodiment, by adopting CBF scanning, the computational overhead is relatively low compared to existing technologies (such as super-resolution algorithms), and the method of detecting the target angle by combining the target antenna subarray with the full array scanning of the antenna has a high angle resolution capability.

[0049] Optionally, the target angle can be detected based on the local power spectrum curve by: performing peak detection on the local power spectrum curve to obtain the peak value; and determining the angle corresponding to the peak value as the target angle.

[0050] Specifically, peak values ​​are found in the local power spectrum curve. A peak value in the local power spectrum curve can be understood as the maximum power value within the curve, which could be the amplitude of the main lobe of the target antenna subarray. If multiple peak values ​​are obtained, it indicates that there are multiple targets. For the target angle, the angle corresponding to the peak value can be taken as the final target angle.

[0051] It should be noted that the application scenario of this solution can be as follows: If there are multiple targets, after performing a CBF scan using the full antenna array, it is confirmed that the target is in the angle range of [-12°, +12°], but the full antenna array cannot distinguish it. In this case, the target antenna subarray in this solution can be used to perform a CBF scan on the region of the [-12°, +12°] angle range. The target antenna subarray will not become blurred within this angle range, thereby achieving high resolution of the target angle within this angle range, which means that the target angles corresponding to multiple targets can be distinguished.

[0052] The technical solution of this embodiment involves determining an antenna subarray set from the full antenna array. The full antenna array consists of all elements of the array antennas, and the antenna subarray set consists of at least one antenna subarray, which in turn consists of some elements of the array antennas. The full antenna array is controlled to scan a region within a first preset angle range to obtain a power spectrum curve. This power spectrum curve represents the change in signal power with angle. A target antenna subarray is determined from the antenna subarray set based on the power spectrum curve. The target angle is then detected based on the target antenna subarray. This embodiment, by detecting the target angle using both the full antenna array and the target antenna subarray, achieves high radar angle resolution with relatively low computing power.

[0053] Figure 4 A flowchart of another target angle detection method provided in an embodiment of the present invention.

[0054] Step 1: Select the first antenna subarray and the second antenna subarray.

[0055] For the second antenna subarray, its selection can be decided based on actual needs. The basic principle for selecting the antenna subarray is as follows: when selecting the first and second antenna subarrays, ensure that both subarrays meet the set conditions. Furthermore, the first antenna subarray is the preferred choice among the first and second antenna subarrays.

[0056] Step 2: Control the entire antenna array within the full field of view and perform a CBF scan to obtain the power spectrum curve of the full field of view.

[0057] The field of view (FOV) can be understood as the first preset angle range.

[0058] Step 3: Determine the target antenna subarray based on the power spectrum curve.

[0059] Specifically, the first antenna subarray is initially selected as the target antenna subarray. If the power spectrum curve indicates that the first antenna subarray will cause angular ambiguity, and a second antenna subarray exists, it is selected as the target antenna subarray. Otherwise, the process of detecting the target angle using antenna subarrays is terminated, and the target angle is detected using the entire antenna array.

[0060] Step 4: Control the target antenna subarray to perform CBF scanning on the region corresponding to the second preset angle range in the power spectrum curve to obtain the local power spectrum curve.

[0061] Step 5: Perform peak detection on the local power spectrum curve and determine the target angle based on the peak value.

[0062] Figure 5 This is a schematic diagram of a target angle detection device provided in an embodiment of the present invention. Figure 5 As shown, the device includes: an antenna subarray determination module 501, a scanning module 502, a target antenna subarray determination module 503, and a target angle detection module 504;

[0063] Antenna Subarray Determination Module 501 is used to determine antenna subarrays from the full antenna array; wherein, the full antenna array is composed of all array elements of the array antenna, the antenna subarray is composed of at least one antenna subarray, and the antenna subarray is composed of some array elements of the array antenna.

[0064] The scanning module 502 is used to control the entire antenna array to scan the region within a first preset angle range to obtain a power spectrum curve; wherein, the power spectrum curve represents the curve of signal power changing with angle;

[0065] The target antenna subarray determination module 503 is used to determine the target antenna subarray from the antenna subarray set according to the power spectrum curve.

[0066] The target angle detection module 504 is used to detect the target angle based on the target antenna subarray.

[0067] The technical solution of this embodiment determines an antenna subarray set from the full antenna array using an antenna subarray set determination module. The full antenna array consists of all array antenna elements, and the antenna subarray set consists of at least one antenna subarray, which in turn consists of some array antenna elements. A scanning module controls the full antenna array to scan a region within a first preset angle range to obtain a power spectrum curve. This power spectrum curve represents the change in signal power with angle. A target antenna subarray determination module determines a target antenna subarray from the antenna subarray set based on the power spectrum curve. A target angle detection module detects the target angle based on the target antenna subarray. This embodiment, by detecting the target angle using both the full antenna array and the target antenna subarray, achieves high radar angle resolution with relatively low computing power.

[0068] Optionally, the antenna subarray set determination module is specifically used to: determine a first antenna subarray and a second antenna subarray from the full antenna array, such that the first antenna subarray and the second antenna subarray satisfy a set condition; wherein, the number of array elements in the first antenna subarray is less than or equal to the number of array elements in the second antenna subarray; and take the first antenna subarray and / or the second antenna subarray as the final antenna subarray set.

[0069] Optionally, the setting conditions include: the distance between the main lobe and the grating lobe of the radiation pattern of the first antenna subarray is greater than a first preset threshold, and the main lobe width is the narrowest among the subarrays that meet the first preset threshold condition; the distance between the main lobe and the grating lobe of the radiation pattern of the second antenna subarray is greater than a second preset threshold, and the main lobe width is the narrowest among the subarrays that meet the second preset threshold condition; the first preset threshold is less than the second preset threshold.

[0070] Optionally, if the first antenna subarray and the second antenna subarray are taken as the final antenna subarray set, the target antenna subarray determination module is specifically used to: if the main lobe width of the power spectrum curve is less than the first spacing, then the first antenna subarray is taken as the target antenna subarray; the first spacing is the spacing between the main lobe and the grating lobe of the radiation pattern of the first antenna subarray; if the main lobe width of the power spectrum curve is greater than or equal to the first spacing, then the second antenna subarray is taken as the target antenna subarray.

[0071] Optionally, the target angle detection module is specifically used to: control the target antenna subarray to scan the region corresponding to the second preset angle range in the power spectrum curve to obtain a local power spectrum curve; wherein, the second preset angle range is the angle range corresponding to the main lobe in the power spectrum curve; and detect the target angle based on the local power spectrum curve.

[0072] Optionally, the target angle detection module is further configured to: perform peak detection on the local power spectrum curve to obtain the peak value; and determine the angle corresponding to the peak value as the target angle.

[0073] Optionally, if the first antenna subarray or the second antenna subarray is used as the final antenna subarray set, the target antenna subarray determination module is further configured to: if the main lobe width of the power spectrum curve is less than the first spacing, then the first antenna subarray is used as the target antenna subarray; if the main lobe width of the power spectrum curve is greater than or equal to the first spacing, then the entire antenna array is used as the target antenna subarray; or, if the main lobe width of the power spectrum curve is less than the second spacing, then the second antenna subarray is used as the target antenna subarray; the second spacing is the spacing between the main lobe and the grating lobe of the radiation pattern of the second antenna subarray; if the main lobe width of the power spectrum curve is greater than or equal to the second spacing, then the entire antenna array is used as the target antenna subarray.

[0074] Figure 6A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0075] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0076] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0077] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a method for detecting the angle of a target.

[0078] In some embodiments, a target angle detection method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the target angle detection method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform a target angle detection method by any other suitable means (e.g., by means of firmware).

[0079] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0080] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0081] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0082] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0083] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0084] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0085] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0086] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for detecting a target angle, characterized in that, include: The antenna subarray is determined from the full antenna array; the full antenna array consists of all the array antenna elements. An antenna subarray set consists of at least one antenna subarray, and an antenna subarray consists of array antenna elements. The antenna array is controlled to scan a region within a first preset angle range to obtain a power spectrum curve; wherein, the power spectrum curve represents the curve of signal power changing with angle; The target antenna subarray is determined from the antenna subarray set based on the power spectrum curve. The target angle is detected based on the target antenna subarray. Determining the antenna subarray set from the full antenna array includes: A first antenna subarray and a second antenna subarray are determined from the full antenna array, such that the first antenna subarray and the second antenna subarray satisfy a set condition; wherein the number of array elements in the first antenna subarray is less than or equal to the number of array elements in the second antenna subarray. The first antenna subarray and / or the second antenna subarray are used as the final antenna subarray set; The setting conditions include: The spacing between the main lobe and the grating lobe of the radiation pattern of the first antenna subarray is greater than a first preset threshold, and the main lobe width is the narrowest among the subarrays that meet the first preset threshold condition. The spacing between the main lobe and the grating lobe of the radiation pattern of the second antenna subarray is greater than a second preset threshold, and the main lobe width is the narrowest among the subarrays that meet the second preset threshold condition; The first preset threshold is less than the second preset threshold.

2. The method according to claim 1, characterized in that, If the first antenna subarray and the second antenna subarray are taken as the final antenna subarray set, determining the target antenna subarray from the antenna subarray set based on the power spectrum curve includes: If the main lobe width of the power spectrum curve is less than the first spacing, then the first antenna subarray is taken as the target antenna subarray; the first spacing is the spacing between the main lobe and the grating lobe of the radiation pattern of the first antenna subarray. If the main lobe width of the power spectrum curve is greater than or equal to the first spacing, then the second antenna subarray will be used as the target antenna subarray.

3. The method according to claim 2, characterized in that, Detecting the target angle based on the target antenna subarray includes: The target antenna subarray is controlled to scan the region corresponding to the second preset angle range in the power spectrum curve to obtain a local power spectrum curve; wherein, the second preset angle range is the angle range corresponding to the main lobe in the power spectrum curve; The target angle is detected based on the local power spectrum curve.

4. The method according to claim 3, characterized in that, Detecting the target angle based on the local power spectrum curve includes: Peak values ​​are obtained by performing peak detection on the local power spectrum curve. The angle corresponding to the peak value is determined as the target angle.

5. The method according to claim 1, characterized in that, If the first antenna subarray or the second antenna subarray is taken as the final antenna subarray set, determining the target antenna subarray from the antenna subarray set based on the power spectrum curve includes: If the main lobe width of the power spectrum curve is less than the first spacing, then the first antenna subarray is taken as the target antenna subarray. If the main lobe width of the power spectrum curve is greater than or equal to the first spacing, then the entire antenna array is taken as the target antenna subarray; or... If the main lobe width of the power spectrum curve is less than the second spacing, then the second antenna subarray is taken as the target antenna subarray; the second spacing is the spacing between the main lobe and the grating lobe of the second antenna subarray pattern. If the main lobe width of the power spectrum curve is greater than or equal to the second spacing, then the entire antenna array is taken as the target antenna subarray.

6. A target angle detection device, characterized in that, include: The antenna subarray determination module is used to determine the antenna subarray set from the full antenna array; wherein, the full antenna array consists of all the array antenna elements. An antenna subarray set consists of at least one antenna subarray, and an antenna subarray consists of array antenna elements. The scanning module is used to control the entire antenna array to scan a region within a first preset angle range to obtain a power spectrum curve; wherein, the power spectrum curve represents the curve of signal power changing with angle; A target antenna subarray determination module is used to determine a target antenna subarray from the set of antenna subarrays based on the power spectrum curve. The target angle detection module is used to detect the target angle based on the target antenna subarray. The antenna subarray set determination module is specifically used to: determine a first antenna subarray and a second antenna subarray from the full antenna array, such that the first antenna subarray and the second antenna subarray satisfy a set condition; wherein, the number of array elements in the first antenna subarray is less than or equal to the number of array elements in the second antenna subarray; and take the first antenna subarray and / or the second antenna subarray as the final antenna subarray set; The setting conditions include: the distance between the main lobe and the grating lobe of the radiation pattern of the first antenna subarray is greater than a first preset threshold, and the main lobe width is the narrowest among the subarrays that meet the first preset threshold condition; the distance between the main lobe and the grating lobe of the radiation pattern of the second antenna subarray is greater than a second preset threshold, and the main lobe width is the narrowest among the subarrays that meet the second preset threshold condition; the first preset threshold is less than the second preset threshold.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the target angle detection method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the target angle detection method according to any one of claims 1-5.

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