A method for determining attribute information of a target object

Abstract

The application discloses a kind of attribute information determination methods of target object. The method is applied to vehicle, the vehicle includes at least two radar antennas, at least one target object is installed around the radar antenna, the target object has wave absorption function, the determination method includes: obtaining the parameter information of at least two radar antennas;According to the parameter information of at least two radar antennas, the initial attribute information of at least one target object installed around the radar antenna is determined;According to the preset attribute range, the initial attribute information of at least one target object and the wave absorption rate corresponding to the target object, the target attribute information corresponding to at least one target object is determined. The embodiment of the application effectively suppresses the surface wave between radar antennas by installing wave absorbing material around the radar antenna, improves the consistency of radar antenna channel, and improves the overall performance of the radar.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of radar antennas, in particular to a method for determining attribute information of a target object. BACKGROUND

[0002] With the development of automotive electronics and the increasing demand for autonomous driving, millimeter wave radar has become one of the key sensors of ADAS (Advanced Driving Assistance System) and autonomous driving. Millimeter wave radar is mainly based on 77G millimeter wave radar, which has the advantages of small size and high detection accuracy. With the increasing demand for driving safety and automotive functional safety levels, automotive radar is required to adapt to more complex road scenarios. In order to meet the application of multiple scenarios, it is necessary to increase the number of radar antenna channels. With the increase of the number of radar antenna channels, the surface wave between the radar antennas is intensified, which causes the deterioration of the array antenna channel direction Figure One consistency, affects radar false alarms, and affects the radar's ability to distinguish different road scenarios, which affects safe driving.

[0003] Surface waves are generated by the interface of two different materials, the open boundary of periodic structures, the surface of layered planes and columnar layered structures. The characteristic of this wave type is that the field in the lateral direction of the structure decays exponentially with the distance from the surface, while it propagates regularly along the axial direction of the structure. This wave type is called surface wave, so vertical polarization antennas are less affected by surface waves, while horizontal polarization antennas are more affected by surface waves.

[0004] In order to solve the problem of antenna pattern deterioration caused by surface waves of horizontal polarization antennas, the commonly used method is to introduce EBG (Electromagnetic Band Gap) structures around the antenna. Although EBG structures have bandgap characteristics and can form high-impedance surfaces to suppress surface wave transmission to a certain extent, the EBG structure is affected by its own characteristics, and has the problems of narrow effective bandwidth, low surface wave suppression efficiency, high dependence on processing precision, and limited EBG distribution by antenna layout. The effect of EBG structure in suppressing surface waves is not obvious, and it is difficult to meet the performance requirements of automotive millimeter wave radar. SUMMARY

[0005] The present application provides a method for determining attribute information of a target object to improve the consistency of radar antenna channels and improve the overall performance of the radar.

[0006] According to an aspect of the present application, a method for determining attribute information of a target object is provided, which is applied to a vehicle, the vehicle comprising at least two radar antennas, at least one target object being installed around the radar antennas, the target object having a wave-absorbing function, and the method comprising:

[0007] obtain parameter information of at least two radar antennas;

[0008] determine initial attribute information of at least one target object installed around the radar antennas according to the parameter information of the at least two radar antennas;

[0009] determine target attribute information of the at least one target object according to a preset attribute range, the initial attribute information of the at least one target object, and a wave absorption rate corresponding to the target object.

[0010] According to another aspect of the present application, a device for determining attribute information of a target object is provided, which comprises:

[0011] an obtaining module configured to obtain parameter information of at least two radar antennas;

[0012] a first determining module configured to determine initial attribute information of at least one target object installed around the radar antennas according to the parameter information of the at least two radar antennas;

[0013] a second determining module configured to determine target attribute information of the at least one target object according to a preset attribute range, the initial attribute information of the at least one target object, and a wave absorption rate corresponding to the target object.

[0014] According to another aspect of the present application, an electronic device is provided, which comprises:

[0015] at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the method for determining attribute information of a target object according to any one of the embodiments of the present application.

[0016] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to execute the method for determining attribute information of a target object according to any one of the embodiments of the present application.

[0017] The technical scheme of the embodiment of the present application obtains the parameter information of at least two radar antennas, determines the initial attribute information of at least one target object installed around the radar antenna according to the parameter information of the at least two radar antennas, and determines the target attribute information corresponding to the at least one target object according to a preset attribute range, the initial attribute information of the at least one target object and the wave absorption rate corresponding to the target object. The technical scheme of the embodiment of the present application effectively suppresses the surface wave between the radar antennas by installing the wave absorption material around the radar antenna, improves the channel consistency of the radar antenna, and improves the overall performance of the radar.

[0018] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is a flow chart of a target object attribute information determination method according to the first embodiment of the present application;

[0021] Figure 2 is a front view of a target object according to the first embodiment of the present application;

[0022] Figure 3 is a schematic view of a target object when initially installed according to the first embodiment of the present application;

[0023] Figure 4 is a side view of a target object according to the first embodiment of the present application;

[0024] Figure 5 is a waveform diagram of the wave absorption rates corresponding to a first object, a second object and a target object respectively according to the first embodiment of the present application;

[0025] Figure 6 is a structural schematic diagram of a target object attribute information determination device according to the second embodiment of the present application;

[0026] Figure 7 is a structural schematic diagram of an electronic device for implementing the target object attribute information determination method of the embodiment of the present application. DETAILED DESCRIPTION

[0027] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort should fall within the protection scope of the present application.

[0028] It should be noted that the terms "first", "target" and the like in the description, claims, and drawings of the present application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment one

[0030] Figure 1 is a flowchart of a target object attribute information determination method according to the first embodiment of the present application. The present embodiment can be applied to the determination of attribute information of a target object. The method can be performed by a target object attribute information determination device, which can be implemented in the form of hardware and / or software. The target object attribute information determination device can be integrated into any electronic device that provides the function of determining the attribute information of a target object. As shown in Figure 1 the method comprises:

[0031] S101, obtaining parameter information of at least two radar antennas.

[0032] It can be known that surface waves generally refer to various electromagnetic waves transmitted along the surface of the target, including creeping waves, surface traveling waves and surface guided waves. When the surface wave is transmitted to the electromagnetic defect, a strong echo acting on the backscattering will be generated, which is also the main reason for non-specular scattering. Specular scattering and non-specular scattering are two aspects of automobile millimeter wave radar backscattering. Specular reflection can be reduced by antenna shaping or algorithm, and non-specular scattering gradually becomes the main scattering of the radar. Surface wave scattering caused by surface current is an important part of non-specular scattering. In order to effectively suppress the scattering caused by surface wave, wave absorbing material is introduced around the antenna to effectively suppress it.

[0033] In the embodiment of the present application, the attribute information determination method of the target object is applied to a vehicle, the vehicle comprises at least two radar antennas, at least one target object is installed around the radar antennas, and the target object has a wave-absorbing function.

[0034] In the embodiment, the number of radar antenna channels can be at least two, because there is no radar antenna channel consistency problem if there is only one radar antenna channel.

[0035] In the embodiment, the target object can be a wave-absorbing material for absorbing surface waves between the radar antennas. Specifically, the target object can be a non-resonant microwave absorbing material. The non-resonant microwave absorbing material is also called impedance matching type absorbing material. According to the transmission line theory, when electromagnetic waves are incident on the interface between different media, a certain reflection will occur, and the strength of the reflection is proportional to the impedance mismatch between the two media. By specially designing a plurality of matching layer structures, the impedance adaptation of electromagnetic waves from air to absorbing media can be improved, and good microwave absorption effect can be achieved.

[0036] It should be noted that the parameter information of the radar antenna can include at least one of the radar wavelength, the working frequency, the radar antenna channel azimuth plane distance distribution ratio, the radar antenna elevation plane height, the height of the radome installed on the radar antenna from the radar antenna, and the working angle of the radar antenna.

[0037] Specifically, the parameter information of all the radar antennas installed on the vehicle is obtained, including the performance parameter information of each radar antenna and the installation position information of all the radar antennas.

[0038] S102, determining the initial attribute information of the at least one target object installed around the at least two radar antennas according to the parameter information of the at least two radar antennas.

[0039] It should be explained that the initial attribute information of the target object can be the initial installation position information of each wave-absorbing material when installed around the radar antenna and the size information of each wave-absorbing material.

[0040] Specifically, the parameter information of all the radar antennas installed on the vehicle is obtained, including the performance parameter information of each radar antenna and the installation position information of all the radar antennas, the initial installation position information of each wave-absorbing material when installed around the radar antenna and the size information of each wave-absorbing material are determined.

[0041] S103, determining the target attribute information corresponding to the at least one target object according to the preset attribute range, the initial attribute information of the at least one target object, and the wave-absorbing rate corresponding to the target object.

[0042] It should be noted that the preset attribute range can be a value range of the attribute information corresponding to the wave-absorbing material which is set by the user according to actual conditions. For example, the final thickness of the wave-absorbing material can be less than or equal to the initial thickness of the wave-absorbing material, the installation height of the wave-absorbing material can be higher than the installation height of the radar antenna, and the like. In actual operation, the preset attribute range corresponding to each attribute information of the target object can be set respectively.

[0043] The wave-absorbing rate can be the efficiency of the wave-absorbing material in absorbing the surface wave between the radar antennas.

[0044] It should be explained that the target attribute information of the target object can be the installation position information of each wave-absorbing material when the corresponding wave-absorbing effect is optimal, and the size information of each wave-absorbing material.

[0045] Specifically, the step length of the change of the target attribute information of the target object can be preset within the preset attribute range, and the target attribute information of the target object can be gradually changed from the initial attribute information of the target object according to the size of the corresponding wave-absorbing rate of the target object until the target attribute information of the target object is obtained. For example, the initial thickness of the target object is 2.6 mm, the preset attribute range corresponding to the thickness of the target object is 2.6 mm, the final thickness of the wave-absorbing material can be less than or equal to the initial thickness of the wave-absorbing material 2.6 mm, and the step length of the change of the preset thickness can be 0.1 mm, that is, the thickness is reduced by 0.1 mm each time, and then the size of the corresponding wave-absorbing rate of the target object at this time is determined until the thickness is reduced to 0 mm, and the thickness with the maximum wave-absorbing rate is determined as the final thickness corresponding to the target object.

[0046] The technical scheme of the embodiment of the present application comprises the following steps: obtaining the parameter information of at least two radar antennas, determining the initial attribute information of at least one target object installed around the radar antennas according to the parameter information of the at least two radar antennas, and determining the target attribute information of the at least one target object according to the preset attribute range, the initial attribute information of the at least one target object, and the wave-absorbing rate corresponding to the target object. The technical scheme of the embodiment of the present application can effectively suppress the surface wave between the radar antennas by installing wave-absorbing materials around the radar antennas, improve the channel consistency of the radar antennas, and improve the overall performance of the radar.

[0047] Optionally, the structure of the target object is a stepped structure, and the initial attribute information of the target object comprises a stepped height.

[0048] Figure 2 is a front view of a target object according to the first embodiment of the present application. As shown in Figure 2 In this embodiment, the structure of the wave-absorbing material is a stepped structure, and the initial attribute information of the target object comprises a stepped height, that is, the height of each step.

[0049] In actual operation, the attribute information of the wave-absorbing material further includes a height and a width.

[0050] The parameter information of the radar antenna includes a radar wavelength.

[0051] Determining the initial attribute information of the at least one target object installed around the radar antenna according to the parameter information of the at least two radar antennas includes:

[0052] Determining the step height of the target object according to the radar wavelength of the radar antenna and a preset ratio.

[0053] The preset ratio can be a ratio between the step height of the target object and the radar wavelength of the radar antenna, which is preset by a user according to actual conditions. For example, the preset ratio can be 1:10.

[0054] Specifically, the radar wavelength of the radar antenna is obtained, and the step height of the target object is determined according to the radar wavelength of the radar antenna and a preset ratio. For example, the step height of the target object can be 0.4 mm. It should be noted that after the step height of the target object is determined, it will not change subsequently. That is, if the initial step height of the target object is 0.4 mm, the final step height of the target object is also 0.4 mm.

[0055] Optionally, the initial attribute information of the target object includes an initial width, an initial height, and an initial installation position.

[0056] The initial width can be the width of each wave-absorbing material when it is initially installed around the radar antenna, the initial height can be the height of each wave-absorbing material when it is initially installed around the radar antenna, and the initial installation position can be the installation position of each wave-absorbing material when it is initially installed around the radar antenna.

[0057] The parameter information of the radar antenna includes at least one of a radar antenna channel azimuth plane distance distribution ratio, an elevation plane height of the radar antenna, a height of a radome installed on the radar antenna from the radar antenna, and a working angle of the radar antenna.

[0058] Determining the initial attribute information of the at least one target object installed around the radar antenna according to the parameter information of the at least two radar antennas includes:

[0059] Determining the initial height of the target object, the initial width of the target object, and the initial installation position of the target object according to at least one of the radar antenna channel azimuth plane distance distribution ratio of the radar antenna, the elevation plane height of the radar antenna, the height of the radome installed on the radar antenna from the radar antenna, and the working angle of the radar antenna.

[0060] Specifically, at least one of the antenna channel azimuth plane distance distribution ratio of the radar antenna, the elevation plane height of the radar antenna, the height of the radome installed on the radar antenna from the radar antenna, and the working angle of the radar antenna is acquired first before the target object is installed, and then the initial height of the target object, the initial width of the target object, and the initial installation position of the target object are calculated according to at least one of the antenna channel azimuth plane distance distribution ratio of the radar antenna, the elevation plane height of the radar antenna, the height of the radome installed on the radar antenna from the radar antenna, and the working angle of the radar antenna.

[0061] Exemplarily, Figure 3 is a schematic diagram of initial installation of a target object according to an embodiment of the present application. As shown in Figure 3 , the millimeter wave radar receiving antenna is four single-column 10-element comb microstrip line arrays, and their optimal main and side lobe ratios are obtained by using Taylor synthesis. The radar antennas are RX1, RX2, RX3, and RX4 from left to right, the antenna channel azimuth plane distance distribution ratio of the four antennas is 3:4:2, the elevation plane height is 4.35 mm, the height of the radome installed on the radar antenna from the radar antenna is 3.2 mm, and the working angle of the radar antenna is ±60°. Two wave-absorbing materials are preset to be installed to absorb surface waves between the radar antennas, and the initial installation positions of the two wave-absorbing materials are both 5.5 mm from the radar antennas, that is, X1 and X2 are both 5.5 mm, the initial width of the wave-absorbing material is a, and the initial height of the wave-absorbing material is b.

[0062] Optionally, the target attribute information of the target object includes a target width, a target height, and a target installation position.

[0063] The target width can be the width of each wave-absorbing material when the wave-absorbing rate is optimal after the wave-absorbing material is installed around the radar antenna, the target height can be the height of each wave-absorbing material when the wave-absorbing rate is optimal after the wave-absorbing material is installed around the radar antenna, and the target installation position can be the installation position of each wave-absorbing material when the wave-absorbing rate is optimal after the wave-absorbing material is installed around the radar antenna.

[0064] According to the preset attribute range, the initial attribute information of the at least one target object, and the wave-absorbing rate corresponding to the target object, the target attribute information corresponding to the at least one target object is determined, including:

[0065] According to the preset attribute range, the initial attribute information of the at least one target object, and the wave-absorbing rate corresponding to the target object, a target wave-absorbing rate set corresponding to each target object is determined.

[0066] The target wave-absorbing rate set includes a first height of the target object, a first width of the target object, a first installation position of the target object, and a wave-absorbing rate corresponding to the target object.

[0067] It needs to be explained that the first height can be the height of the target object when the size is changing, the first width can be the width of the target object when the size is changing, and the first installation position can be the installation position of the target object when the size is changing.

[0068] Specifically, in the preset attribute range, electromagnetic simulation software is used for simulation, the height, width and installation position of each target object are changed constantly, the corresponding wave absorption rate of the target object is obtained, and the target wave absorption rate set corresponding to each target object is determined.

[0069] The target height of the target object, the target width of the target object and the target installation position of the target object are determined according to the target wave absorption rate set corresponding to the target object.

[0070] Specifically, the first height corresponding to the highest wave absorption rate in the target wave absorption rate set corresponding to the target object is determined as the target height of the target object, the first width corresponding to the highest wave absorption rate in the target wave absorption rate set corresponding to the target object is determined as the target width of the target object, and the first installation position corresponding to the highest wave absorption rate in the target wave absorption rate set corresponding to the target object is determined as the target installation position of the target object.

[0071] Exemplarily, the distance between the wave absorption material and the radar antenna is optimized by software simulation. When the distance between the wave absorption material 1 and the radar antenna RX1 is 7.8 mm and the distance between the wave absorption material 2 and the antenna RX4 is 8.92 mm, the four antenna channel directions Figure One are optimal, and at this time the overall size of the wave absorption material 1 and 2 is the target width a of 26 mm and the target height b of 11 mm.

[0072] Optionally, the target object is composed of the superposition of the first object and the second object.

[0073] Figure 4 is a side view of a target object according to an embodiment of the present application. As Figure 4 shown, the target object is composed of the superposition of the first object and the second object, wherein the first object is the wave absorption material 1, and the second object is the wave absorption material 2.

[0074] In the embodiment, the target object is composed of two kinds of wave-absorbing materials used in combination. The wave-absorbing structure in the embodiment is a typical thick microwave absorber, which gradually transitions the interface impedance from the air impedance to the impedance of the absorber. The absorption rate of the wave-absorbing material is in a certain proportional relationship with the material thickness and the material impedance. For thinner wave-absorbing materials or longer electromagnetic wave wavelengths, the impedance change is more severe within a limited thickness, so the wave-absorbing body has a minimum working frequency. It can effectively absorb the incident electromagnetic wave in a very wide frequency range and angle range above the minimum working frequency. The ordinary wave-absorbing material has a large thickness, a narrow working bandwidth, and is easy to break, and is usually used in a microwave darkroom. The embodiment proposes a two-layer planar wave-absorbing structure of PBT (Poly Butylene Terephthalate) material. The structure is composed of two kinds of wave-absorbing materials, and the wave-absorbing material has a ladder-shaped structure, a very wide wave-absorbing bandwidth, and a very wide wave-absorbing angle range. It can absorb the surface wave generated at the working frequency and also absorb the surface wave generated at the antenna frequency. The electromagnetic wave-absorbing structure suppresses the propagation of the antenna surface wave, improves the multi-antenna channel directivity Figure One consistency.

[0075] The initial attribute information of the target object includes: an initial thickness of the first object and an initial thickness of the second object.

[0076] The initial thickness can be the initial determined thickness of the first object and the second object.

[0077] The parameter information of the radar antenna includes: a working frequency.

[0078] Determining the initial attribute information of at least one target object installed around the radar antenna according to the parameter information of the at least two radar antennas includes:

[0079] Obtaining material attribute information corresponding to the first object and material attribute information corresponding to the second object.

[0080] For example, the material attribute information can be at least one of the dielectric constant, the loss tangent, the magnetic permeability of the wave-absorbing material, the dielectric constant of the wave-absorbing material, and the input impedance of the wave-absorbing material.

[0081] Specifically, at least one of the dielectric constant, the loss tangent, the magnetic permeability of the wave-absorbing material, the dielectric constant of the wave-absorbing material, and the input impedance of the wave-absorbing material of the first object and the second object is obtained.

[0082] According to the working frequency of the radar antenna, the material attribute information corresponding to the first object, and the material attribute information corresponding to the second object, the initial thickness of the first object and the initial thickness of the second object are determined.

[0083] Specifically, the initial thicknesses of the first object and the second object are determined according to at least one of the following attribute information: a working frequency of the radar antenna, a dielectric constant of the first object and the second object, a loss tangent of the first object and the second object, a magnetic permeability of the wave-absorbing material, a dielectric constant of the wave-absorbing material, and an input impedance of the wave-absorbing material.

[0084] Optionally, the target attribute information corresponding to the at least one target object is determined according to the preset attribute range, the initial attribute information of the at least one target object, and the wave-absorbing rate corresponding to the target object, and the method comprises the following steps:

[0085] The first wave-absorbing rate set corresponding to the first object and the second object is determined according to the preset attribute range, the initial attribute information of the at least one target object, and the wave-absorbing rate corresponding to the target object.

[0086] The first wave-absorbing rate set comprises: a first thickness of the first object, a second thickness of the second object, and a wave-absorbing rate corresponding to the first object with the first thickness and the second object with the second thickness.

[0087] It should be explained that the first thickness can be a thickness of the first object in a changing process, and the second thickness can be a thickness of the second object in a changing process.

[0088] Specifically, within the preset attribute range, an electromagnetic simulation software is used for simulation, the thickness of the first object and the thickness of the second object are changed constantly, the wave-absorbing rate corresponding to the first object and the second object after being stacked is obtained, and the first wave-absorbing rate set corresponding to the first object and the second object is determined.

[0089] The target thickness of the first object and the target thickness of the second object are determined according to the first wave-absorbing rate set corresponding to the first object and the second object.

[0090] Specifically, the first thickness of the first object corresponding to the highest wave-absorbing rate in the first wave-absorbing rate set corresponding to the first object and the second object is determined as the target thickness of the first object, and the second thickness of the second object corresponding to the highest wave-absorbing rate in the first wave-absorbing rate set corresponding to the first object and the second object is determined as the target thickness of the second object.

[0091] For example, the initial thickness of the wave-absorbing material 1 is 2.6 mm, and the initial thickness of the wave-absorbing material 2 is 2.58 mm. The optimal thicknesses of the wave-absorbing material 1 and the wave-absorbing material 2 are obtained by optimizing the thickness ratio of the wave-absorbing material 1 and the wave-absorbing material 2, and the optimal thicknesses are as follows: the thickness of the wave-absorbing material 1 is 1.5 mm, and the thickness of the wave-absorbing material 2 is 1.1 mm.

[0092] Figure 5 is a wave pattern of wave-absorbing rates corresponding to the first object, the second object, and the target object respectively according to the embodiment one of the present application. As shown in FIG. 8, the wave-absorbing rate corresponding to the first object and the second object is a function of the thickness of the first object and the thickness of the second object. Figure 5As shown, the absorption rate curve of the periodic structure of the multi-layer wave-absorbing structure of the embodiment of the present application shows that the first object, i.e., the wave-absorbing material 1, has a lower absorption rate at a low frequency and a higher absorption rate at a high frequency; the second object, i.e., the wave-absorbing material 2, has a higher absorption rate at a low frequency and a lower absorption rate at a high frequency; and the target object, i.e., the wave-absorbing material 1 and the wave-absorbing material 2 combined and stacked in a certain proportion, has an absorption rate of 85% or above in a bandwidth of 60GHz-75GHz and an absorption rate of 90% or above in a bandwidth of 75GHz-160GHz.

[0093] Optionally, the target attribute information of the target object includes a target thickness of the first object and a target thickness of the second object.

[0094] The target thickness can be the thickness of the first object and the thickness of the second object when the wave-absorbing rate of the combination of the first object and the second object is optimal.

[0095] The material attribute information corresponding to the first object includes at least one of a first dielectric constant, a first loss tangent, a first wave-absorbing material permeability, a first wave-absorbing material dielectric constant, and a first wave-absorbing material input impedance; and the material attribute information corresponding to the second object includes at least one of a second dielectric constant, a second loss tangent, a second wave-absorbing material permeability, a second wave-absorbing material dielectric constant, and a second wave-absorbing material input impedance.

[0096] Determining the initial thickness of the first object and the initial thickness of the second object according to the working frequency of the radar antenna, the material attribute information corresponding to the first object, and the material attribute information corresponding to the second object includes:

[0097] Obtaining a free-space permeability and a free-space dielectric constant.

[0098] In this embodiment, the free-space permeability can be represented by μ0, and the free-space dielectric constant can be represented by ε0.

[0099] Specifically, the free-space permeability μ0 and the free-space dielectric constant ε0 are obtained.

[0100] Determining the initial thickness of the first object according to at least one of the working frequency of the radar antenna, the first dielectric constant, the first loss tangent, the free-space permeability, the free-space dielectric constant, the first wave-absorbing material permeability, the first wave-absorbing material dielectric constant, and the first wave-absorbing material input impedance.

[0101] In the embodiment, the operating frequency of the radar antenna can be represented by f, the first dielectric constant can be represented by Dk, the first loss tangent can be represented by Df, the free space permeability can be represented by μ0, the free space dielectric constant can be represented by ε0, the first wave-absorbing material permeability can be represented by μ, the first wave-absorbing material dielectric constant can be represented by ε, and the first wave-absorbing material input impedance can be represented by Zin. The first wave-absorbing material dielectric constant ε includes a real part and an imaginary part, and the first dielectric constant Dk is the real part of the first wave-absorbing material dielectric constant ε.

[0102] In actual operation, first, the free space impedance Z0 is determined according to the free space permeability μ0 and the free space dielectric constant ε0:

[0103]

[0104] The first wave-absorbing material impedance Z is determined according to the free space permeability μ0, the free space dielectric constant ε0, the first wave-absorbing material permeability μ, and the first wave-absorbing material dielectric constant ε:

[0105]

[0106] Then, the attenuation coefficient α and the phase β are determined according to the operating frequency f of the radar antenna, the first dielectric constant Dk, and the first loss tangent Df:

[0107]

[0108]

[0109] Wherein, ω = 2 * π * f, c is the speed of light in vacuum c = 3 * 10 8 m / s.

[0110] Finally, the initial thickness d of the first object is determined according to the first wave-absorbing material input impedance Zin, the attenuation coefficient α, the phase β, the free space impedance Z0, and the first wave-absorbing material impedance Z:

[0111]

[0112] The initial thickness of the second object is determined according to at least one of the operating frequency of the radar antenna, the second dielectric constant, the second loss tangent, the free space permeability, the free space dielectric constant, the second wave-absorbing material permeability, the second wave-absorbing material dielectric constant, and the second wave-absorbing material input impedance.

[0113] Specifically, the initial thickness of the second object is calculated in the same way as the initial thickness of the first object described above, which will not be repeated here.

[0114] Exemplarily, the first object, i.e., the wave-absorbing material 1, and the second object, i.e., the wave-absorbing material 2, in the embodiment of the present application are both PBT substrate materials, which are stable in electrical properties, high in hardness and easy to process. The first dielectric constant of the wave-absorbing material 1 is 13.6, and the first loss tangent is 0.3. The second dielectric constant of the wave-absorbing material 2 is 9.5, and the second loss tangent is 0.33. According to the above calculation method, the initial thickness of the wave-absorbing material 1 is 2.6 mm, and the initial thickness of the wave-absorbing material 2 is 2.58 mm. In theory, the thickness of the wave-absorbing material is proportional to the electromagnetic wave absorption rate, and the thicker the wave-absorbing material, the better the electromagnetic wave absorption effect. However, the thickness of the wave-absorbing material is limited by the overall design index of the radar. The height of the radar radome from the antenna surface is 3 mm, and the wave-absorbing material is installed on the inner surface of the radar radome. Considering the processing precision, warping influence and other factors of the radome and the wave-absorbing material, the total thickness of the wave-absorbing material can be selected as 2.6 mm. Finally, the thickness ratio of the wave-absorbing material 1 and the wave-absorbing material 2 is optimized by the electromagnetic simulation software to obtain the optimal thickness. The result can be that the target thickness 1 of the wave-absorbing material is 1.5 mm, and the target thickness of the wave-absorbing material 2 is 1.1 mm.

[0115] The technical scheme of the embodiment of the present application proposes a two-layer planar wave-absorbing material of PBT material, which is composed of two kinds of wave-absorbing materials stacked together. The wave-absorbing material has a ladder-shaped structure and a very wide wave-absorbing bandwidth and a very wide wave-absorbing angle range, which can absorb the surface wave generated by the radar antenna operating frequency and also can absorb the surface wave generated at the frequency doubling of the antenna. By adjusting the height, width, thickness and installation position of the wave-absorbing material, the propagation of the surface wave between the radar antennas is suppressed by the wave-absorbing material, and the multi-antenna channel direction Figure One consistency is improved.

[0116] Embodiment two

[0117] Figure 6 is a structural schematic diagram of an attribute information determination device of a target object according to the embodiment two of the present application. As shown in the figure, the device comprises: an acquisition module 201, a first determination module 202 and a second determination module 203. Figure 6

[0118] The acquisition module 201 is configured to acquire parameter information of at least two radar antennas.

[0119] The first determination module 202 is configured to determine initial attribute information of at least one target object installed around the radar antenna according to the parameter information of the at least two radar antennas.

[0120] The second determination module 203 is configured to determine target attribute information corresponding to the at least one target object according to a preset attribute range, the initial attribute information of the at least one target object and the wave-absorbing rate corresponding to the target object. ​

[0121] Optionally, the structure of the target object is a stepped structure; the initial attribute information of the target object comprises a stepped height; and the parameter information of the radar antenna comprises a radar wavelength.

[0122] The first determining module 202 comprises:

[0123] The first determining unit is configured to determine the stepped height of the target object according to the radar wavelength of the radar antenna and a preset ratio.

[0124] Optionally, the initial attribute information of the target object comprises an initial width, an initial height and an initial installation position; and the parameter information of the radar antenna comprises at least one of a radar antenna channel azimuth plane distance distribution ratio, an elevation plane height of the radar antenna, a height of a radome installed on the radar antenna from the radar antenna and a working angle of the radar antenna.

[0125] The first determining module 202 comprises:

[0126] The second determining unit is configured to determine the initial height of the target object, the initial width of the target object and the initial installation position of the target object according to at least one of the radar antenna channel azimuth plane distance distribution ratio, the elevation plane height of the radar antenna, the height of the radome installed on the radar antenna from the radar antenna and the working angle of the radar antenna.

[0127] Optionally, the target attribute information of the target object comprises a target width, a target height and a target installation position.

[0128] The second determining module 203 comprises:

[0129] The third determining unit is configured to determine a target radar absorbing rate set corresponding to each target object according to a preset attribute range, the initial attribute information of at least one target object and a radar absorbing rate corresponding to the target object, wherein the target radar absorbing rate set comprises a first height of the target object, a first width of the target object, a first installation position of the target object and the radar absorbing rate corresponding to the target object.

[0130] The fourth determining unit is configured to determine a target height of the target object, a target width of the target object and a target installation position of the target object according to the target radar absorbing rate set corresponding to the target object.

[0131] Optionally, the target object is composed of a first object and a second object; the initial attribute information of the target object comprises an initial thickness of the first object and an initial thickness of the second object; and the parameter information of the radar antenna comprises a working frequency.

[0132] The first determining module 202 comprises:

[0133] The acquisition unit is configured to acquire material attribute information corresponding to the first object and material attribute information corresponding to the second object.

[0134] The fifth determining unit is configured to determine the initial thickness of the first object and the initial thickness of the second object according to the working frequency of the radar antenna, the material attribute information corresponding to the first object, and the material attribute information corresponding to the second object.

[0135] Optionally, the second determining module 203 comprises:

[0136] The sixth determining unit is configured to determine a first wave-absorbing rate set corresponding to the first object and the second object according to a preset attribute range, initial attribute information of at least one target object, and a wave-absorbing rate corresponding to the target object, wherein the first wave-absorbing rate set comprises a first thickness of the first object, a second thickness of the second object, and a wave-absorbing rate corresponding to the first object with the first thickness and the second object with the second thickness stacked together.

[0137] The seventh determining unit is configured to determine a target thickness of the first object and a target thickness of the second object according to the first wave-absorbing rate set corresponding to the first object and the second object.

[0138] Optionally, the target attribute information of the target object comprises the target thickness of the first object and the target thickness of the second object.

[0139] The material attribute information corresponding to the first object comprises at least one of a first dielectric constant, a first loss tangent, a magnetic permeability of the first wave-absorbing material, a dielectric constant of the first wave-absorbing material, and an input impedance of the first wave-absorbing material; and the material attribute information corresponding to the second object comprises at least one of a second dielectric constant, a second loss tangent, a magnetic permeability of the second wave-absorbing material, a dielectric constant of the second wave-absorbing material, and an input impedance of the second wave-absorbing material.

[0140] The fifth determining unit is specifically configured to:

[0141] acquire a free-space magnetic permeability and a free-space dielectric constant;

[0142] determine the initial thickness of the first object according to at least one of the working frequency of the radar antenna, the first dielectric constant, the first loss tangent, the free-space magnetic permeability, the free-space dielectric constant, the magnetic permeability of the first wave-absorbing material, the dielectric constant of the first wave-absorbing material, and the input impedance of the first wave-absorbing material;

[0143] An initial thickness of the second object is determined based on at least one of the operating frequency of the radar antenna, the second dielectric constant, the second loss tangent, the free space permeability, the free space permittivity, the second wave absorbing material permeability, the second wave absorbing material permittivity, and the second wave absorbing material input impedance.

[0144] The attribute information determination apparatus for a target object provided by the embodiments of the present application can execute the attribute information determination method for a target object provided by any of the embodiments of the present application, and has the function modules and beneficial effects corresponding to the execution method.

[0145] Embodiment Three

[0146] Figure 7 A structural schematic diagram of an electronic device 30 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0147] As shown in Figure 7 The electronic device 30 includes at least one processor 31, and a memory, such as a read-only memory (ROM) 32, a random access memory (RAM) 33, etc., which is communicatively connected to the at least one processor 31, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 31 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 32 or the computer program loaded from the storage unit 38 into the random access memory (RAM) 33. In the RAM 33, various programs and data required for the operation of the electronic device 30 can also be stored. The processor 31, the ROM 32, and the RAM 33 are connected to each other through a bus 34. An input / output (I / O) interface 35 is also connected to the bus 34.

[0148] A plurality of components in the electronic device 30 are connected to the I / O interface 35, including: an input unit 36, such as a keyboard, a mouse, etc.; an output unit 37, such as various types of displays, speakers, etc.; a storage unit 38, such as a magnetic disk, an optical disk, etc.; and a communication unit 39, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 39 allows the electronic device 30 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0149] The processor 31 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 31 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 appropriate processor, controller, microcontroller, etc. The processor 31 performs various methods and processes described above, such as the attribute information determination method of the target object:

[0150] obtaining parameter information of at least two radar antennas;

[0151] determining initial attribute information of at least one target object installed around the radar antenna according to the parameter information of the at least two radar antennas;

[0152] determining target attribute information corresponding to the at least one target object according to a preset attribute range, the initial attribute information of the at least one target object, and a wave absorption rate corresponding to the target object.

[0153] In some embodiments, the attribute information determination method of the target object can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 38. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 30 via the ROM 32 and / or the communication unit 39. When the computer program is loaded into the RAM 33 and executed by the processor 31, one or more steps of the attribute information determination method of the target object described above can be performed. Alternatively, in other embodiments, the processor 31 can be configured to perform the attribute information determination method of the target object by any other appropriate means (e.g., by means of firmware).

[0154] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0155] Computer programs used to implement the processes of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented on the computer or other programmable apparatus. The computer programs can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0156] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0157] To provide for interaction with a user, the systems and techniques described here 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; 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 acoustic, speech, or tactile input.

[0158] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0159] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0160] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in sequence, or executed in a different order, as long as the desired results of the present disclosure are achieved, and the present disclosure is not limited herein.

[0161] The specific embodiments described above are not intended to be limiting, and persons skilled in the art will appreciate that various modifications, combinations, sub-combinations and alternatives can be made to the specific embodiments without departing from the spirit and principles of the disclosure. Accordingly, the disclosure is not limited to the specific embodiments described above, but only by the scope of the appended claims.

Claims

1. A method of determining attribute information of a target object, characterized by, The application is applied to a vehicle, the vehicle comprises at least two radar antennas, at least one target object is installed around the radar antennas, the target object has a wave absorption function, and the determination method comprises the following steps: Obtaining parameter information of the at least two radar antennas; Determining initial attribute information of the at least one target object installed around the radar antennas according to the parameter information of the at least two radar antennas; Determining target attribute information corresponding to the at least one target object according to a preset attribute range, the initial attribute information of the at least one target object and a wave absorption rate corresponding to the target object; The initial attribute information of the target object comprises an initial width, an initial height and an initial installation position; the parameter information of the radar antenna comprises at least one of a radar antenna channel azimuth plane distance distribution ratio, an elevation plane height of the radar antenna, a height of a radome installed on the radar antenna from the radar antenna and a working angle of the radar antenna; Determining the initial attribute information of the at least one target object installed around the radar antennas according to the parameter information of the at least two radar antennas comprises: Determining the initial height of the target object, the initial width of the target object and the initial installation position of the target object according to at least one of the radar antenna channel azimuth plane distance distribution ratio, the elevation plane height of the radar antenna, the height of the radome installed on the radar antenna from the radar antenna and the working angle of the radar antenna; The target attribute information of the target object comprises a target width, a target height and a target installation position; Determining the target attribute information corresponding to the at least one target object according to a preset attribute range, the initial attribute information of the at least one target object and a wave absorption rate corresponding to the target object comprises: Determining a target wave absorption rate set corresponding to each target object according to a preset attribute range, the initial attribute information of the at least one target object and the wave absorption rate corresponding to the target object, wherein the target wave absorption rate set comprises a first height of the target object, a first width of the target object, a first installation position of the target object and the wave absorption rate corresponding to the target object; Determining the target height of the target object, the target width of the target object and the target installation position of the target object according to the target wave absorption rate set corresponding to the target object.

2. The method of claim 1, wherein, The structure of the target object is a stepped structure; The initial attribute information of the target object comprises a stepped height; the parameter information of the radar antenna comprises a radar wavelength; Determining the initial attribute information of the at least one target object installed around the radar antennas according to the parameter information of the at least two radar antennas comprises: Determining the stepped height of the target object according to the radar wavelength of the radar antenna and a preset ratio.

3. The method of claim 1, wherein, The target object is composed of a first object and a second object; The initial attribute information of the target object comprises an initial thickness of the first object and an initial thickness of the second object; the parameter information of the radar antenna comprises a working frequency; The initial attribute information of at least one target object installed around the radar antenna is determined according to the parameter information of the at least two radar antennas, and the initial attribute information of the at least one target object comprises: Obtaining material attribute information corresponding to the first object and material attribute information corresponding to the second object; According to the working frequency of the radar antenna, the material attribute information corresponding to the first object and the material attribute information corresponding to the second object, the initial thickness of the first object and the initial thickness of the second object are determined.

4. The method of claim 3, wherein, According to the preset attribute range, the initial attribute information of at least one target object and the wave absorption rate corresponding to the target object, the target attribute information corresponding to at least one target object is determined, and the target attribute information corresponding to at least one target object comprises: According to the first wave absorption rate set corresponding to the first object and the second object, the target thickness of the first object and the target thickness of the second object are determined. The target attribute information of the target object comprises: the target thickness of the first object and the target thickness of the second object; 5. The method of claim 3, wherein, The material attribute information corresponding to the first object comprises at least one of the first dielectric constant, the first loss tangent, the first wave absorbing material magnetic permeability, the first wave absorbing material dielectric constant and the first wave absorbing material input impedance; the material attribute information corresponding to the second object comprises at least one of the second dielectric constant, the second loss tangent, the second wave absorbing material magnetic permeability, the second wave absorbing material dielectric constant and the second wave absorbing material input impedance; According to the working frequency of the radar antenna, the material attribute information corresponding to the first object and the material attribute information corresponding to the second object, the initial thickness of the first object and the initial thickness of the second object are determined, comprising: Obtaining free space magnetic permeability and free space dielectric constant; According to the working frequency of the radar antenna, the first dielectric constant, the first loss tangent, the free space magnetic permeability, the free space dielectric constant, the first wave absorbing material magnetic permeability, the first wave absorbing material dielectric constant and the first wave absorbing material input impedance, at least one of the initial thickness of the first object is determined; According to the working frequency of the radar antenna, the second dielectric constant, the second loss tangent, the free space magnetic permeability, the free space dielectric constant, the second wave absorbing material magnetic permeability, the second wave absorbing material dielectric constant and the second wave absorbing material input impedance, at least one of the initial thickness of the second object is determined. Comprising:

6. An attribute information determination apparatus of a target object, characterized by comprising: The acquisition module is used for acquiring parameter information of at least two radar antennas; The first determination module is used for determining initial attribute information of at least one target object installed around the radar antenna according to the parameter information of the at least two radar antennas; ​ The second determining module is configured to determine target attribute information of the at least one target object according to a preset attribute range, initial attribute information of the at least one target object, and a wave absorption rate corresponding to the target object. The initial attribute information of the target object includes an initial width, an initial height, and an initial installation position; and the parameter information of the radar antenna includes at least one of a radar antenna channel azimuth plane distance distribution ratio, an elevation plane height of the radar antenna, a height of a radome installed on the radar antenna from the radar antenna, and a working angle of the radar antenna. The first determining module includes a second determining unit configured to determine the initial height of the target object, the initial width of the target object, and the initial installation position of the target object according to at least one of the radar antenna channel azimuth plane distance distribution ratio, the elevation plane height of the radar antenna, the height of the radome installed on the radar antenna from the radar antenna, and the working angle of the radar antenna. The target attribute information of the target object includes a target width, a target height, and a target installation position. The second determining module includes a third determining unit configured to determine a target wave absorption rate set corresponding to each of the target objects according to the preset attribute range, the initial attribute information of the at least one target object, and the wave absorption rate corresponding to the target object, wherein the target wave absorption rate set includes a first height of the target object, a first width of the target object, a first installation position of the target object, and the wave absorption rate corresponding to the target object. A fourth determining unit is configured to determine the target height of the target object, the target width of the target object, and the target installation position of the target object according to the target wave absorption rate set corresponding to the target object.

7. An electronic device, comprising: The electronic device includes: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the attribute information determination method of the target object 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 for enabling the processor to execute the attribute information determination method of the target object according to any one of claims 1-5 when executed.

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