Radar scanning angle scene adaptation method, device, equipment and medium

Abstract

The present invention provides a radar scanning angle scene adaptation method, device, equipment, and medium applicable to the field of radar detection technology, including: controlling the main lobe beam of a millimeter-wave radar to perform pitch scanning, determining a first possible target area within the scene and the pitch angle of each first target within the first possible target area based on the scanning results, determining the first target angle, and adjusting the pitch angle of the main lobe beam of the millimeter-wave radar to the first target angle; controlling the main lobe beam of the millimeter-wave radar to perform horizontal scanning, determining a second possible target area within the scene and the horizontal angle of each second target within the second possible target area based on the scanning results, determining the second target angle, and adjusting the horizontal angle of the main lobe beam of the millimeter-wave radar to the second target angle. The present invention can control the scanning beam of the millimeter-wave radar to perform adaptive scanning according to the scanning scene, thereby reducing scanning power consumption while ensuring scanning accuracy.

Description

Technical Field

[0001] The present invention relates to the field of radar detection technology, and in particular to a radar scanning angle scene adaptation method, device, equipment and medium. Background Art

[0002] Millimeter-wave radar can accurately detect target distance, angle, speed, and other information, and its low manufacturing cost makes it widely used in the transportation sector. Existing millimeter-wave radars in transportation applications typically use scanning beams to expand the detection range and improve target detection accuracy, in order to achieve comprehensive detection.

[0003] However, beam scanning requires dynamic adjustment of the beam's scanning direction during use. This dynamic adjustment typically requires more computing resources and time, increasing system complexity and power consumption. Furthermore, existing millimeter-wave radars that dynamically adjust the beam's scanning direction typically use a large detection angle to achieve complete road coverage, which also results in a certain waste of resources. Summary of the Invention

[0004] The present invention provides a radar scanning angle scene adaptation method, device, electronic device and storage medium to solve the problem of high power consumption caused by the need to dynamically adjust the scanning beam when millimeter wave radar is used in the transportation field.

[0005] In a first aspect, the present invention provides a radar scanning angle scene adaptation method, comprising:

[0006] Controlling a main lobe beam of the millimeter-wave radar to perform pitch scanning according to a first preset rule to obtain a plurality of first scanning results, and determining a first possible target area in the scene based on the plurality of first scanning results;

[0007] determining, based on a first scanning result corresponding to the first possible target area, a pitch angle of each first target in the first possible target area, determining a first target angle based on all pitch angles, and adjusting the pitch angle of a main lobe beam of the millimeter-wave radar to the first target angle;

[0008] controlling the main lobe beam of the millimeter-wave radar to perform horizontal scanning according to a second preset rule to obtain a plurality of second scanning results, and determining a second possible target area in the scene based on the plurality of second scanning results;

[0009] Based on the second scanning result corresponding to the second possible target area, the horizontal angle of each second target in the second possible target area is determined, and the second target angle is determined based on all horizontal angles, and the horizontal angle of the main lobe beam of the millimeter wave radar is adjusted to the second target angle.

[0010] In one possible implementation, determining the pitch angle of each first target in the first possible target area based on the first scanning result corresponding to the first possible target area, and determining the first target angle based on all the pitch angles includes:

[0011] Extracting the pitch angle of each first target from the first scanning result corresponding to the first possible target area, and screening out the pitch angle with the largest absolute value from all the extracted pitch angles;

[0012] The pitch angle with the largest absolute value is taken as the first target angle, and the longitudinal coverage range of the beam of the millimeter-wave radar corresponding to the first target angle is the first target area.

[0013] In one possible implementation, determining a first possible target area within a scene based on the plurality of first scanning results includes:

[0014] For each first scanning result, determining the signal strength of each first target in the first scanning result, and calculating the total signal strength of all first targets in the first scanning result;

[0015] The longitudinal coverage range of the beam of the millimeter-wave radar corresponding to the first scanning result with the strongest total signal strength is determined as the first possible target area.

[0016] In one possible implementation, determining the horizontal angle of each second target in the second possible target area based on the second scanning result corresponding to the second possible target area, and determining the second target angle based on all horizontal angles includes:

[0017] Extracting the horizontal angle of each second target from the second scanning result corresponding to the second possible target area, and screening all the horizontal angles to obtain the horizontal angle with the largest absolute value;

[0018] The horizontal angle with the largest absolute value is taken as the second target angle, and the lateral coverage range of the beam of the millimeter-wave radar corresponding to the second target angle is the second target area.

[0019] In one possible implementation, determining a second possible target area within the scene based on the plurality of second scanning results includes:

[0020] For each second scanning result, determining the signal strength of each second target in the second scanning result, and calculating the total signal strength of all second targets;

[0021] The lateral coverage range of the millimeter-wave radar beam corresponding to the second scanning result with the strongest total signal strength is used as the second possible target area.

[0022] In a possible implementation, the method further includes:

[0023] Acquire scene features of a scene to be scanned, and determine a first preset rule and a second preset rule based on the scene features and features of the millimeter-wave radar;

[0024] Among them, the first preset rule is the scanning rule that the main lobe beam of the millimeter wave radar scans from the minimum pitch angle to the maximum pitch angle; the second preset rule is the scanning rule that the main lobe beam of the millimeter wave radar scans from the minimum horizontal angle to the maximum horizontal angle.

[0025] In a possible implementation, the method further includes:

[0026] After the millimeter wave radar is powered on, it starts self-test;

[0027] If the self-test result is normal, controlling the main lobe beam of the millimeter-wave radar to scan according to the first preset rule and the second preset rule;

[0028] If the self-check result is abnormal, a notification message for manual verification will be output.

[0029] In a second aspect, the present invention provides a radar scanning angle scene adaptation device, comprising:

[0030] a scanning module, configured to control a main lobe beam of the millimeter-wave radar to perform pitch scanning according to a first preset rule, obtain a plurality of first scanning results, and determine a first possible target area in the scene based on the plurality of first scanning results;

[0031] an adjustment module, configured to determine, based on a first scanning result corresponding to the first possible target area, a pitch angle of each first target in the first possible target area, determine a first target angle based on all pitch angles, and adjust the pitch angle of the main lobe beam of the millimeter wave radar to the first target angle;

[0032] The scanning module is further used to control the main lobe beam of the millimeter wave radar to perform horizontal scanning according to a second preset rule to obtain multiple second scanning results, and determine a second possible target area in the scene based on the multiple second scanning results;

[0033] The adjustment module is also used to determine the horizontal angle of each second target in the second possible target area based on the second scanning result corresponding to the second possible target area, and determine the second target angle based on all horizontal angles, and adjust the horizontal angle of the main lobe beam of the millimeter wave radar to the second target angle.

[0034] In a possible implementation, the adjustment module is specifically configured to:

[0035] Extracting the pitch angle of each first target from the first scanning result corresponding to the first possible target area, and screening out the pitch angle with the largest absolute value from all the extracted pitch angles;

[0036] The pitch angle with the largest absolute value is taken as the first target angle, and the longitudinal coverage range of the beam of the millimeter-wave radar corresponding to the first target angle is the first target area.

[0037] In a possible implementation, the scanning module is specifically configured to:

[0038] For each first scanning result, determining the signal strength of each first target in the first scanning result, and calculating the total signal strength of all first targets in the first scanning result;

[0039] The longitudinal coverage range of the beam of the millimeter-wave radar corresponding to the first scanning result with the strongest total signal strength is determined as the first possible target area.

[0040] In a possible implementation, the adjustment module is further configured to:

[0041] Extracting the horizontal angle of each second target from the second scanning result corresponding to the second possible target area, and screening all the horizontal angles to obtain the horizontal angle with the largest absolute value;

[0042] The horizontal angle with the largest absolute value is taken as the second target angle, and the lateral coverage range of the beam of the millimeter-wave radar corresponding to the second target angle is the second target area.

[0043] In a possible implementation, the scanning module is further configured to:

[0044] For each second scanning result, determining the signal strength of each second target in the second scanning result, and calculating the total signal strength of all second targets;

[0045] The lateral coverage range of the millimeter-wave radar beam corresponding to the second scanning result with the strongest total signal strength is used as the second possible target area.

[0046] In a possible implementation, the scanning module is further configured to:

[0047] Acquire scene features of a scene to be scanned, and determine a first preset rule and a second preset rule based on the scene features and features of the millimeter-wave radar;

[0048] Among them, the first preset rule is the scanning rule that the main lobe beam of the millimeter wave radar scans from the minimum pitch angle to the maximum pitch angle; the second preset rule is the scanning rule that the main lobe beam of the millimeter wave radar scans from the minimum horizontal angle to the maximum horizontal angle.

[0049] In a possible implementation, the scanning module is further configured to:

[0050] After the millimeter wave radar is powered on, it starts self-test;

[0051] If the self-test result is normal, controlling the main lobe beam of the millimeter-wave radar to scan according to the first preset rule and the second preset rule;

[0052] If the self-check result is abnormal, a notification message for manual verification will be output.

[0053] In a third aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method described in the first aspect or any possible implementation of the first aspect are implemented.

[0054] In a fourth aspect, the present invention provides a computer-readable medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the first aspect or any possible implementation of the first aspect.

[0055] The present invention provides a radar scanning angle scene adaptation method, device, equipment and medium. First, the main lobe beam of a millimeter-wave radar is controlled to perform a pitch scan according to a first preset rule to obtain multiple first scanning results and determine a first possible target area. Then, the pitch angle and the first target area are determined by each first target angle in the area. The main lobe beam of the millimeter-wave radar is controlled to perform a horizontal scan according to a second preset rule to obtain multiple second scanning results and determine a second possible target area. Then, the horizontal angle and the second target area are determined by each second target angle in the area. In this way, the first target angle and the first target area are determined by the pitch scan, ensuring that the millimeter-wave radar can scan the area required to be scanned in the scene in the longitudinal range. The second target angle and the second target area are determined by the horizontal scan, ensuring that the millimeter-wave radar can scan the area required to be scanned in the scene in the lateral range. The main lobe beam of the millimeter-wave radar is effectively controlled to automatically determine the scanning angle before the millimeter-wave radar starts working, while ensuring the accuracy of the scanning range and reducing the power consumption of the millimeter-wave radar during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0057] Figure 1 This is a flow chart of a radar scanning angle scene adaptation method provided by an embodiment of the present invention;

[0058] Figure 2 2 is a schematic diagram of pitch angle adjustment of a millimeter wave radar provided by an embodiment of the present invention;

[0059] Figure 3 Schematic diagram of a first target angle and a first target area when a radar scanning angle scene adaptation method provided by an embodiment of the present invention is applied to road monitoring;

[0060] Figure 4 Schematic diagram of a second target angle and a second target area when a radar scanning angle scene adaptation method provided by an embodiment of the present invention is applied to road monitoring;

[0061] Figure 5 1 is a schematic structural diagram of a radar scanning angle scene adaptation device provided by an embodiment of the present invention;

[0062] Figure 6 is a schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0063] In the following description, specific details such as particular system structures and techniques are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0064] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below with reference to the accompanying drawings.

[0065] The present invention is mainly used in highways. The radar in this solution is a millimeter wave radar, which is used to scan vehicles traveling on the highway.

[0066] Figure 1 This is a flow chart of a radar scanning angle scene adaptation method provided by an embodiment of the present invention, referring to Figure 1 , as detailed below:

[0067] S110, controlling the main lobe beam of the millimeter-wave radar to perform pitch scanning according to a first preset rule to obtain multiple first scanning results, and determining a first possible target area in the scene based on the multiple first scanning results.

[0068] The first preset rule is pre-set and can be configured based on the characteristics of the millimeter-wave radar. For example, if the millimeter-wave radar's pitch angle scanning range is (-3°, 3°), the first scanning rule can be configured as follows: starting from -3°, scanning every 0.5° until the pitch angle reaches 3°. For another example, the first scanning rule can be configured as follows: the pitch angle changes evenly from -3° to 3° at a preset rate, with the millimeter-wave radar performing continuous scanning as the pitch angle changes.

[0069] In this embodiment, the first scanning result is a scanning result obtained by the millimeter wave radar performing a pitch scan according to a first preset rule. Each pitch angle corresponds to a scanning result, so there will be multiple first scanning results.

[0070] Optionally, each first scanning result includes the intensity of a signal reflected from one or more moving target objects and received by a millimeter-wave radar, as well as the specific pitch angle corresponding to each moving target object. The scanning area corresponding to the first scanning result with the largest sum of the intensities of the signals reflected from the moving target objects is the first possible target area.

[0071] In a possible implementation, before step S110 , the following processing may be performed: scene features of the scene to be scanned are acquired, and a first preset rule and a second preset rule are determined based on the scene features and features of the millimeter-wave radar.

[0072] Specifically, the first preset rule is a scanning rule that the main lobe beam of the millimeter wave radar scans from the minimum pitch angle to the maximum pitch angle; the second preset rule is a scanning rule that the main lobe beam of the millimeter wave radar scans from the minimum horizontal angle to the maximum horizontal angle.

[0073] In this embodiment, scene features refer to the scene in which the millimeter-wave radar is located and the monitoring task of the millimeter-wave radar. For example, the scene in which the millimeter-wave radar is located is a highway and surrounding buildings, and the millimeter-wave radar's monitoring task is to monitor vehicles traveling on the highway. Because all vehicles on the highway are in motion and there is a difference in height between the highway and the surrounding environment, when the millimeter-wave radar is monitoring, the area with the strongest total signal strength from moving objects will have a larger share of the highway in that area than in other areas.

[0074] In this embodiment, the characteristics of the millimeter-wave radar refer to the characteristics of the millimeter-wave radar itself. For example, the pitch angle of the millimeter-wave radar can be adjusted in the range of (-3°, 3°), the initial position of the millimeter-wave radar is 0°, deflection to the left is negative, and deflection to the right is positive. The horizontal angle of the millimeter-wave radar can be adjusted in the range of (-60°, 60°), the normal is 0°, downward deflection is negative, and upward deflection is positive. When adjusting the pitch angle, it is achieved by adjusting the position of the millimeter-wave radar itself, and when adjusting the horizontal angle, the beam of the millimeter-wave radar can be directly adjusted. Figure 2 As shown, 21 is the initial position of the millimeter-wave radar, 22 is the position of the millimeter-wave radar when the pitch angle is -3°, and angle 23 is -3°.

[0075] Optionally, the first and second preset rules may be determined based on the characteristics of the scene and the characteristics of the millimeter-wave radar. For example, if the scene is a highway, the scanning range of the millimeter-wave radar beam and the width of the highway may need to be comprehensively considered to determine the first and second preset rules. For example, if the millimeter-wave radar performs a test every 10° horizontal rotation to ensure that the overlap between the previously tested area and the currently tested area meets the requirements and that the entire width of the highway is covered, then the second preset rule may be to perform a scan every 10° horizontal rotation and record the scan results of each scan.

[0076] In a possible implementation, before step S110, the process further includes:

[0077] After the millimeter wave radar is powered on, it starts self-test;

[0078] If the self-test result is normal, controlling the main lobe beam of the millimeter-wave radar to scan according to the first preset rule and the second preset rule;

[0079] If the self-check result is abnormal, a notification message for manual verification will be output.

[0080] In this embodiment, the millimeter wave radar self-test refers to the automatic inspection performed by the millimeter wave radar when it is powered on. The self-test process is to ensure that the millimeter wave radar can work normally.

[0081] In one possible implementation, determining a first possible target area within a scene based on the plurality of first scanning results includes:

[0082] For each first scanning result, determining the signal strength of each first target in the first scanning result, and calculating the total signal strength of all first targets in the first scanning result;

[0083] The longitudinal coverage range of the beam of the millimeter-wave radar corresponding to the first scanning result with the strongest total signal strength is determined as the first possible target area.

[0084] The first target refers to a target scanned during pitch scanning that is in motion and whose moving speed exceeds a preset speed.

[0085] The following example illustrates the process of determining the first possible target area:

[0086] The adjustment range of the pitch angle of the millimeter-wave radar is (-3°, 3°). The second preset rule is to start scanning from -3° and scan every 0.5° until the pitch angle reaches 3°. Then, thirteen first scanning results can be obtained. Among them, when the pitch angle is -1.5°, the total signal strength of all first targets in the first scanning result is the strongest. Therefore, the longitudinal coverage range corresponding to the pitch angle of -1.5° is the first possible target area.

[0087] S120, based on the first scanning result corresponding to the first possible target area, determine the pitch angle of each first target in the first possible target area, determine the first target angle based on all the pitch angles, and adjust the pitch angle of the main lobe beam of the millimeter wave radar to the first target angle.

[0088] In this embodiment, since there may be multiple first targets in the first possible target area corresponding to the first scanning result, and the pitch angle of each first target and the millimeter-wave radar is not necessarily the same and will fluctuate within a certain range, adjusting the pitch angle of the millimeter-wave radar according to these angles can make the coverage range of the millimeter-wave radar more accurate.

[0089] In one possible implementation, determining the pitch angle of each first target in the first possible target area based on the first scanning result corresponding to the first possible target area, and determining the first target angle based on all the pitch angles includes:

[0090] Extracting the pitch angle of each first target from the first scanning result corresponding to the first possible target area, and screening out the pitch angle with the largest absolute value from all the extracted pitch angles;

[0091] The pitch angle with the largest absolute value is taken as the first target angle, and the longitudinal coverage range of the beam of the millimeter-wave radar corresponding to the first target angle is the first target area.

[0092] The following example illustrates the process of determining the first target angle and the first target area:

[0093] The pitch angle corresponding to the first possible target area is -2°. There are 5 first targets, and the corresponding pitch angles are -2°, -1.8°, -2.2°, -2.1°, and -1.9°. At this time, the pitch angle with the largest absolute value is -2.2°, so the first target angle is -2.2°. Figure 3 As shown, the pitch angle of the millimeter-wave radar is -2.2°, and the corresponding longitudinal coverage range of the millimeter-wave radar beam is the first target area.

[0094] By first determining a first potential target area and then determining the first target angle based on the pitch angle of each first target in the first potential target area, the first target angle is highly compatible with the scene. When the millimeter-wave radar monitors the scene according to the first target angle, it can detect all targets in the monitored area to the greatest extent possible. When applied to road monitoring, the millimeter-wave radar can cover as many monitored areas as possible on highways.

[0095] S130, controlling the main lobe beam of the millimeter-wave radar to perform horizontal scanning according to a second preset rule to obtain multiple second scanning results, and determining a second possible target area in the scene based on the multiple second scanning results.

[0096] The first preset rule is pre-set and needs to be set based on the characteristics of the millimeter-wave radar. For example, if the millimeter-wave radar's horizontal angle scanning range is (-60°, 60°), the second scanning rule could be to start scanning at -60° and scan every 15° until the horizontal angle reaches 60°. Alternatively, the horizontal angle could be changed evenly from -60° to 60° at a preset rate, with the millimeter-wave radar performing continuous scanning as the horizontal angle changes.

[0097] In this embodiment, the second scanning result is a scanning result obtained by the millimeter wave radar performing horizontal scanning according to the second preset rule. Each horizontal angle corresponds to a scanning result, so there will be multiple second scanning results.

[0098] Optionally, each second scanning result includes the intensity of the signal reflected from one or more moving target objects and the specific pitch angle corresponding to each moving target object received by the millimeter wave radar. The scanning area corresponding to the second scanning result with the largest sum of the intensities of the signals reflected from the moving target objects is the second possible target area.

[0099] In one possible implementation, determining a second possible target area within the scene based on the plurality of second scanning results includes:

[0100] For each second scanning result, determining the signal strength of each second target in the second scanning result, and calculating the total signal strength of all second targets;

[0101] The lateral coverage range of the millimeter-wave radar beam corresponding to the second scanning result with the strongest total signal strength is used as the second possible target area.

[0102] The second target refers to a target that is in motion and whose speed exceeds a preset speed and is scanned during horizontal scanning.

[0103] The following example illustrates the process of determining the second possible target area:

[0104] The adjustment range of the horizontal angle of the millimeter-wave radar is (-60°, 60°). The second preset rule is to start scanning from -60° and scan every 15° until the horizontal angle reaches 60°. Then, 9 second scanning results can be obtained. Among them, when the horizontal angle is 45°, the total signal strength of all second targets in the second scanning result is the strongest. Therefore, the lateral coverage range corresponding to the horizontal angle of 45° is the second possible target area.

[0105] S140, based on the second scanning result corresponding to the second possible target area, determine the horizontal angle of each second target in the second possible target area, and determine the second target angle based on all horizontal angles, and adjust the horizontal angle of the main lobe beam of the millimeter wave radar to the second target angle.

[0106] Optionally, since there may be multiple second targets in the second possible target area corresponding to the second scanning result, and the horizontal angle of each second target to the millimeter-wave radar is not necessarily the same and will fluctuate within a certain range, adjusting the horizontal angle of the millimeter-wave radar according to these angles can make the coverage range of the millimeter-wave radar more accurate.

[0107] After powering on, the radar performs a self-test to ensure radar monitoring accuracy. First and second preset rules are set based on scene information and the radar's own characteristics. The radar performs a pitch scan using the first preset rule to determine the first possible target area and the first target angle. A horizontal scan using the second preset rule determines the second possible target area and the second target angle. This ensures that the millimeter-wave radar can fully monitor the required area within the scene after adjusting according to the first and second target angles. When applied to road monitoring, the millimeter-wave radar can be adjusted to cover the monitored area on the highway.

[0108] In one possible implementation, determining the horizontal angle of each second target in the second possible target area based on the second scanning result corresponding to the second possible target area, and determining the second target angle based on all horizontal angles includes:

[0109] Extracting the horizontal angle of each second target from the second scanning result corresponding to the second possible target area, and screening all the horizontal angles to obtain the horizontal angle with the largest absolute value;

[0110] The horizontal angle with the largest absolute value is taken as the second target angle, and the lateral coverage range of the beam of the millimeter-wave radar corresponding to the second target angle is the second target area.

[0111] The following example illustrates the process of determining the second target angle and the second target area:

[0112] The horizontal angle corresponding to the second possible target area is 30°. There are 7 second targets, and the corresponding horizontal angles are 33°, 29°, 27°, 32°, 32°, 26°, and 31°. At this time, the horizontal angle with the largest absolute value is 33°, so the second target angle is 33°. Figure 4 As shown, the horizontal angle of the millimeter-wave radar is 33°, and the corresponding lateral coverage range of the millimeter-wave radar beam is the second target area.

[0113] It should be noted that when the millimeter-wave radar in this solution is used to monitor the road, it needs to be installed above the road, and the monitoring device will be composed of two millimeter-wave radars and two blind-spot radars. The blind-spot radar is used to supplement the monitoring of locations that the millimeter-wave radar cannot monitor.

[0114] By first determining the second possible target area and then determining the second target angle based on the horizontal angle of each second target in the second possible target area, the second target angle is highly compatible with the scene. When the millimeter-wave radar monitors the scene according to the second target angle, it can monitor all targets in the monitored area to the maximum extent possible. When applied to road monitoring, the millimeter-wave radar can cover as much of the monitored area on highways as possible and can adapt to the curvature of the road, automatically adjusting to the appropriate angle on both curves and straights.

[0115] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0116] The following are device embodiments of the present invention. For details not fully described therein, reference may be made to the corresponding method embodiments described above.

[0117] Figure 5 : This is a schematic diagram of the structure of a radar scanning angle scene adaptation device provided by an embodiment of the present invention. For ease of explanation, only the parts related to the embodiment of the present invention are shown, which are detailed as follows:

[0118] Reference Figure 5 , a radar scanning angle scene adaptive device 5 includes:

[0119] a scanning module 51 configured to control the main lobe beam of the millimeter-wave radar to perform pitch scanning according to a first preset rule, obtain a plurality of first scanning results, and determine a first possible target area within the scene based on the plurality of first scanning results;

[0120] an adjustment module 52, configured to determine a pitch angle of each first target in the first possible target area based on the first scanning result corresponding to the first possible target area, determine a first target angle based on all pitch angles, and adjust the pitch angle of the main lobe beam of the millimeter wave radar to the first target angle;

[0121] The scanning module 51 is further configured to control the main lobe beam of the millimeter-wave radar to perform horizontal scanning according to a second preset rule, obtain a plurality of second scanning results, and determine a second possible target area in the scene based on the plurality of second scanning results;

[0122] The adjustment module 52 is also used to determine the horizontal angle of each second target in the second possible target area based on the second scanning result corresponding to the second possible target area, and determine the second target angle based on all horizontal angles, and adjust the horizontal angle of the main lobe beam of the millimeter wave radar to the second target angle.

[0123] In some embodiments, the adjustment module 52 is specifically configured to:

[0124] Extracting the pitch angle of each first target from the first scanning result corresponding to the first possible target area, and screening out the pitch angle with the largest absolute value from all the extracted pitch angles;

[0125] The pitch angle with the largest absolute value is taken as the first target angle, and the longitudinal coverage range of the beam of the millimeter-wave radar corresponding to the first target angle is the first target area.

[0126] In some embodiments, the scanning module 51 is specifically configured to:

[0127] For each first scanning result, determining the signal strength of each first target in the first scanning result, and calculating the total signal strength of all first targets in the first scanning result;

[0128] The longitudinal coverage range of the beam of the millimeter-wave radar corresponding to the first scanning result with the strongest total signal strength is determined as the first possible target area.

[0129] In some embodiments, the adjustment module 52 is further configured to:

[0130] Extracting the horizontal angle of each second target from the second scanning result corresponding to the second possible target area, and screening all the horizontal angles to obtain the horizontal angle with the largest absolute value;

[0131] The horizontal angle with the largest absolute value is taken as the second target angle, and the lateral coverage range of the beam of the millimeter-wave radar corresponding to the second target angle is the second target area.

[0132] In some embodiments, the scanning module 51 is further configured to:

[0133] For each second scanning result, determining the signal strength of each second target in the second scanning result, and calculating the total signal strength of all second targets;

[0134] The lateral coverage range of the millimeter-wave radar beam corresponding to the second scanning result with the strongest total signal strength is used as the second possible target area.

[0135] In some embodiments, the scanning module 51 is further configured to:

[0136] Acquire scene features of a scene to be scanned, and determine a first preset rule and a second preset rule based on the scene features and features of the millimeter-wave radar;

[0137] Among them, the first preset rule is the scanning rule that the main lobe beam of the millimeter wave radar scans from the minimum pitch angle to the maximum pitch angle; the second preset rule is the scanning rule that the main lobe beam of the millimeter wave radar scans from the minimum horizontal angle to the maximum horizontal angle.

[0138] In some embodiments, the scanning module 51 is further configured to:

[0139] After the millimeter wave radar is powered on, it starts self-test;

[0140] If the self-test result is normal, controlling the main lobe beam of the millimeter-wave radar to scan according to the first preset rule and the second preset rule;

[0141] If the self-check result is abnormal, a notification message for manual verification will be output.

[0142] Figure 6 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 6 As shown, the electronic device 6 of this embodiment includes: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60. When the processor 60 executes the computer program 62, the steps in each of the above-mentioned radar scanning angle scene adaptation method embodiments are implemented, such as Figure 1 Alternatively, when the processor 60 executes the computer program 62, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 5 Functions of the modules / units 51 to 52 are shown.

[0143] Exemplarily, the computer program 62 may be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program 62 in the electronic device 6. For example, the computer program 62 may be divided into Figure 5 Modules / units 51 to 52 are shown.

[0144] The electronic device 6 can be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The electronic device 6 can include, but is not limited to, a processor 60 and a memory 61. It can be understood by those skilled in the art that Figure 6 It is only an example of the electronic device 6 and does not constitute a limitation of the electronic device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0145] The processor 60 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0146] The memory 61 can be an internal storage unit of the electronic device 6, such as a hard drive or memory of the electronic device 6. The memory 61 can also be an external storage device of the electronic device 6, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped on the electronic device 6. Furthermore, the memory 61 can include both an internal storage unit of the electronic device 6 and an external storage device. The memory 61 is used to store the computer program and other programs and data required by the electronic device. The memory 61 can also be used to temporarily store data that has been output or is about to be output.

[0147] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0148] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0149] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0150] In the embodiments provided by the present invention, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0151] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0152] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0153] If the integrated module / unit is implemented as a software functional unit and sold or used as a standalone product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can also implement all or part of the process steps in the above-mentioned method embodiments by using a computer program to instruct the relevant hardware. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned millimeter-wave radar scan angle scene adaptation method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can include any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard drive, a magnetic disk, an optical disk, computer memory, read-only memory (ROM), random access memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium.

[0154] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A radar scanning angle scene adaptation method, characterized in that: The method is applied to a millimeter wave radar for detecting vehicles traveling on a highway, and the method includes: Controlling the main lobe beam of the millimeter-wave radar to perform pitch scanning according to a first preset rule to obtain multiple first scanning results, determining, for each first scanning result, the signal strength of each first target within the first scanning result, and calculating the total signal strength of all first targets within the first scanning result; determining the longitudinal coverage range of the millimeter-wave radar beam corresponding to the first scanning result with the strongest total signal strength as the first possible target area; Extracting the pitch angle of each first target from the first scanning result corresponding to the first possible target area, and screening the pitch angle with the largest absolute value from all the extracted pitch angles; using the pitch angle with the largest absolute value as the first target angle, and adjusting the pitch angle of the main lobe beam of the millimeter-wave radar to the first target angle; controlling the main lobe beam of the millimeter-wave radar to perform horizontal scanning according to a second preset rule to obtain a plurality of second scanning results, determining, for each second scanning result, the signal strength of each second target within the second scanning result, and calculating the total signal strength of all second targets; and taking the lateral coverage range of the millimeter-wave radar beam corresponding to the second scanning result with the strongest total signal strength as the second possible target area; The horizontal angle of each second target is extracted from the second scanning result corresponding to the second possible target area, and the horizontal angle with the largest absolute value is screened from all horizontal angles; the horizontal angle with the largest absolute value is used as the second target angle, and the horizontal angle of the main lobe beam of the millimeter wave radar is adjusted to the second target angle.

2. The radar scanning angle scene adaptation method according to claim 1, characterized in that: The method further comprises: Acquire scene features of a scene to be scanned, and determine a first preset rule and a second preset rule based on the scene features and features of the millimeter-wave radar; Among them, the first preset rule is the scanning rule that the main lobe beam of the millimeter wave radar scans from the minimum pitch angle to the maximum pitch angle; the second preset rule is the scanning rule that the main lobe beam of the millimeter wave radar scans from the minimum horizontal angle to the maximum horizontal angle.

3. The radar scanning angle scene adaptation method according to claim 1, characterized in that: The method further comprises: After the millimeter wave radar is powered on, starting a self-test; If the self-test result is normal, controlling the main lobe beam of the millimeter-wave radar to scan according to the first preset rule and the second preset rule; If the self-check result is abnormal, a notification message for manual verification will be output.

4. A radar scanning angle scene adaptive device, characterized in that: The device is applied to a millimeter wave radar for detecting vehicles traveling on a highway, and the device comprises: a scanning module, configured to control the main lobe beam of the millimeter-wave radar to perform pitch scanning according to a first preset rule to obtain multiple first scanning results, determine, for each first scanning result, the signal strength of each first target within the first scanning result, and calculate the total signal strength of all first targets within the first scanning result; and determine the longitudinal coverage range of the millimeter-wave radar beam corresponding to the first scanning result with the strongest total signal strength as the first possible target area; an adjustment module, configured to extract the pitch angle of each first target from the first scanning result corresponding to the first possible target area, and screen the pitch angle with the largest absolute value from all the extracted pitch angles; use the pitch angle with the largest absolute value as the first target angle, and adjust the pitch angle of the main lobe beam of the millimeter-wave radar to the first target angle; The scanning module is further configured to control the main lobe beam of the millimeter-wave radar to perform horizontal scanning according to a second preset rule to obtain a plurality of second scanning results, determine, for each second scanning result, the signal strength of each second target within the second scanning result, and calculate the total signal strength of all second targets; and use the lateral coverage range of the millimeter-wave radar beam corresponding to the second scanning result with the strongest total signal strength as the second possible target area; The adjustment module is further configured to extract the horizontal angle of each second target from the second scanning result corresponding to the second possible target area, and screen out the horizontal angle with the largest absolute value from all horizontal angles; use the horizontal angle with the largest absolute value as the second target angle, and adjust the horizontal angle of the main lobe beam of the millimeter-wave radar to the second target angle.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the radar scanning angle scene adaptation method as described in any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the radar scanning angle scene adaptation method as described in any one of claims 1 to 3 are implemented.

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