Horizontal and pitching angle separate treatment 4D radar system and control method

Abstract

The invention relates to the technical field of systems utilizing radio wave reflection, in particular to a system for measuring target position data. According to the hardware, a radar body comprises a horizontal radar set and a pitching radar set which are arranged in the same plane, the sizes and the arrangement directions of single-beam antennas in the horizontal radar set and the pitching radar set are consistent, the antennas of the horizontal radar set are arranged in the horizontal direction, and the antennas of the pitching radar set are arranged in the vertical direction. The method comprises the following steps: a horizontal radar group and a pitching radar group respectively obtain data information of a plurality of target point locations; matching two to-be-merged point locations by using the distance speed; and judging whether a same-distance and same-speed target exists, if so, comparing again by adopting a signal-to-noise ratio, otherwise, combining, forming and outputting target information. The invention solves the problem that the same speed and the same distance are difficult to distinguish in the prior art, provides a horizontal and pitching angle division processing 4D radar system and a control method, and achieves the purposes of high precision, capability of distinguishing targets at the same speed and the same distance and capability of independently using a single radar group.

Description

Technical Field

[0001] The present invention relates to the technical field of systems utilizing radio wave reflection, and in particular to a system for determining target position data. Background Art

[0002] With the continuous advancement of smart transportation and autonomous driving technologies, the importance of traffic detection radar is becoming increasingly apparent. Especially in the field of autonomous driving, vehicles need to use advanced sensing technology to perceive the surrounding environment in real time to ensure driving safety. Among them, vehicle-mounted forward detection radar has become one of the core technologies. It not only detects dynamic targets in front of the vehicle, such as moving vehicles, but also must be able to identify and analyze static targets on the road, such as bridges, billboards, and vehicles at different levels on overpasses. In autonomous driving scenarios, accurate identification and analysis of the front target is the key to ensuring safe driving. Vehicles need to quickly and accurately identify the distance, direction, height and speed of objects in front while driving at high speeds. This ability enables vehicles to respond in time, avoid collisions, and maintain smooth driving. Especially when encountering complex road conditions, such as multi-layer overpasses or viaducts, being able to distinguish between vehicles on overpasses and vehicles on normal driving roads puts higher requirements on autonomous driving systems. Autonomous driving vehicles need to maintain good detection performance in all weather conditions. This includes severe weather such as rain, snow, and fog. Under these conditions, visual sensors may be limited, and radar detection systems need to play their all-weather advantages. Radar technology in this case must maintain high accuracy and high reliability to ensure that the vehicle can accurately detect dynamic and static targets ahead in any situation. In order to meet these needs, modern traffic detection radar technology needs to continue to innovate. Traditional radar systems can usually only provide two-dimensional information of the target, namely distance and direction. In the scenario of autonomous driving, three-dimensional information is required, including the height information of the target. This requires the radar system to have not only higher detection accuracy, but also more compact and efficient system design to adapt to the installation space restrictions of the car.

[0003] For example, the Chinese patent with publication number CN107831489B discloses a continuous wave 4D radar and a method for measuring multiple targets thereof, and provides the following technical scheme: the present invention discloses a continuous wave 4D radar and a method for measuring multiple targets thereof, the continuous wave 4D radar comprises a transmitting antenna located in the same plane, two horizontal receiving antennas arranged in parallel, and two vertical receiving antennas arranged in parallel, the transmitting channel of the transmitting antenna is used to alternately transmit triangular wave frequency modulation and fixed frequency continuous wave, in the fixed frequency continuous wave time period, the horizontal angle, vertical angle and speed of multiple targets are comprehensively calculated by four receiving antennas, in the triangular wave frequency modulation time period, the distance and speed of multiple targets are comprehensively calculated by four receiving antennas, and finally the four parameters of horizontal angle, vertical angle, distance and speed of multiple targets are comprehensively obtained. The radar device of the present invention can detect the four parameters of speed, distance, horizontal azimuth and vertical azimuth of multiple targets at the same time by using one transmitting antenna, thus realizing a true 4D radar. The device has a compact structure and low cost. However, the above-mentioned continuous wave 4D radar and its method for measuring multiple targets are difficult to effectively distinguish targets at the same speed and distance, and the radar will become unusable when an abnormality occurs. At the same time, since it only uses one radar chip, its detection accuracy is low, and it also requires additional technology for alternating the emission of triangular wave frequency modulation and fixed-frequency continuous waves, and adding steps such as mode switching. Summary of the invention

[0004] The present invention solves the problems of low accuracy, difficulty in distinguishing targets at the same speed and distance, and radar anomalies that make it impossible to use the radar in the prior art, and proposes a 4D radar system and control method that divides the horizontal and elevation angles for processing, thereby achieving the goals of high detection accuracy, being able to distinguish targets at the same speed and distance, and being able to use a single radar group independently.

[0005] To achieve the above object, the present invention adopts the following technical solution: A 4D radar system for splitting horizontal and elevation angles includes a radar body, wherein the radar body includes a horizontal radar group and an elevation radar group arranged in the same plane, the single-beam antenna in the horizontal radar group and the single-beam antenna in the elevation radar group are of the same size and arranged in the same direction, the antennas of the horizontal radar group are arranged in the horizontal direction, and the antennas of the elevation radar group are arranged in the vertical direction.

[0006] The advantage of this design is that the horizontal and elevation radar groups are arranged in the same plane, and the single-beam antennas are of consistent size and orientation, which helps to improve the signal consistency and reliability of the radar system, especially when obtaining the signal-to-noise ratio for subsequent judgment.

[0007] A 4D radar control method for horizontal and elevation angle separation processing comprises the following steps: S1: The horizontal radar group and the elevation radar group respectively obtain data information of several target points; S2: Use distance and speed to match two points to be merged; S3: Determine whether there is a target with the same distance and speed. If so, use the signal-to-noise ratio to compare again. If not, combine and output 4D radar target information.

[0008] The advantage of this design is that, through a step-by-step matching process, when faced with targets at the same speed and distance, the signal-to-noise ratio is used for re-comparison, so that targets at the same speed and distance can be identified and distinguished.

[0009] Preferably, the single-beam antenna in the horizontal radar group and the single-beam antenna in the elevation radar group are both vertically arranged.

[0010] The advantage of this design is that the vertically arranged antennas can better cover targets at different angles, thereby improving the accuracy and coverage of target detection.

[0011] Preferably, the elevation radar group and the horizontal radar group are powered independently and use a high-speed data channel for data transmission.

[0012] The advantage of this design is that independent power supply and high-speed data transmission can reduce interference, improve system stability and data transmission efficiency, while completely isolating the power supply of the two and ensuring that their electrical properties do not affect each other. In the event of an abnormality in a single radar group, the other group can be used alone to work intactly.

[0013] Preferably, the horizontal radar group detects the horizontal azimuth angle, range speed and signal-to-noise ratio information of the target, and the elevation radar group detects the vertical elevation angle, range speed and signal-to-noise ratio information of the target.

[0014] The advantage of this design is that by detecting the target information at the horizontal and pitch angles respectively, more accurate target positioning and tracking can be achieved.

[0015] Preferably, the elevation radar group and the horizontal radar group are both provided with radar chips, and data of the two are output to the same data processing unit.

[0016] The advantage of this design is that the unified data processing unit can centrally process data information from different radar groups, improving the efficiency and consistency of data processing.

[0017] Preferably, an isolation antenna is provided between the elevation radar group and the horizontal radar group.

[0018] The advantage of this design is that the isolated antenna can reduce the interference between different radar groups, thereby improving the detection accuracy and stability of the radar system.

[0019] Preferably, the horizontal radar group and the elevation radar group respectively obtain data information of several target points; use the distance and speed to match two points to be merged; determine whether there are targets with the same distance and speed. If so, use the signal-to-noise ratio to compare again. If not, merge and output 4D radar target information.

[0020] The advantage of this design is that by acquiring and matching data information in steps, more efficient target recognition and data processing can be achieved.

[0021] Preferably, the data information includes the distance speed, horizontal angle and signal-to-noise ratio detected by the horizontal radar group, and the distance speed, pitch angle and signal-to-noise ratio detected by the elevation radar group; the 4D radar target information includes target information consisting of distance speed, horizontal pitch angle and signal-to-noise ratio.

[0022] The advantage of this design is that by comprehensively utilizing the detection information of the horizontal and elevation radar groups, more comprehensive and accurate 4D radar target information can be provided.

[0023] Preferably, the same-speed and same-distance targets include targets whose numerical differences are within the range of 1-3 range gates and speed threshold values.

[0024] The advantage of this design is that by setting the numerical difference range of the target, the accuracy and reliability of target matching can be further improved.

[0025] Compared with the prior art, the invention has the following beneficial effects.

[0026] 1. The present invention adopts a step-by-step matching process, and can use the signal-to-noise ratio to accurately distinguish and compare targets at the same speed and distance. This method is particularly important for identifying and distinguishing multiple targets with similar distances and speeds based on the difference in signal-to-noise ratio after matching the distance and speed, because the signal-to-noise ratio can better reflect the actual signal characteristics of the target. This processing method makes the radar system not only rely on the basic geometric position relationship, but also combines the signal quality factor, thereby greatly reducing the possibility of false alarms and missed alarms, and improving the accuracy and reliability of target detection. At the same time, this also enhances the performance of the radar system in a complex environment with multiple targets.

[0027] 2. The horizontal radar and elevation radar group of the present invention adopt a single-beam antenna design of the same size and placed in the same direction. This consistent configuration ensures the similarity of the signal acquisition capabilities and signal characteristics of each radar unit at the same position, especially the consistency in the signal-to-noise ratio. The same antenna specifications and arrangement methods enable the signals from the horizontal and elevation directions to be compared and merged more directly and accurately during the information fusion process. This design greatly reduces the errors caused by hardware differences and improves the consistency of the overall system detection results. In addition, this also means that when the radar system processes data at multiple angles, there is no need to consider additional compensation measures caused by antenna differences, thereby improving the stable operation of the system.

[0028] 3. The horizontal radar group and the elevation radar group of the present invention are designed to operate independently and have independent power supply capabilities, and transmit data through high-speed optocouplers or digital isolators. This design reduces electrical interference and improves the efficiency and stability of each data transmission. In particular, when an abnormality occurs in one radar group, the other group can still work independently and efficiently. Therefore, even in complex or unexpected environments, the reliability of the radar system has been significantly enhanced. In addition, the independent power supply and signal transmission strategy also makes the maintenance and troubleshooting of the radar system simpler and more direct, because the fault location can be more accurate.

[0029] 4. The present invention introduces an isolation antenna between the horizontal radar group and the elevation radar group, further reducing the signal interference between the horizontal radar group and the elevation radar group. This isolation design ensures that each radar group can independently detect and process target information, thereby improving the detection accuracy and stability of the overall system. This feature is particularly important when facing a complex environment with multiple targets, because it can effectively avoid interference between radar groups in different directions, improve the purity of signal processing and the reliability of data, and thus improve the overall performance of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The hardware connection diagram of an embodiment of a 4D radar system and control method for separate processing of horizontal and elevation angles of the present invention.

[0031] Figure 2 The present invention is a method flow chart of an embodiment of a 4D radar system and control method for separate processing of horizontal and elevation angles.

[0032] Illustration description: 1 horizontal radar group, 2 elevation radar group, 3 horizontal radar group transmitting antenna, 4 horizontal radar group radar chip, 5 horizontal radar group receiving antenna, 6 isolation antenna, 7 elevation radar group receiving antenna, 8 elevation radar group transmitting antenna, 9 elevation radar group radar chip. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the present disclosure clearer, the following will further describe the embodiments of the present disclosure in detail with reference to the accompanying drawings. The proportions of the components are not drawn according to the actual proportions, and the proportions and sizes shown in the accompanying drawings should not limit the substantial technical scheme of the present invention. These embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described.

[0034] See also Figure 1 to Figure 2 As shown, the system includes: a 4D radar system for horizontal and elevation angle separation processing, including a radar body, the radar body including a horizontal radar group and an elevation radar group arranged in the same plane, the single-beam antenna in the horizontal radar group and the single-beam antenna in the elevation radar group are of the same size and arranged in the same direction, the antennas of the horizontal radar group are arranged in the horizontal direction, and the antennas of the elevation radar group are arranged in the vertical direction.

[0035] The control method includes: a 4D radar control method for horizontal and elevation angle division processing, including the following steps: S1: a horizontal radar group and an elevation radar group respectively obtain data information of a plurality of target points; S2: Use distance and speed to match two points to be merged; S3: Determine whether there is a target with the same distance and speed. If so, use the signal-to-noise ratio to compare again. If not, combine and output 4D radar target information.

[0036] like Figure 1 In one embodiment shown, Figure 1 The present invention innovatively develops a 4D radar system with horizontal and pitch angles divided and processed, which achieves higher detection accuracy and target recognition capability through the horizontal and pitch angles divided and processed method.

[0037] The 4D radar system designed by the present invention for horizontal and elevation angle separation processing mainly consists of the following hardware parts: 1. Radar body, the radar body includes a shell, which is composed of a radar cover, a radar RF board and a radar computing board. These boards are not only equipped with horizontal radar antenna groups and vertical radar antenna groups, but also designed with indicator lights to provide real-time feedback on the system status. In order to facilitate data connection and current output, a USB port is equipped on the back.

[0038] 2. Antenna design: The horizontal radar group and the elevation radar group are arranged in the same plane. The antennas in each group are of uniform size and placed in the same direction to ensure the stability and consistency of signal acquisition. The antennas of the horizontal radar group are arranged horizontally, while the elevation radar group is arranged vertically. This design helps to obtain target information in different directions.

[0039] 3. Power supply and data management, both radars are powered independently and transmit data through high-speed data channels. This design not only improves the stability of data transmission, but also ensures the independent operation of the remaining parts when a partial failure occurs in the system. In this embodiment, high-speed SPI communication is used.

[0040] 4. Signal processing and output: Each radar group is equipped with a radar chip, the horizontal radar group has a horizontal radar group radar chip, and the elevation radar group has a elevation radar group radar chip, which respectively detect and process target data in the horizontal direction, such as the horizontal azimuth and range speed, and the pitch angle and range speed in the pitch direction. All data are integrated through the same data processing unit. In this case, the present invention uses two chips for separate processing, does not need to use the method of alternately transmitting triangular wave frequency modulation and fixed frequency continuous wave, greatly reduces the complexity of the processing algorithm, and does not need to switch modes.

[0041] In another embodiment, an additional isolation antenna is added: an isolation antenna is provided between the two radar groups to further prevent signal interference and ensure data accuracy.

[0042] The working principle of the present invention is: The system collects target data in different directions through the horizontal radar group and the pitch radar group. The horizontal radar group mainly detects the horizontal azimuth, target distance and speed, while the pitch radar group focuses on the vertical pitch angle and the same distance and speed information. The extracted data information also includes the signal-to-noise ratio, which is particularly important in subsequent analysis. The data of the two groups are transmitted to a unified data processing unit through a high-speed data channel via independently powered modules.

[0043] The design advantages of the present invention are: 1. High precision resolution: The design of splitting the horizontal and pitch angles improves the recognition of targets, especially when facing targets at the same speed and distance, which can be further accurately distinguished through the signal-to-noise ratio.

[0044] 2. Consistent signal processing: The two radar groups use the same antenna specifications and orientation. By comparing signal characteristics, especially the signal-to-noise ratio, the consistency and accuracy of the information fusion process are ensured. Since the orientation of the single-beam antenna is consistent, the antenna size is consistent, and the antenna waveform design is similar, the signal-to-noise ratio of the same target in the radar is also consistent. The antenna radiation patterns of the two antenna groups (similar to the energy distribution diagram of the radar antenna in space) are consistent. The targets that can be detected by the horizontal antenna group can generally be detected by the elevation antenna group. If the radiation patterns are inconsistent, it may happen that one group of antennas detects but the other group of antennas cannot, so some points will lack horizontal angle information or elevation angle information.

[0045] 3. Independent operation capability: Independent power supply and data transmission design improves the stability and reliability of the system. After complete electrical isolation, the two radar boards can be disassembled and used separately, as long as they are assembled in the same radar. When one radar is abnormal, the abnormal radar can be replaced separately. When one radar group has a problem, the other can still work efficiently, which is particularly advantageous in the changing environment of the actual use of 4D radar.

[0046] 4. Interference noise reduction design: The isolation antenna reduces signal interference between the two radar groups and improves the detection stability of the system in complex environments.

[0047] 5. Integrated data processing: The integrated processing unit centrally analyzes data, improves information processing efficiency, and provides sufficient data support for subsequent system upgrades and technical optimization.

[0048] The present invention designs a 4D radar system with horizontal and pitch angles divided and processed, which has wide application potential in the fields of autonomous driving, drone detection, military monitoring, etc. Through accurate target identification and signal processing, it can help vehicles better perceive the surrounding environment, drones can fly stably in complex environments, and improve detection efficiency in military applications. The present invention shows significant advantages in target detection and identification through innovative design ideas. First, the system adopts a combined design of horizontal and pitch radar groups, and uses independent power supply and high-speed data transmission methods to enable each radar group to have the ability to operate independently while ensuring high-precision signal acquisition. This redundant design improves the reliability of the system to a certain extent, because even if one radar group has a problem, the other can continue to work unaffected. In addition, the consistency design of the antenna and the addition of the isolation antenna reduce the signal interference between the groups, further improving the accuracy of signal processing and the stability of the system. This means that in a complex and changeable use environment, the system can provide more accurate and reliable target information.

[0049] The signal-to-noise ratio also plays a key role in target identification and filtering false alarms. The system uses the signal-to-noise ratio to distinguish targets at the same speed and distance, avoiding the confusion of traditional radar systems when identifying similar targets and greatly improving the recognition accuracy. At the same time, the integrated data processing unit can efficiently process data information from different radar groups, simplify the system architecture, and improve operational efficiency. This feature is crucial for complex environments with multiple targets, as it not only ensures the consistency of data processing, but also improves the overall performance of the system.

[0050] The system is designed to meet the needs of high-precision, multi-target detection in areas such as autonomous driving, drone operations, and military surveillance. By achieving accurate identification and real-time positioning of targets, the 4D radar system provides customers with a safer and smarter operating experience while promoting the further development of radar technology. Under a clear technical architecture, this solution not only provides the functional support needed at present, but also reserves enough space for the expansion of future technologies, demonstrating its great potential in a wide range of application scenarios.

[0051] like Figure 2 In one embodiment shown, Figure 2 The present invention is a method flow chart of an embodiment of a 4D radar system and control method for horizontal and pitch angle division processing. The present invention designs a 4D radar control method for horizontal and pitch angle division processing using an innovative division control method, aiming to effectively improve the accuracy and reliability of target recognition. The specific control method includes the following steps: Step S1: Data acquisition In the first step, the horizontal radar group and the elevation radar group obtain data information of multiple target points respectively. This information includes the distance, speed, signal-to-noise ratio, and horizontal and elevation angles of the target. This step is the basis of the entire control method and provides raw materials for subsequent data matching and merging.

[0052] Step S2: Distance and speed matching In the second step, the system extracts the information of the two target points to be merged and matches the distance and speed. By calculating the distance difference and speed difference between the two points, the system determines whether they belong to the same target. This step is a preliminary screening of the data, reducing unnecessary redundant data and improving the efficiency of subsequent steps.

[0053] Step S3: Processing targets at the same distance and speed The third step is the core processing link, which covers the further identification and merging of targets at the same distance and speed: Step S3.1: Same speed and same distance judgment The system first determines whether the two target points have the same distance and speed. If so, it proceeds to the next step, otherwise it directly merges and outputs the target information.

[0054] Step S3.2: Data extraction Extract data of all targets at the same distance and speed for more detailed comparison and analysis.

[0055] Step S3.3: Signal-to-noise ratio extraction The signal-to-noise ratio value is extracted from the data of the target at the same distance and speed for use in the next step of matching judgment.

[0056] Step S3.4: Signal-to-noise ratio matching The signal-to-noise ratio is used to match the two target points to be matched. If the match is successful, it means that the two points are indeed different reflections of the same target, otherwise it returns and reselects data for matching. This step greatly improves the recognition accuracy of the system in a multi-target environment.

[0057] Step S3.5: Data merging The successfully matched target points are merged to generate 4D radar target information. Through this merging, the output information contains the complete position and motion information of the target, including distance, speed, horizontal and pitch angles.

[0058] In this embodiment, the measurement steps and principles are as follows: The horizontal detection radar and the elevation detection radar respectively perform sawtooth frequency modulation continuous wave transmission and reception. According to the frequency modulation continuous wave ranging and speed measurement principle and the multi-antenna MIMO angle measurement principle and signal-to-noise ratio estimation algorithm, the horizontal detection radar can detect multiple targets. After the relevant information of each target is sorted according to the distance, there is a distance {r h1 ,r h2 ,r h3 ,...,r hn} and speed {v h1 ,v h2 ,v h3 ,...,v hn}、Horizontal angle {α h1 ,α h2 ,α h3 ,...,α hn}、Estimation of signal-to-noise ratio {snr h1 ,snr h2 ,snr h3 ,...,snr hn}, n is a natural number, indicating the number of targets; the detection targets of the pitch detection radar can be sorted according to the distance, and the distances of multiple targets can be measured {r v1 ,r v2 ,r v3 ,...,r vm} and speed {v v1 ,v v2 ,vv3 ,...,v vm}、Pitch angle {θ v1 ,θ v2 ,αθ v3 ,...,θ vm} and estimate the signal-to-noise ratio {snr v1 ,snr v2 ,snr v3 ,...,snr vm}, m is a natural number, indicating the target quantity, m and n may be different.

[0059] Generally, the target distance R is much larger than the antenna size and the distance between the two radars. Therefore, if two radars detect the same target, the distance between the two data should be close in value. Generally, the target distance R is much larger than the distance between the two radars. During the target movement process, the radial velocity should be close in value in the detection of the two radars. Generally, the antenna design and waveform design of the two radars are the same, and when detecting the same target at the same angle, the signal-to-noise ratio of the target should be close in value during radar detection. Therefore, for each data of the horizontal detection radar, take the i-th target: target distance r hi , target speed v hi , target horizontal angle α hi , target estimated signal-to-noise ratio snr hi .

[0060] According to the above horizontal radar detection data, in the pitch radar detection data, find data, for example: the jth one, that meets the following conditions: The target distance difference is less than k r times the distance threshold|r vj -r h1 |<k r G r , where k r The algorithm preset multiple is usually 0.5 to 2, G r is the distance gate size; The target speed difference is less than k v Speed ​​threshold|v vj -v h1 |<k v G v , where k v The algorithm preset multiple is usually 0.5 to 4, G v is the speed gate size; If only one elevation radar detection data is found, corresponding to one horizontal radar detection data found above, then the radar data is matched, forming the detection data of the target: {r=(r hi +r vj ) / 2, v=(v hi +v vj) / 2,α hi ,θ vj ,snr=(snr hi +snr vj ) / 2};If multiple elevation radar detection data are found, corresponding to the one horizontal radar detection data found above, then the radar performs many-to-many detection. Based on the horizontal radar detection data, in the horizontal radar detection data set, according to the given search range, search for the corresponding neighborhood, and find multiple horizontal radar detection data and the multiple elevation radar detection data found above.

[0061] Between the above-mentioned multiple horizontal radar detection data and multiple elevation radar detection data, the following deviation values ​​are calculated respectively in the manner that one horizontal radar detection data corresponds to one elevation radar detection data: δ ij =ω r (r hi -r vj ) 2 +ω v (v hi -v vj ) 2 +ω snr (snr hi -snr vj ) 2 ,ω r ,ω v ,ω snr It is the weighting coefficient preset by the algorithm; the deviation values ​​are sorted in ascending order, and the matching of the horizontal radar detection data points and the elevation radar detection data points is calculated according to the uniqueness principle.

[0062] The matched horizontal radar data and elevation radar data are merged to form the target detection data: {r=(r hi +r vj ) / 2, v=(v hi +v vj ) / 2,α hi ,θ vj ,snr=(snr hi +snr vj ) / 2}; Put the unmatched radar data back into the data set to be matched; Repeat the above process to obtain all data matching conditions; After all the matches are completed, the data that have not been matched are discarded. These data are data that are only detected by one radar but not by another radar, and cannot constitute complete data information.

[0063] The matching data consists of: r={r1,r2,r3,...,r p}, p is a natural number, indicating the number of successfully matched data points; v={v1,v2,v3,...,v p} α={α1,α2,α3,...,α p} θ={θ1,θ2,θ3,...,θ p} snr={snr1,snr2,snr3,...,snr P} The above data set can be transformed into the radial velocity, X, Y, Z coordinates and signal-to-noise ratio data of p targets by coordinate transformation.

[0064] The advantage of the 4D radar control method designed by the present invention for separate processing of horizontal and pitch angles is that, first of all, the ability to finely identify targets can be greatly improved through separate processing of horizontal and pitch angles. Even in a complex environment with multiple targets approaching, the system can accurately distinguish different targets and avoid the confusion problem of traditional radars in the case of overlapping targets. This improvement in recognition accuracy is particularly important in the fields of drones and autonomous driving, where accurate target resolution is the key to safe and efficient operation.

[0065] In addition, the present invention has also made significant progress in data processing efficiency. Through step-by-step matching and signal-to-noise ratio filtering, the system effectively reduces data redundancy. This efficient data processing method allows the system to quickly and accurately obtain important target information, even in a multi-target dense environment. This feature is of great significance in modern transportation and high-density urban spaces, and can help autonomous driving systems process road information in real time and respond promptly.

[0066] Low false alarm rate is another major advantage of the 4D radar control method designed by the present invention, which divides the horizontal and pitch angles. The use of signal-to-noise ratio significantly reduces the possibility of false alarms. In a complex environment, targets at the same distance and speed often lead to an increase in the false alarm rate, thereby affecting the stability and reliability of the system. With further filtering of the signal-to-noise ratio, the system can accurately distinguish targets at the same speed and distance from irrelevant noise signals, thereby improving the reliability of the overall operation.

[0067] The invention also has significant potential for application in multiple fields. In scenarios that require high-precision detection, such as autonomous driving, drones, and military monitoring, the high reliability and adaptability of the invention provide comprehensive and in-depth support for related systems. Whether in autonomous driving cars in urban traffic or in drone navigation in complex terrain environments, the system can provide critical environmental perception capabilities to ensure the safety and efficiency of equipment operation.

[0068] Finally, the present invention leaves a wide range of room for expansion in terms of technical design. Its flexible architecture design allows for personalized optimization and adjustment according to different application scenarios. For example, by adjusting the coverage or sensitivity of the radar, the system can tailor solutions to specific industry needs. This expansion capability not only enhances the adaptability of the system, but also leaves valuable technical space for more innovative applications in the future.

[0069] In one embodiment, a 4D radar system and control method designed by the present invention for horizontal and pitch angle separation processing is applied to drones. On drone platforms, the 4D radar system can significantly improve environmental perception capabilities and assist drones in achieving accurate navigation and obstacle avoidance in different environments. The range gate uses a refined range gate of 0.5 meters, because drones need to fly in a small space and obstacles are usually dense. The speed gate is set to 0.1 meters per second. When flying in the air, precise speed judgment helps to accurately control the flight path.

[0070] Same speed and same distance judgment: Among the target points initially detected, if the target distance and speed difference are within one range gate and one speed gate, they can be regarded as potential targets of the same speed and distance.

[0071] Use the signal-to-noise ratio for re-screening, and if the signal-to-noise ratio difference is less than 3dB, perform the final merger.

[0072] Execution process: A drone may encounter obstacles such as trees and buildings on its flight path. The radar system first identifies potential obstacles through distance and speed detection, and then determines the structure and material of the obstacle through the signal-to-noise ratio, thereby making flight adjustments to maintain safe flight.

[0073] In another embodiment, a 4D radar system and control method for horizontal and pitch angle separation processing designed by the present invention are applied to intelligent driving cars. In self-driving cars, the 4D radar system is used to achieve continuous monitoring of complex traffic environments and provide more comprehensive safety support. The distance gate is set to 1 meter to more roughly track obstacles in front of fast-moving cars. The speed gate is set to 0.5 meters per second. For high-speed moving traffic scenes, such accuracy is sufficient to ensure the effectiveness of target recognition.

[0074] Same speed and same distance judgment: The initial filtering criteria for targets are that the range and velocity differences are within two range gates and velocity gates.

[0075] Add signal-to-noise ratio comparison. If the difference is no more than 5dB, confirm the merge.

[0076] Execution process: On the highway, autonomous vehicles need to identify multiple nearby vehicles and their driving status at the same time. Through the radar system, the car can obtain real-time information about neighboring vehicles, including distance and relative speed. Even in some visual blind spots, the system can obtain the presence of vehicles through the signal-to-noise ratio and make timely route adjustments or emergency braking decisions.

[0077] Therefore, whether it is a UAV or a car application, the 4D radar system and control method designed by the present invention for horizontal and pitch angle processing can improve the accuracy and reliability of target recognition by reasonably setting the range gate, speed gate and using the signal-to-noise ratio for deeper screening, and adapt to the needs of different application scenarios. On UAVs, the system enhances flight safety and obstacle avoidance capabilities; on cars, it effectively improves the environmental perception capabilities and coping capabilities in complex traffic situations during autonomous driving. These examples of technical implementation fully demonstrate the flexibility and wide applicability of the 4D radar system and control method designed by the present invention for horizontal and pitch angle processing.

[0078] In summary, the present invention designs a 4D radar system and a control method thereof for horizontal and elevation angle division processing. The system design includes horizontal and elevation radar groups, which are arranged in the same plane with a consistent swing direction. Each radar group is independently powered and transmitted through a high-speed data channel to achieve effective data acquisition and processing. The system adopts a distance speed matching algorithm and a signal-to-noise ratio matching technology to identify targets with the same speed and distance, thereby reducing the false alarm rate. Its integrated signal processing unit can operate efficiently in a multi-target dense environment. An isolation antenna is added to the design to reduce interference and enhance system stability and reliability. In terms of application, the system provides accurate target identification and safety support for fields such as autonomous driving and drones. For example, in drones, the system achieves accurate navigation and obstacle avoidance through refined distance gates and speed gates; in autonomous driving, it assists in identifying multiple vehicles in a traffic environment and improves road safety. Overall, the system demonstrates its great potential in modern scientific and technological applications and provides flexible architectural support for future technological expansion.

[0079] The present invention is not limited to the above-mentioned embodiments. No matter any changes are made in the shape or material composition, any structural design provided by the present invention is a variation of the present invention and should be considered to be within the protection scope of the present invention.

Claims

1. A 4D radar system for horizontal and elevation angle separation processing, comprising a radar body, characterized in that: The radar body comprises a horizontal radar group (1) and an elevation radar group (2) arranged in the same plane. The single-beam antenna in the horizontal radar group (1) and the single-beam antenna in the elevation radar group (2) are of the same size and arranged in the same direction. The antennas of the horizontal radar group (1) are arranged in a horizontal direction, while the antennas of the elevation radar group (2) are arranged in a vertical direction.

2. A 4D radar system for horizontal and elevation angle separation processing according to claim 1, characterized in that: The elevation radar group (2) and the horizontal radar group (1) are powered independently and use a high-speed data channel for data transmission.

3. A 4D radar system for split processing of horizontal and elevation angles according to claim 1 or 2, characterized in that: The horizontal radar group (1) detects the horizontal azimuth angle, range speed and signal-to-noise ratio information of the target, and the elevation radar group (2) detects the vertical elevation angle, range speed and signal-to-noise ratio information of the target.

4. The 4D radar system for horizontal and elevation angle separation processing according to claim 3 is characterized in that: The elevation radar group (2) is provided with an elevation radar group radar chip (9), and the horizontal radar group (1) is provided with a horizontal radar group radar chip (4), and data of the elevation radar group radar chip (9) and the horizontal radar group radar chip (4) are output to the same data processing unit.

5. A 4D radar system for split processing of horizontal and elevation angles according to claim 1 or 4, characterized in that: The single-beam antenna in the horizontal radar group (1) and the single-beam antenna in the elevation radar group (2) are both arranged vertically.

6. The 4D radar system for horizontal and elevation angle separation processing according to claim 5, characterized in that: An isolation antenna (6) is provided between the elevation radar group (2) and the horizontal radar group (1).

7. A 4D radar control method for horizontal and elevation angle separation, using a 4D radar system for horizontal and elevation angle separation as claimed in any one of claims 1 to 6, characterized in that: The following steps are involved: S1: The horizontal radar group (1) and the elevation radar group (2) respectively obtain data information of a number of target points; S2: Use distance and speed to match two points to be merged; S3: Determine whether there is a target with the same distance and speed. If so, use the signal-to-noise ratio to compare again. If not, combine and output 4D radar target information.

8. The 4D radar control method of claim 7, wherein: The step S3 comprises the following steps: S3.1: Determine whether there is a target with the same distance and speed. If yes, proceed to step S3.2; if not, proceed to step S3.5; S3.2: Extract data information of all targets with the same distance and speed; S3.3: extracting the signal-to-noise ratio of two target points to be matched from the data information of the target at the same distance and speed; S3.4: Use the signal-to-noise ratio to match the two target points to be matched. If the match is successful, go to step S3.

5. If it fails, return to step S3.3; S3.5: Combine and output 4D radar target information.

9. The 4D radar control method of claim 7, wherein: The data information includes the distance speed, horizontal angle and signal-to-noise ratio detected by the horizontal radar group (1), and the distance speed, pitch angle and signal-to-noise ratio detected by the elevation radar group (2); the 4D radar target information includes target information composed of the distance speed, horizontal pitch angle and signal-to-noise ratio.

10. A 4D radar control method for horizontal and elevation angle separation processing according to claim 7 or 8, characterized in that: The same-speed and same-distance targets include targets whose numerical differences are within the range of 1-3 range gates and speed threshold values.

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