Real-time estimation method, device and equipment for radar scattering cross-sectional area of millimeter wave radar and storage medium

Abstract

The invention discloses a radar cross-sectional area real-time estimation method, device and equipment for a millimeter wave radar and a storage medium, and relates to the technical field of radar signal processing, and the method comprises the steps: collecting the amplitude intensity of a test target point at each working temperature, calculating a temperature coefficient at each working temperature; respectively acquiring amplitude intensity of the test target point at each angle, and calculating an angle coefficient at each angle; calculating a transmitting power multiple value of the millimeter wave radar according to the test distance; and acquiring the actual working temperature, the actual angle and the actual distance of the millimeter wave radar and the amplitude intensity of the actual target point in real time, and calculating the estimated radar scattering sectional area of the actual target point. The method can improve the accuracy of calculating the target radar scattering sectional area by the radar.

Description

Technical Field

[0001] The present application relates to the field of radar signal processing technology, and in particular to a method, device, equipment and storage medium for real-time estimation of radar scattering cross-section of a millimeter-wave radar. Background Art

[0002] Millimeter-wave radar has been widely used in automotive assisted driving systems due to its superior range resolution and angular resolution. These systems rely on the fusion of multiple sensors to comprehensively monitor the vehicle's surroundings to ensure driving safety. Among them, the radar cross section (RCS) of the target, as a physical quantity that measures the intensity of the target echo, is crucial for the identification and classification of the target. However, the calculation of RCS is affected by many factors, including target type, frequency, viewing angle, and environmental conditions. In particular, the accuracy of the received echo power and RCS calculation is not high at different temperatures and angles. The existing radar RF chip transmit power calibration and temperature compensation schemes are mainly aimed at high temperature environments, with large compensation temperature intervals, and poor effects in low temperature environments, which may lead to increased RCS calculation errors. Therefore, how to improve the accuracy of the radar cross-sectional area calculation of millimeter-wave radar is a problem that still needs to be solved.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present application is to provide a method, device, equipment and storage medium for real-time estimation of the radar cross-sectional area of ​​a millimeter-wave radar, aiming to solve the technical problem of how to improve the accuracy of the radar cross-sectional area calculation of the millimeter-wave radar.

[0005] To achieve the above object, the present application proposes a method for real-time estimation of radar cross-sectional area of ​​millimeter-wave radar, the method comprising:

[0006] A corner reflector with standard reflection intensity is used as a test target point of the millimeter wave radar, and the amplitude intensity of the test target point at each working temperature is collected at a preset temperature interval in a preset temperature range, and the temperature coefficient at each working temperature is calculated;

[0007] The amplitude strength of the test target point at each angle is collected according to a preset angle interval, and the angle coefficient at each angle is calculated;

[0008] Obtaining a test distance between the millimeter-wave radar and the test target point, and calculating a transmission power multiple value of the millimeter-wave radar according to the test distance;

[0009] Real-time acquisition of the actual operating temperature of the millimeter-wave radar, the actual angle and distance between the millimeter-wave radar and the actual target point, and the amplitude intensity of the actual target point of the millimeter-wave radar;

[0010] The estimated radar cross-sectional area of ​​the actual target point is calculated according to the transmit power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient and the angle coefficient.

[0011] In one embodiment, the step of collecting the amplitude strength of the test target point at each operating temperature at a preset temperature interval in a preset temperature range and calculating the temperature coefficient at each operating temperature includes:

[0012] Adjusting the temperature of the environment where the millimeter wave radar is located in a preset temperature range according to a preset temperature interval;

[0013] Collect the amplitude strength of the test target point at each working temperature respectively;

[0014] The amplitude intensity of the test target point at each operating temperature is normalized and linearly interpolated to obtain the temperature coefficient at each operating temperature.

[0015] In one embodiment, the step of performing normalization and linear interpolation processing on the amplitude intensity of the test target point at each operating temperature to obtain the temperature coefficient at each operating temperature includes:

[0016] Taking the amplitude intensity of the test target point at a preset standard temperature as the standard amplitude intensity, dividing the amplitude intensity at each temperature by the standard amplitude intensity to obtain the temperature coefficient at each temperature;

[0017] Determine the number of interpolation points according to preset interpolation requirements;

[0018] Determine two temperature points adjacent to the interpolation point on the left and right, calculate the temperature difference between the interpolation point and the lower temperature point, and then divide the temperature difference by the preset temperature interval to obtain an interpolation ratio;

[0019] Add the temperature coefficient of the lower temperature point to the product of the interpolation ratio and the difference between the temperature coefficients of the left and right temperature points to obtain the temperature coefficient of the interpolation point;

[0020] The temperature coefficient at each operating temperature is determined according to the temperature coefficient of the interpolation point.

[0021] In one embodiment, the step of collecting the amplitude strength of the test target point at each angle at a preset angle interval and calculating the angle coefficient at each angle includes:

[0022] Adjusting the angle between the millimeter wave radar and the test target point according to a preset angle interval;

[0023] respectively collecting the amplitude intensity of the test target point at each angle;

[0024] The amplitude intensity of the test target point at each angle is normalized to obtain the angle coefficient at each angle.

[0025] In one embodiment, the step of normalizing the amplitude intensity of the test target point at each angle to obtain the angle coefficient at each angle includes:

[0026] The amplitude intensity of the test target point at a preset standard angle is used as the standard amplitude intensity;

[0027] The amplitude intensity at each angle is divided by the standard amplitude intensity to obtain the angle coefficient at each angle.

[0028] In one embodiment, the step of calculating the transmission power multiple value of the millimeter wave radar according to the test distance includes:

[0029] The amplitude intensity of the test target point at a preset standard temperature is taken as the standard amplitude intensity;

[0030] Calculate the radar cross-sectional area corresponding to the corner reflector of standard reflection intensity;

[0031] The standard amplitude strength is multiplied by the fourth power of the test distance, and then divided by the radar scattering cross-sectional area to obtain the transmission power multiple value of the millimeter wave radar.

[0032] In one embodiment, the step of calculating the estimated radar cross-sectional area of ​​the actual target point according to the transmit power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient and the angle coefficient comprises:

[0033] According to the actual operating temperature and the actual angle, respectively determine the temperature coefficient and the angle coefficient at the corresponding temperature and the corresponding angle;

[0034] Dividing the amplitude intensity by the temperature coefficient and then by the angle coefficient to obtain an estimated amplitude intensity;

[0035] The estimated amplitude intensity is multiplied by the fourth power of the actual distance and then divided by the transmission power multiple value to obtain the estimated radar cross-sectional area of ​​the actual target point.

[0036] In addition, to achieve the above purpose, the present application also proposes a real-time estimation device for radar scattering cross-section of a millimeter-wave radar, and the real-time estimation device for radar scattering cross-section of a millimeter-wave radar comprises:

[0037] A temperature coefficient calculation module is used to use a corner reflector with a standard reflection intensity as a test target point of the millimeter wave radar, collect the amplitude intensity of the test target point at each working temperature in a preset temperature range according to a preset temperature interval, and calculate the temperature coefficient at each working temperature;

[0038] An angle coefficient calculation module, used to collect the amplitude strength of the test target point at each angle according to a preset angle interval, and calculate the angle coefficient at each angle;

[0039] A transmission power calculation module is used to obtain a test distance between the millimeter wave radar and the test target point, and calculate a transmission power multiple value of the millimeter wave radar according to the test distance;

[0040] A real-time data acquisition module is used to obtain in real time the actual operating temperature of the millimeter-wave radar, the actual angle and actual distance between the millimeter-wave radar and the actual target point, and the amplitude intensity of the actual target point of the millimeter-wave radar;

[0041] The scattering cross-sectional area calculation module is used to calculate the estimated radar scattering cross-sectional area of ​​the actual target point according to the transmission power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient and the angle coefficient.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a real-time estimation device for the radar cross-sectional area of ​​a millimeter-wave radar, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the real-time estimation method for the radar cross-sectional area of ​​a millimeter-wave radar as described above.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the real-time estimation method of the radar scattering cross-section of the millimeter-wave radar as described above are implemented.

[0044] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the real-time estimation method of the radar scattering cross-section of the millimeter-wave radar as described above.

[0045] The present application provides a real-time estimation method for the radar cross-sectional area of ​​a millimeter-wave radar. The present application uses a corner reflector with a standard reflection intensity as a test target point of the millimeter-wave radar, collects the amplitude intensity of the test target point at each operating temperature in a preset temperature range according to a preset temperature interval, and calculates the temperature coefficient at each operating temperature; collects the amplitude intensity of the test target point at each angle according to a preset angle interval, and calculates the angle coefficient at each angle; obtains a test distance between the millimeter-wave radar and the test target point, and calculates a transmission power multiple value of the millimeter-wave radar according to the test distance; obtains the actual operating temperature of the millimeter-wave radar, the actual angle and actual distance between the millimeter-wave radar and the actual target point, and the amplitude intensity of the actual target point of the millimeter-wave radar in real time; calculates the estimated radar cross-sectional area of ​​the actual target point according to the transmission power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient, and the angle coefficient.

[0046] In summary, the present application improves the accuracy of radar cross-sectional area calculation of millimeter-wave radar by calibrating the amplitude of the received echo signal of the target using the radar operating temperature. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0049] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of a method for real-time estimation of radar cross-sectional area of ​​a millimeter-wave radar of the present application;

[0050] Figure 2 A schematic diagram of a radar cross-sectional area calculation process provided in Embodiment 1 of the method for real-time estimation of radar cross-sectional area of ​​a millimeter-wave radar of the present application;

[0051] Figure 3 A flow chart of a second embodiment of a method for real-time estimation of radar cross-sectional area of ​​a millimeter-wave radar of the present application;

[0052] Figure 4 A flowchart diagram of Embodiment 3 of the method for real-time estimation of radar cross-sectional area of ​​a millimeter-wave radar of the present application;

[0053] Figure 5This is a schematic diagram of the module structure of the device for real-time estimation of radar cross-sectional area of ​​the millimeter-wave radar in an embodiment of the present application;

[0054] Figure 6 Schematic diagram of the device structure of the hardware operating environment involved in the real-time estimation method of the radar scattering cross-section of the millimeter-wave radar in the embodiment of the present application.

[0055] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0056] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0057] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0058] The main solution of the present application is to use a corner reflector with standard reflection intensity as a test target point of the millimeter-wave radar, collect the amplitude intensity of the test target point at each operating temperature in a preset temperature range according to a preset temperature interval, and calculate the temperature coefficient at each operating temperature; collect the amplitude intensity of the test target point at each angle according to a preset angle interval, and calculate the angle coefficient at each angle; obtain the test distance between the millimeter-wave radar and the test target point, and calculate the transmission power multiple value of the millimeter-wave radar according to the test distance; obtain the actual operating temperature of the millimeter-wave radar, the actual angle and actual distance between the millimeter-wave radar and the actual target point, and the amplitude intensity of the actual target point of the millimeter-wave radar in real time; calculate the estimated radar scattering cross-sectional area of ​​the actual target point according to the transmission power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient and the angle coefficient.

[0059] At present, the calculation of radar RCS is affected by many factors, including target type, frequency, viewing angle and environmental conditions. In particular, the accuracy of the received echo power and RCS calculation is not high at different temperatures and angles. The existing radar RF chip transmit power calibration and temperature compensation schemes are mainly aimed at high temperature environments, with large compensation temperature intervals and poor effects in low temperature environments, which may lead to increased RCS calculation errors. Therefore, how to improve the accuracy of radar cross-sectional area calculation of millimeter-wave radar is a problem that still needs to be solved.

[0060] The present application improves the accuracy of radar cross-sectional area calculation of millimeter-wave radar by calibrating the amplitude of the received echo signal of the target using the radar operating temperature.

[0061] Based on this, the embodiment of the present application provides a real-time estimation method for the radar cross-sectional area of ​​a millimeter-wave radar, referring to Figure 1 , Figure 1 1 is a flow chart of a first embodiment of a method for real-time estimation of radar cross-section of a millimeter-wave radar of the present application.

[0062] In this embodiment, the method for real-time estimation of radar cross-sectional area of ​​millimeter-wave radar includes steps S10 to S50:

[0063] Step S10: using a corner reflector with standard reflection intensity as a test target point of the millimeter wave radar, collecting the amplitude intensity of the test target point at each operating temperature in a preset temperature range according to a preset temperature interval, and calculating the temperature coefficient at each operating temperature;

[0064] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a real-time estimation device for the radar scattering cross section of a millimeter-wave radar, etc. The following takes the real-time estimation device for the radar scattering cross section of a millimeter-wave radar as an example to illustrate this embodiment and the following embodiments.

[0065] It should be noted that the corner reflector of standard reflection intensity refers to a corner reflector of 0dbsm (decibel square meter), and 0dBsm means that the radar scattering cross section of an object is equal to the echo power generated by an area of ​​1 square meter under the same conditions. The preset temperature range can be determined according to the radar working environment. For example, the preset temperature range can be set to -30 degrees Celsius to 100 degrees Celsius, and the preset temperature interval can be 5 degrees Celsius, that is, the amplitude intensity of the test target point is collected every 5 degrees Celsius.

[0066] Step S20: collecting the amplitude strength of the test target point at each angle according to a preset angle interval, and calculating the angle coefficient at each angle;

[0067] It should be noted that the preset angle interval can be set to 1 degree, that is, the amplitude intensity of the test target point is collected every 1 degree.

[0068] Step S30: obtaining a test distance between the millimeter-wave radar and the test target point, and calculating a transmission power multiple value of the millimeter-wave radar according to the test distance;

[0069] It should be noted that the radar equation is as follows:

[0070]

[0071] Pr is the received signal power, P t is the radar transmission power, Gt G r is the radar transceiver antenna gain, λ is the wavelength of the electromagnetic wave, π is the circumference of a circle, and R is the distance between the target and the radar. Among them, the radar transceiver antenna gain and wavelength are fixed values ​​and can be regarded as constants, that is, the constant formula is:

[0072]

[0073] Therefore, the radar formula can be transformed into:

[0074] Pr=K*RCS*Pt / R 4

[0075] Therefore, the transmission power multiple of the millimeter wave radar refers to the constant K and the radar's transmission power P t The product of .

[0076] In a feasible manner, the step of calculating the transmission power multiple value of the millimeter wave radar according to the test distance includes:

[0077] The amplitude intensity of the test target point at a preset standard temperature is taken as the standard amplitude intensity;

[0078] Calculate the radar cross-sectional area corresponding to the corner reflector of standard reflection intensity;

[0079] The standard amplitude strength is multiplied by the fourth power of the test distance, and then divided by the radar scattering cross-sectional area to obtain the transmission power multiple value of the millimeter wave radar.

[0080] It can be understood that the preset standard temperature refers to the chip temperature when the radar is working at normal temperature, which can be set to 75 degrees Celsius. The amplitude intensity corresponding to this temperature is the standard amplitude intensity, that is, the received signal power Pr. Since a 0dbsm corner reflector is used as the test target point, the RCS value can be directly obtained as 1. According to the deformed radar formula, the constant K and the radar's transmission power P can be calculated. t The product of is the transmission power multiple of the millimeter wave radar.

[0081] Step S40: acquiring in real time the actual operating temperature of the millimeter wave radar, the actual angle and actual distance between the millimeter wave radar and the actual target point, and the amplitude intensity of the actual target point of the millimeter wave radar;

[0082] It is understandable that in practical applications, the radar cross-sectional area can be calculated by obtaining the actual operating temperature of the millimeter-wave radar, the actual angle and actual distance between the millimeter-wave radar and the actual target point, and the amplitude intensity of the actual target point of the millimeter-wave radar.

[0083] Step S50: Calculate the estimated radar cross-sectional area of ​​the actual target point according to the transmit power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient and the angle coefficient.

[0084] It is understandable that, according to the temperature coefficient and the angle coefficient, the actually collected data can be compensated to calculate a more accurate radar cross-section.

[0085] In a feasible manner, the step of calculating the estimated radar cross-sectional area of ​​the actual target point according to the transmit power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient and the angle coefficient includes:

[0086] According to the actual operating temperature and the actual angle, respectively determine the temperature coefficient and the angle coefficient at the corresponding temperature and the corresponding angle;

[0087] Dividing the amplitude intensity by the temperature coefficient and then by the angle coefficient to obtain an estimated amplitude intensity;

[0088] The estimated amplitude intensity is multiplied by the fourth power of the actual distance and then divided by the transmission power multiple value to obtain the estimated radar cross-sectional area of ​​the actual target point.

[0089] It is understandable that the corresponding temperature coefficient and angle coefficient can be determined by the actual operating temperature and the actual angle. The corrected estimated amplitude intensity can be obtained by dividing the amplitude intensity by the temperature coefficient and then by the angle coefficient. The estimated radar cross-sectional area of ​​the actual target point can be calculated by the radar formula. Figure 2 , Figure 2 It is the radar cross-section calculation process.

[0090] In this embodiment, a corner reflector with a standard reflection intensity is used as a test target point of the millimeter-wave radar. The amplitude intensity of the test target point at each operating temperature is collected at a preset temperature interval in a preset temperature range, and the temperature coefficient at each operating temperature is calculated; the amplitude intensity of the test target point at each angle is collected at a preset angle interval, and the angle coefficient at each angle is calculated; the test distance between the millimeter-wave radar and the test target point is obtained, and the transmission power multiple value of the millimeter-wave radar is calculated according to the test distance; the actual operating temperature of the millimeter-wave radar, the actual angle and actual distance between the millimeter-wave radar and the actual target point, and the amplitude intensity of the actual target point of the millimeter-wave radar are obtained in real time; the estimated radar scattering cross-sectional area of ​​the actual target point is calculated according to the transmission power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient and the angle coefficient.

[0091] In summary, this embodiment solves the technical problem of how to improve the accuracy of radar cross-sectional area calculation of millimeter-wave radar by calibrating the amplitude of the received echo signal of the target using the radar operating temperature.

[0092] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 , step S10 also includes steps S101 to S103:

[0093] Step S101: adjusting the temperature of the environment in which the millimeter wave radar is located in a preset temperature range according to a preset temperature interval;

[0094] It should be noted that the preset temperature range can be determined according to the radar working environment. For example, the preset temperature range can be set to -30 degrees Celsius to 100 degrees Celsius, and the preset temperature interval can be 5 degrees Celsius, that is, the temperature of the environment in which the millimeter-wave radar is located increases by 5 degrees Celsius every time it is adjusted.

[0095] Step S102: respectively collecting the amplitude strength of the test target point at each working temperature;

[0096] It is understandable that after each temperature adjustment, the amplitude intensity of the test target point needs to be collected.

[0097] Step S103: performing normalization and linear interpolation processing on the amplitude intensity of the test target point at each operating temperature to obtain the temperature coefficient at each operating temperature.

[0098] It is understandable that the temperature coefficient of the acquired amplitude intensity can be calculated by normalization processing, and the temperature coefficient at each temperature can be calculated by interpolation method.

[0099] In a feasible manner, the step of normalizing and linearly interpolating the amplitude intensity of the test target point at each operating temperature to obtain the temperature coefficient at each operating temperature includes:

[0100] Taking the amplitude intensity of the test target point at a preset standard temperature as the standard amplitude intensity, dividing the amplitude intensity at each temperature by the standard amplitude intensity to obtain the temperature coefficient at each temperature;

[0101] Determine the number of interpolation points according to preset interpolation requirements;

[0102] Determine two temperature points adjacent to the interpolation point on the left and right, calculate the temperature difference between the interpolation point and the lower temperature point, and then divide the temperature difference by the preset temperature interval to obtain an interpolation ratio;

[0103] Add the temperature coefficient of the lower temperature point to the product of the interpolation ratio and the difference between the temperature coefficients of the left and right temperature points to obtain the temperature coefficient of the interpolation point;

[0104] The temperature coefficient at each operating temperature is determined according to the temperature coefficient of the interpolation point.

[0105] It is understandable that the preset standard temperature refers to the chip temperature when the radar is working at normal temperature, which can be set to 75 degrees Celsius. The amplitude intensity corresponding to this temperature is the standard amplitude intensity. The amplitude intensity collected at other temperatures is divided by the standard amplitude intensity to obtain the temperature coefficient. The interpolation method first needs to determine the number of interpolation points. For example, if you want to obtain the temperature coefficient corresponding to each degree Celsius through the interpolation method, and this embodiment has calculated the temperature coefficient every 5 degrees Celsius, you need to insert 4 interpolation points into the known two adjacent temperature coefficients. The specific steps are to determine the left and right temperature points adjacent to the interpolation point, and calculate the temperature difference between the interpolation point and the lower temperature point, and then divide the temperature difference by the preset temperature interval to obtain the interpolation ratio; add the temperature coefficient of the lower temperature point to the product of the interpolation ratio and the difference between the temperature coefficients of the left and right temperature points to obtain the temperature coefficient of the interpolation point, and determine the temperature coefficient at each working temperature according to the temperature coefficient of the interpolation point.

[0106] This embodiment adjusts the temperature of the environment in which the millimeter wave radar is located in a preset temperature range according to a preset temperature interval; collects the amplitude strength of the test target point at each operating temperature; performs normalization and linear interpolation processing on the amplitude strength of the test target point at each operating temperature to obtain the temperature coefficient at each operating temperature. This embodiment expands the collected temperature coefficients through normalization and interpolation methods to obtain the temperature coefficient corresponding to each temperature, which helps to reduce the influence of temperature when calculating the radar cross section and improves the accuracy of the radar cross section calculation of the millimeter wave radar.

[0107] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 , step S30 also includes steps S301 to S303:

[0108] Step S301: adjusting the angle between the millimeter wave radar and the test target point according to a preset angle interval;

[0109] It should be noted that the preset angle interval can be set to 1 degree, that is, the angle between the sub-millimeter wave radar and the test target point changes by 1 degree each time the adjustment is made.

[0110] Step S302: collecting the amplitude strength of the test target point at each angle respectively;

[0111] It is understandable that after each angle adjustment, the amplitude intensity of the test target point needs to be collected.

[0112] Step S303: normalizing the amplitude intensity of the test target point at each angle to obtain the angle coefficient at each angle.

[0113] It can be understood that the angular coefficient of the acquired amplitude intensity can be calculated through normalization processing.

[0114] In a feasible manner, the step of normalizing the amplitude intensity of the test target point at each angle to obtain the angle coefficient at each angle includes:

[0115] The amplitude intensity of the test target point at a preset standard angle is used as the standard amplitude intensity;

[0116] The amplitude intensity at each angle is divided by the standard amplitude intensity to obtain the angle coefficient at each angle.

[0117] It should be noted that the preset standard angle can be the direction in which the millimeter-wave radar is facing the test target point. The amplitude intensity collected at this angle is the standard amplitude intensity. The amplitude intensity at each angle is divided by the standard amplitude intensity to obtain the angle coefficient at each angle.

[0118] In this embodiment, the angle between the millimeter wave radar and the test target point is adjusted according to a preset angle interval;

[0119] The amplitude intensity of the test target point at each angle is collected respectively; the amplitude intensity of the test target point at each angle is normalized to obtain the angle coefficient at each angle. This embodiment obtains the angle coefficient corresponding to each angle through normalization, which helps to reduce the influence of the angle when calculating the radar cross section and improves the accuracy of the radar cross section calculation of the millimeter wave radar.

[0120] The present application also provides a real-time estimation device for the radar cross-sectional area of ​​a millimeter-wave radar. Please refer to Figure 5 The real-time estimation device for the radar cross-sectional area of ​​the millimeter-wave radar comprises:

[0121] The temperature coefficient calculation module 10 is used to use a corner reflector with a standard reflection intensity as a test target point of the millimeter wave radar, collect the amplitude intensity of the test target point at each working temperature in a preset temperature range according to a preset temperature interval, and calculate the temperature coefficient at each working temperature;

[0122] An angle coefficient calculation module 20, used to collect the amplitude strength of the test target point at each angle according to a preset angle interval, and calculate the angle coefficient at each angle;

[0123] The transmission power calculation module 30 is used to obtain the test distance between the millimeter wave radar and the test target point, and calculate the transmission power multiple value of the millimeter wave radar according to the test distance;

[0124] The real-time data acquisition module 40 is used to acquire in real time the actual operating temperature of the millimeter wave radar, the actual angle and actual distance between the millimeter wave radar and the actual target point, and the amplitude intensity of the actual target point of the millimeter wave radar;

[0125] The scattering cross-sectional area calculation module 50 is used to calculate the estimated radar scattering cross-sectional area of ​​the actual target point according to the transmission power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient and the angle coefficient.

[0126] In this embodiment, a corner reflector with a standard reflection intensity is used as a test target point of the millimeter-wave radar. The amplitude intensity of the test target point at each operating temperature is collected at a preset temperature interval in a preset temperature range, and the temperature coefficient at each operating temperature is calculated; the amplitude intensity of the test target point at each angle is collected at a preset angle interval, and the angle coefficient at each angle is calculated; the test distance between the millimeter-wave radar and the test target point is obtained, and the transmission power multiple value of the millimeter-wave radar is calculated according to the test distance; the actual operating temperature of the millimeter-wave radar, the actual angle and actual distance between the millimeter-wave radar and the actual target point, and the amplitude intensity of the actual target point of the millimeter-wave radar are obtained in real time; the estimated radar scattering cross-sectional area of ​​the actual target point is calculated according to the transmission power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient and the angle coefficient.

[0127] In summary, this embodiment solves the technical problem of how to improve the accuracy of radar cross-sectional area calculation of millimeter-wave radar by calibrating the amplitude of the received echo signal of the target using the radar operating temperature.

[0128] In one embodiment, the temperature coefficient calculation module 10 is also used to adjust the temperature of the environment in which the millimeter wave radar is located in a preset temperature range according to a preset temperature interval; respectively collect the amplitude intensity of the test target point at each working temperature; normalize and linearly interpolate the amplitude intensity of the test target point at each working temperature to obtain the temperature coefficient at each working temperature.

[0129] In one embodiment, the temperature coefficient calculation module 10 is also used to take the amplitude strength of the test target point at a preset standard temperature as the standard amplitude strength, divide the amplitude strength at each temperature by the standard amplitude strength, and obtain the temperature coefficient at each temperature; determine the number of interpolation points according to a preset interpolation requirement; determine the left and right temperature points adjacent to the interpolation point, and calculate the temperature difference between the interpolation point and the lower temperature point, and then divide the temperature difference by the preset temperature interval to obtain the interpolation ratio; add the temperature coefficient of the lower temperature point to the product of the interpolation ratio and the difference between the temperature coefficients of the left and right temperature points to obtain the temperature coefficient of the interpolation point; determine the temperature coefficient at each operating temperature according to the temperature coefficient of the interpolation point.

[0130] In one embodiment, the angle coefficient calculation module 20 is also used to adjust the angle between the millimeter wave radar and the test target point according to a preset angle interval; respectively collect the amplitude intensity of the test target point at each angle; normalize the amplitude intensity of the test target point at each angle to obtain the angle coefficient at each angle.

[0131] In one embodiment, the angle coefficient calculation module 20 is further used to take the amplitude strength of the test target point at a preset standard angle as the standard amplitude strength; and divide the amplitude strength at each angle by the standard amplitude strength to obtain the angle coefficient at each angle.

[0132] In one embodiment, the transmission power calculation module 30 is also used to take the amplitude intensity of the test target point at a preset standard temperature as the standard amplitude intensity; calculate the radar scattering cross-sectional area corresponding to the corner reflector of the standard reflection intensity; multiply the standard amplitude intensity by the fourth power of the test distance, and then divide it by the radar scattering cross-sectional area to obtain the transmission power multiple value of the millimeter wave radar.

[0133] In one embodiment, the scattering cross-sectional area calculation module 50 is further used to determine the temperature coefficient and the angle coefficient at the corresponding temperature and the corresponding angle respectively according to the actual operating temperature and the actual angle; divide the amplitude intensity by the temperature coefficient and then by the angle coefficient to obtain an estimated amplitude intensity; multiply the estimated amplitude intensity by the fourth power of the actual distance and then divide it by the transmission power multiple value to obtain the estimated radar scattering cross-sectional area of ​​the actual target point.

[0134] The real-time estimation device for radar scattering cross-section of millimeter-wave radar provided by the present application adopts the real-time estimation method for radar scattering cross-section of millimeter-wave radar in the above-mentioned embodiment, which can solve the technical problem of how to improve the accuracy of radar scattering cross-section calculation of millimeter-wave radar. Compared with the prior art, the beneficial effects of the real-time estimation device for radar scattering cross-section of millimeter-wave radar provided by the present application are the same as the beneficial effects of the real-time estimation method for radar scattering cross-section of millimeter-wave radar provided by the above-mentioned embodiment, and other technical features in the real-time estimation device for radar scattering cross-section of millimeter-wave radar are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0135] The present application provides a device for real-time estimation of radar cross-section of a millimeter-wave radar, and the device for real-time estimation of radar cross-section of a millimeter-wave radar comprises: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for real-time estimation of radar cross-section of the millimeter-wave radar in the first embodiment.

[0136] Reference below Figure 6 , which shows a schematic diagram of the structure of a real-time estimation device for radar cross-section of a millimeter-wave radar suitable for implementing the embodiment of the present application. The real-time estimation device for radar cross-section of a millimeter-wave radar in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The millimeter-wave radar radar cross-sectional area real-time estimation device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0137] like Figure 6As shown, the real-time estimation device for the radar cross-sectional area of ​​the millimeter-wave radar may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the real-time estimation device for the radar cross-sectional area of ​​the millimeter-wave radar are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the real-time estimation device of the radar cross-section of the millimeter-wave radar to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a real-time estimation device of the radar cross-section of the millimeter-wave radar with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0138] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0139] The real-time estimation device for radar cross-sectional area of ​​millimeter-wave radar provided by the present application adopts the real-time estimation method for radar cross-sectional area of ​​millimeter-wave radar in the above-mentioned embodiment, which can solve the technical problem of how to improve the accuracy of radar cross-sectional area calculation of millimeter-wave radar. Compared with the prior art, the beneficial effect of the real-time estimation device for radar cross-sectional area of ​​millimeter-wave radar provided by the present application is the same as the beneficial effect of the real-time estimation method for radar cross-sectional area of ​​millimeter-wave radar provided by the above-mentioned embodiment, and the other technical features in the real-time estimation device for radar cross-sectional area of ​​millimeter-wave radar are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0140] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0141] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0142] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the real-time estimation method for radar cross-sectional area of ​​the millimeter-wave radar in the above-mentioned embodiment.

[0143] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0144] The computer-readable storage medium may be included in the real-time estimation device for radar cross-section of a millimeter-wave radar; or may exist independently without being assembled into the real-time estimation device for radar cross-section of a millimeter-wave radar.

[0145] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the real-time estimation device for radar scattering cross section of the millimeter-wave radar, the real-time estimation device for radar scattering cross section of the millimeter-wave radar: using a corner reflector with standard reflection intensity as a test target point of the millimeter-wave radar, collecting the amplitude intensity of the test target point at each operating temperature in a preset temperature range according to a preset temperature interval, and calculating the temperature coefficient at each operating temperature; collecting the amplitude intensity of the test target point at each angle according to a preset angle interval, and calculating the angle coefficient at each angle; obtaining the test distance between the millimeter-wave radar and the test target point, and calculating the transmission power multiple value of the millimeter-wave radar according to the test distance; obtaining the actual operating temperature of the millimeter-wave radar, the actual angle and actual distance between the millimeter-wave radar and the actual target point, and the amplitude intensity of the actual target point of the millimeter-wave radar in real time; calculating the estimated radar scattering cross section of the actual target point according to the transmission power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient and the angle coefficient.

[0146] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0147] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0148] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0149] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method for real-time estimation of radar cross-sectional area of ​​millimeter-wave radar, and can solve the technical problem of how to improve the accuracy of radar cross-sectional area calculation of millimeter-wave radar. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the method for real-time estimation of radar cross-sectional area of ​​millimeter-wave radar provided by the above-mentioned embodiment, and will not be described in detail here.

[0150] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for real-time estimation of radar scattering cross-section of millimeter-wave radar.

[0151] The computer program product provided by the present application can solve the technical problem of how to improve the accuracy of the radar cross-sectional area calculation of the millimeter-wave radar. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the real-time estimation method of the radar cross-sectional area of ​​the millimeter-wave radar provided by the above embodiment, and will not be repeated here.

[0152] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for real-time estimation of radar cross-sectional area of ​​millimeter-wave radar, characterized in that: The method includes: A corner reflector with standard reflection intensity is used as a test target point of the millimeter wave radar, and the amplitude intensity of the test target point at each working temperature is collected at a preset temperature interval in a preset temperature range, and the temperature coefficient at each working temperature is calculated; The amplitude strength of the test target point at each angle is collected according to a preset angle interval, and the angle coefficient at each angle is calculated; Obtaining a test distance between the millimeter-wave radar and the test target point, and calculating a transmission power multiple value of the millimeter-wave radar according to the test distance; Real-time acquisition of the actual operating temperature of the millimeter-wave radar, the actual angle and distance between the millimeter-wave radar and the actual target point, and the amplitude intensity of the actual target point of the millimeter-wave radar; The estimated radar cross-sectional area of ​​the actual target point is calculated according to the transmit power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient and the angle coefficient.

2. The method according to claim 1, characterized in that The step of collecting the amplitude strength of the test target point at each operating temperature in a preset temperature range according to a preset temperature interval, and calculating the temperature coefficient at each operating temperature includes: Adjusting the temperature of the environment where the millimeter wave radar is located in a preset temperature range according to a preset temperature interval; Collect the amplitude strength of the test target point at each working temperature respectively; The amplitude intensity of the test target point at each operating temperature is normalized and linearly interpolated to obtain the temperature coefficient at each operating temperature.

3. The method according to claim 2, characterized in that The step of normalizing and linearly interpolating the amplitude intensity of the test target point at each operating temperature to obtain the temperature coefficient at each operating temperature includes: Taking the amplitude intensity of the test target point at a preset standard temperature as the standard amplitude intensity, dividing the amplitude intensity at each temperature by the standard amplitude intensity to obtain the temperature coefficient at each temperature; Determine the number of interpolation points according to preset interpolation requirements; Determine two temperature points adjacent to the interpolation point on the left and right, calculate the temperature difference between the interpolation point and the lower temperature point, and then divide the temperature difference by the preset temperature interval to obtain an interpolation ratio; Add the temperature coefficient of the lower temperature point to the product of the interpolation ratio and the difference between the temperature coefficients of the left and right temperature points to obtain the temperature coefficient of the interpolation point; The temperature coefficient at each operating temperature is determined according to the temperature coefficient of the interpolation point.

4. The method according to claim 1, characterized in that The step of collecting the amplitude strength of the test target point at each angle according to the preset angle interval and calculating the angle coefficient at each angle includes: Adjusting the angle between the millimeter wave radar and the test target point according to a preset angle interval; respectively collecting the amplitude intensity of the test target point at each angle; The amplitude intensity of the test target point at each angle is normalized to obtain the angle coefficient at each angle.

5. The method according to claim 4, characterized in that The step of normalizing the amplitude intensity of the test target point at each angle to obtain the angle coefficient at each angle includes: The amplitude intensity of the test target point at a preset standard angle is used as the standard amplitude intensity; The amplitude intensity at each angle is divided by the standard amplitude intensity to obtain the angle coefficient at each angle.

6. The method according to claim 1, characterized in that The step of calculating the transmission power multiple value of the millimeter wave radar according to the test distance includes: The amplitude intensity of the test target point at a preset standard temperature is taken as the standard amplitude intensity; Calculate the radar cross-sectional area corresponding to the corner reflector of standard reflection intensity; The standard amplitude strength is multiplied by the fourth power of the test distance, and then divided by the radar scattering cross-sectional area to obtain the transmission power multiple value of the millimeter wave radar.

7. The method according to claim 1, characterized in that The step of calculating the estimated radar cross-sectional area of ​​the actual target point according to the transmit power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient and the angle coefficient comprises: According to the actual operating temperature and the actual angle, respectively determine the temperature coefficient and the angle coefficient at the corresponding temperature and the corresponding angle; Dividing the amplitude intensity by the temperature coefficient and then by the angle coefficient to obtain an estimated amplitude intensity; The estimated amplitude intensity is multiplied by the fourth power of the actual distance and then divided by the transmission power multiple value to obtain the estimated radar cross-sectional area of ​​the actual target point.

8. A real-time estimation device for radar cross-sectional area of ​​a millimeter-wave radar, characterized in that: The device comprises: A temperature coefficient calculation module is used to use a corner reflector with a standard reflection intensity as a test target point of the millimeter wave radar, collect the amplitude intensity of the test target point at each working temperature in a preset temperature range according to a preset temperature interval, and calculate the temperature coefficient at each working temperature; An angle coefficient calculation module, used to collect the amplitude strength of the test target point at each angle according to a preset angle interval, and calculate the angle coefficient at each angle; A transmission power calculation module is used to obtain a test distance between the millimeter wave radar and the test target point, and calculate a transmission power multiple value of the millimeter wave radar according to the test distance; A real-time data acquisition module is used to obtain in real time the actual operating temperature of the millimeter-wave radar, the actual angle and actual distance between the millimeter-wave radar and the actual target point, and the amplitude intensity of the actual target point of the millimeter-wave radar; The scattering cross-sectional area calculation module is used to calculate the estimated radar scattering cross-sectional area of ​​the actual target point according to the transmission power multiple value, the actual operating temperature, the actual angle, the amplitude intensity, the actual distance, the temperature coefficient and the angle coefficient.

9. A real-time estimation device for radar cross-sectional area of ​​millimeter-wave radar, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for real-time estimation of radar cross-sectional area of ​​a millimeter-wave radar as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the real-time estimation method of the radar scattering cross-section of a millimeter-wave radar according to any one of claims 1 to 7 are implemented.

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