Radar phase compensation method and device, electronic equipment and storage medium

Abstract

The invention discloses a radar phase compensation method and device, electronic equipment and a storage medium. The method comprises the following steps: determining target detection information corresponding to a target object; determining a reference antenna phase compensation value adopted in the current compensation stage, and performing antenna phase compensation on antenna channel data corresponding to each advancing position point in the target detection information by adopting the reference antenna phase compensation value to obtain compensated detection information; based on the compensated detection information, determining a corresponding transverse distance information standard deviation when the to-be-calibrated radar is adopted to measure a preset part on the target object at each advancing position point after antenna phase compensation; and performing antenna phase compensation calibration on the radar to be calibrated based on the reference antenna phase compensation value corresponding to the transverse distance information standard deviation corresponding to each compensation stage. According to the scheme, factory calibration is not needed, manpower and material resources are saved, and meanwhile, the problem of errors of large-aperture radar near-field calibration is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of radar detection, and particularly to a radar phase compensation method, device, electronic device, and storage medium. Background Art

[0002] With the increasing refinement of traffic management, the requirements for the measurement accuracy of radars are also increasing day by day. Moreover, due to limitations such as cost and manufacturing process, it is still impossible to achieve high angle measurement accuracy, and due to manufacturing process errors, the consistency of radar antennas is not high, and there is an additional phase difference between the data collected by different antennas, which further leads to a decrease in angle measurement accuracy.

[0003] Currently, in order to reduce the data phase error between antennas, after the radar is manufactured, the relative movement between the target and the radar is achieved by rotating the turntable, the antenna data when the target is at different azimuth angles is recorded and analyzed, and according to the true angle of the target, the theoretical antenna data is obtained, and the phase compensation data is obtained by comparing the measured data with the theoretical data. However, the above compensation method is relatively complex, costly, and requires a certain amount of manpower and material resources. Moreover, even if the compensation value has been placed in the memory, when the radar is mounted on the roadside, it is impossible to ensure that the engineering survey error is 0, resulting in the measurement accuracy still unable to be guaranteed. Summary of the Invention

[0004] The present invention provides a radar phase compensation method, device, electronic device, and storage medium to solve the problem that the antenna phase of the radar cannot be quickly and accurately compensated and corrected.

[0005] According to an aspect of the present invention, there is provided a radar phase compensation method, including:

[0006] Determine the target detection information corresponding to the target object, where the target detection information includes the longitudinal distance information and antenna channel data obtained by measuring a preset part on the target object at each traveling position point using the radar to be calibrated, the longitudinal distance is the distance relative to the radar to be calibrated along the radar normal direction, and the target object travels straight along the traveling lane parallel to the radar normal direction;

[0007] Determine the reference antenna phase compensation value used in the current compensation stage, and perform antenna phase compensation on the antenna channel data corresponding to each traveling position point in the target detection information using the reference antenna phase compensation value to obtain the compensated detection information;

[0008] Based on the compensated detection information, determine the standard deviation of the lateral distance information corresponding to measuring a preset part on the target object at each traveling position point using the radar to be calibrated after antenna phase compensation, where the lateral distance is the distance relative to the radar to be calibrated along the direction perpendicular to the radar normal direction;

[0009] Based on the reference antenna phase compensation value corresponding to the standard deviation of the lateral distance information corresponding to each compensation stage, antenna phase compensation calibration is performed on the radar to be calibrated.

[0010] According to another aspect of the present invention, a radar phase compensation device is provided, including:

[0011] A first determination module, configured to determine target detection information corresponding to a target object, where the target detection information includes longitudinal distance information and antenna channel data obtained by measuring a preset part on the target object at each traveling position point using a radar to be calibrated, the longitudinal distance is the distance relative to the radar to be calibrated along the radar normal direction, and the target object travels straight along a traveling lane parallel to the radar normal direction of the radar to be calibrated;

[0012] A first compensation module, configured to determine a reference antenna phase compensation value used in the current compensation stage, and perform antenna phase compensation on the antenna channel data corresponding to each traveling position point in the target detection information using the reference antenna phase compensation value to obtain compensated detection information;

[0013] A second determination module, configured to determine the standard deviation of the lateral distance information corresponding to each traveling position point when measuring the preset part on the target object using the radar to be calibrated after antenna phase compensation based on the compensated detection information, where the lateral distance is the distance relative to the radar to be calibrated along the direction perpendicular to the radar normal direction;

[0014] A second compensation module, configured to perform antenna phase compensation calibration on the radar to be calibrated based on the reference antenna phase compensation value corresponding to the standard deviation of the lateral distance information corresponding to each compensation stage.

[0015] According to another aspect of the present invention, an electronic device is provided, where the electronic device includes:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the radar phase compensation method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, where the computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the radar phase compensation method according to any embodiment of the present invention is implemented.

[0020] In the technical solution of the embodiment of the present invention, by obtaining target detection information corresponding to a target object, the target detection information includes longitudinal distance information and antenna channel data obtained by measuring a preset part on the target object at each traveling position point using a radar to be calibrated. The longitudinal distance is the distance relative to the radar to be calibrated along the radar normal direction. The target object travels straight along a traveling lane parallel to the radar normal direction of the radar to be calibrated. The antenna channel data in the target detection information is compensated using the reference antenna phase compensation value corresponding to each compensation stage, and then the standard deviation of the lateral distance information corresponding to measuring the preset part on the target object at each traveling position point using the radar to be calibrated is determined according to the compensated detection information. Since the target object moves along a traveling lane parallel to the radar normal direction of the radar to be calibrated, the lateral distance of the target object measured by the radar to be calibrated should be a constant. The antenna channel data is updated using the reference antenna phase compensation values updated through multiple compensation stages, and the lateral distance corresponding to measuring the preset part on the target object at each traveling position point using the radar to be calibrated is estimated according to the compensated detection information, so that the standard deviation of the lateral distance of the target is continuously optimized, thereby obtaining an optimal reference antenna phase compensation value to compensate and correct the antenna phase of the radar to be calibrated. The antenna phase can be compensated through the measured detection information of the target object, without the need for factory calibration, saving manpower and material resources, and at the same time avoiding the problem of errors in near-field calibration of large-aperture radars.

[0021] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 is a flowchart of a radar phase compensation method provided according to an embodiment of the present invention;

[0024] Figure 2a is a radar geometric schematic diagram applicable to an embodiment of the present invention;

[0025] Figure 2b is a phase compensation flowchart based on an optimization method applicable to an embodiment of the present invention;

[0026] Figure 3It is a flowchart of another radar phase compensation method provided according to an embodiment of the present invention;

[0027] Figure 4a It is a schematic diagram of a vehicle moving in a straight line applicable to an embodiment of the present invention;

[0028] Figure 4b It is a tracking result based on an RD map applicable to an embodiment of the present invention;

[0029] Figure 4c It is a trajectory map of tracking a vehicle after antenna phase compensation applicable to an embodiment of the present invention;

[0030] Figure 5 It is a flowchart of yet another radar phase compensation method provided according to an embodiment of the present invention;

[0031] Figure 6 It is a schematic structural diagram of a radar phase compensation device provided according to an embodiment of the present invention;

[0032] Figure 7 It is a schematic structural diagram of an electronic device for implementing the radar phase compensation method of an embodiment of the present invention. Detailed implementation manners

[0033] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device including a series of steps or units does not necessarily need to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0035] Figure 1The present invention provides a flowchart of a radar phase compensation method. This embodiment is applicable to the situation of compensating and correcting the antenna phase of a radar. This method can be executed by a radar phase compensation device, which can be implemented in the form of hardware and / or software, and can be configured in any electronic device with network communication functions.

[0036] As Figure 1 shown, the radar phase compensation method of this embodiment may include the following processes:

[0037] S110. Determine the target detection information corresponding to the target object. The target detection information includes the longitudinal distance information and antenna channel data obtained by measuring a preset part on the target object at each traveling position point using the radar to be calibrated. The longitudinal distance is the distance relative to the radar to be calibrated along the radar normal direction, and the target object travels straight along the traveling lane parallel to the radar normal direction of the radar to be calibrated.

[0038] Refer to Figure 2a , the radar A to be calibrated is hung on a hanging rod on the roadside. The vertical point O of the radar A to be calibrated on the ground is located on the road surface of the traveling lane, but most likely not in the middle of the traveling lane. A Cartesian coordinate system is established with the vertical point O as the origin, where the z-axis is vertically upward, the y-axis is along the road direction of the traveling lane, and the x-axis is perpendicular to the road direction of the traveling lane. The target object on the traveling lane usually moves along the traveling lane. If it exactly moves along the y-axis, the target object is always in the 0-degree direction of the radar. The antenna channel data when the target object moving along the y-axis is collected as the sample data when the target is at 0 degrees. It is relatively easy to obtain the antenna phase compensation value by averaging the samples.

[0039] However, the probability of obtaining a non-cooperative object moving along the lane where the radar is located is small, resulting in low efficiency of this acquisition method. In order to reduce the antenna phase error of the radar to be calibrated, when performing antenna phase compensation and correction for the radar to be calibrated, a target object traveling straight along the traveling lane parallel to the radar normal direction of the radar to be calibrated can be configured for the radar to be calibrated. The type of the target object can be a vehicle. Furthermore, when the target object travels straight along the traveling lane parallel to the radar normal direction of the radar to be calibrated, the longitudinal distance information and antenna channel data obtained by measuring the target object at each traveling position point using the radar to be calibrated can be acquired. The type of the radar to be calibrated can be a millimeter-wave radar.

[0040] S120. Determine the reference antenna phase compensation value used in the current compensation stage, and perform antenna phase compensation on the antenna channel data corresponding to each traveling position point in the target detection information using the reference antenna phase compensation value to obtain the compensated detection information.

[0041] Refer to Figure 2b, after determining the antenna channel data in the target detection information, the process of radar phase compensation can be divided into multiple compensation stages, and the reference antenna phase compensation value used in each compensation stage can be determined. In each compensation stage, the antenna channel data in the target detection information is compensated for antenna phase using the reference phase compensation value corresponding to the compensation stage to update the antenna channel data, and the compensated detection information after antenna phase compensation is obtained. Among them, the compensated detection information corresponding to the current compensation stage includes the longitudinal distance information measured by the radar to be calibrated on the preset part of the target object at each traveling position point and the antenna channel data after antenna phase compensation in the current compensation stage.

[0042] S130. Based on the compensated detection information, determine the standard deviation of the lateral distance information corresponding to the measurement of the preset part of the target object at each traveling position point by the radar to be calibrated after antenna phase compensation. The lateral distance is the distance relative to the radar to be calibrated along the direction perpendicular to the radar normal.

[0043] See Figure 2b , each compensation stage corresponds to Figure 2b angle estimation, lateral distance estimation, standard deviation calculation, and compensation value optimization. After obtaining the compensated detection information by performing antenna phase compensation in the current compensation stage, it can be calculated that if the radar to be calibrated obtains the antenna channel data in the compensated detection information corresponding to the current compensation stage, the lateral distance information corresponding to the measurement of the preset part of the target object at each traveling position point by the radar to be calibrated. Furthermore, based on the lateral distance information corresponding to each traveling position point, the standard deviation of the lateral distance information corresponding to the current compensation stage is determined.

[0044] As an optional but non-limiting implementation manner, determining the reference antenna phase compensation value used in the current compensation stage includes the following steps:

[0045] When the current compensation stage is the first compensation stage, select the antenna phase when the radar to be calibrated detects an object target with a longitudinal distance greater than the preset longitudinal distance from the radar to be calibrated as the reference antenna phase compensation value used in the current compensation stage.

[0046] Set the reference antenna phase compensation value used in the first compensation stage as w. The antenna phase of the target object at a long distance can be selected as the rough compensation value, that is, the initial value for optimizing the antenna phase compensation value using multiple compensation stages. Furthermore, in the first compensation stage, the antenna channel data corresponding to each traveling position point in the target detection information is compensated for antenna phase using the reference antenna phase compensation value corresponding to the first compensation stage. The antenna phase compensation can be performed using the following formula:

[0047]

[0048] Among them, xi and yi are the values of the i-th radar antenna before and after antenna phase compensation, and wi is the phase to be compensated for the i-th radar antenna.

[0049] As another optional but non-limiting implementation, determining the reference antenna phase compensation value adopted in the current compensation stage includes the following steps:

[0050] When the current compensation stage is not the first compensation stage, the antenna phase compensation value obtained by updating the reference antenna phase compensation value adopted in the previous compensation stage using a preset antenna phase compensation value optimization algorithm is determined as the reference antenna phase compensation value adopted in the current compensation stage. The preset antenna phase compensation value optimization algorithm includes the interior point method or the SQP algorithm.

[0051] When the current compensation stage is not the first compensation stage, the reference antenna phase compensation value adopted in the previous compensation stage can be obtained, optimized and updated based on the preset antenna phase compensation value optimization algorithm, and then the optimized and updated reference antenna phase compensation value is used as the reference antenna phase compensation value adopted in the current compensation stage.

[0052] S140. Based on the reference antenna phase compensation value corresponding to the standard deviation of the lateral distance information corresponding to each compensation stage, perform antenna phase compensation calibration on the radar to be calibrated.

[0053] Since the target object moves linearly along the driving lane parallel to the normal direction of the radar to be calibrated, the lateral distance measured by the radar to be calibrated for the target object moving linearly in this driving lane should be a constant. By continuously optimizing the reference phase compensation values adopted in each compensation stage and calculating the standard deviation of the lateral distance information corresponding to measuring the preset part of the target object at each driving position point after antenna phase compensation, and minimizing the standard deviation of the lateral distance information measured for the target object, the optimal reference antenna phase compensation value can be obtained. Furthermore, the optimal reference antenna phase compensation value can be used to perform antenna phase compensation calibration on the radar to be calibrated.

[0054] As an optional but non-limiting implementation, based on the reference antenna phase compensation value corresponding to the standard deviation of the lateral distance information corresponding to each compensation stage, performing antenna phase compensation calibration on the radar to be calibrated includes the following steps A1 - A2:

[0055] Step A1. Determine the reference antenna phase compensation value corresponding to the minimum lateral distance information standard deviation from the reference antenna phase compensation values corresponding to the standard deviations of the lateral distance information corresponding to each compensation stage.

[0056] Step A2: Based on the reference antenna phase compensation value corresponding to the standard deviation of the minimum lateral distance information, perform antenna phase compensation calibration on the radar to be calibrated.

[0057] In the technical solution of the embodiment of the present invention, by obtaining the target detection information corresponding to the target object, the target detection information includes the longitudinal distance information and the antenna channel data obtained by measuring a preset part on the target object at each traveling position point using the radar to be calibrated. The longitudinal distance is the distance relative to the radar to be calibrated along the radar normal direction. The target object travels straight along the traveling lane parallel to the radar normal direction of the radar to be calibrated. The antenna channel data in the target detection information is compensated using the reference antenna phase compensation value corresponding to each compensation stage, and then the standard deviation of the lateral distance information corresponding to the measurement of the preset part on the target object at each traveling position point using the radar to be calibrated is determined according to the compensated detection information. Since the target object moves along the traveling lane parallel to the radar normal direction of the radar to be calibrated, the lateral distance of the target object measured by the radar to be calibrated should be a constant. The antenna channel data is updated using the reference antenna phase compensation value updated in multiple compensation stages, and the lateral distance corresponding to the measurement of the preset part on the target object at each traveling position point using the radar to be calibrated is estimated according to the compensated detection information, so that the standard deviation of the lateral distance of the target is continuously optimized, thereby obtaining the optimal reference antenna phase compensation value to perform compensation correction on the antenna phase of the radar to be calibrated. The antenna phase compensation can be performed through the measured detection information of the target object, without the need for factory calibration, saving manpower and material resources, and at the same time avoiding the problem of errors in the near-field calibration of large-aperture radars.

[0058] Figure 3 The figure is a flowchart of another radar phase compensation method provided by an embodiment of the present invention. The technical solution of this embodiment further optimizes the process of determining the target detection information corresponding to the target object in the foregoing embodiment. This embodiment can be combined with each optional solution in one or more of the above embodiments.

[0059] As Figure 3 shown, the radar phase compensation method of this embodiment may include the following process:

[0060] S310: Determine the reference track information corresponding to at least one reference object. Each reference track information records the reference point track data obtained by measuring a preset part on the same reference object at each traveling position point using the radar to be calibrated. The reference point track data includes longitudinal distance information, radial velocity information, signal-to-noise ratio information, and antenna channel data. The reference object is a device traveling along the traveling lane parallel to the radar normal direction of the radar to be calibrated.

[0061] As an optional but not limiting implementation, determining the reference track information corresponding to at least one reference object includes the following steps B1 - B3:

[0062] Step B1: Determine the reference radar detection data obtained by the radar to be calibrated detecting each reference object at different traveling position points.

[0063] Step B2: Extract from each radar detection data the reference point track data obtained by measuring a preset part on different reference objects at each traveling position point using the radar to be calibrated.

[0064] Step B3: Based on the longitudinal distance information and radial velocity information of the reference object corresponding to each reference point track data relative to the radar to be calibrated, associate the reference point track data obtained by measuring a preset part on the same reference object at each traveling position point using the radar to be calibrated, to obtain the reference track information corresponding to at least one reference object.

[0065] See Figure 2a And Figure 4a , the radar to be calibrated is hung on the roadside pole of the traveling lane and is roughly adjusted so that the normal direction of the radar to be calibrated is along the road direction of the traveling lane. When it is detected that there is a reference object moving in a straight line along any traveling lane on the traveling lane, record and save the reference radar detection data corresponding to the reference object obtained by the radar to be calibrated detecting the reference object at different traveling position points in the traveling lane. It is recommended that the fewer the reference objects in the traveling lane during data acquisition, the better, which is convenient for subsequent tracking and identification of the same reference object.

[0066] See Figure 4b , perform conventional distance processing and Doppler processing on each reference radar detection data corresponding to the received reference object to obtain the RD map corresponding to the reference radar detection data. The RD map corresponding to the reference radar detection data records the longitudinal distance of the reference object relative to the radar to be calibrated and the radial velocity of the reference object relative to the radar to be calibrated. Since the azimuth angle cannot be measured before antenna phase compensation of the radar to be calibrated, the tracking of the reference object can only utilize the longitudinal distance of the reference object relative to the radar to be calibrated and the radial velocity of the reference object relative to the radar to be calibrated, which is different from the traditional tracking using target distance - velocity - angle information.

[0067] The RD map corresponding to the reference radar detection data records the longitudinal distance of the reference object relative to the radar to be calibrated and the radial velocity of the reference object relative to the radar to be calibrated. Cluster the point cloud in the reference radar detection data corresponding to the reference object, and select the point cloud of the preset part on the reference object as the reference point track data obtained by using the radar to be calibrated to measure the preset parts on different reference objects at each traveling position point. For example, select the point with the closest distance in a type of point cloud as the head area of the reference object, and extract the reference point track data of the head area of the reference object.

[0068] S320. Determine the target track information corresponding to the target object from the reference track information corresponding to at least one reference object, where the target object is a reference object selected from the at least one reference object that moves linearly along the traveling lane parallel to the normal direction of the radar to be calibrated.

[0069] As an optional but non-limiting implementation, the number of traveling position points included in the target track information is greater than the preset position point number threshold.

[0070] When screening from the reference track information corresponding to at least one reference object, first select the track information with the number of traveling position points recorded in the track information greater than the preset position point number to avoid being easily interfered in subsequent calculations due to the small number of traveling positions in the track information.

[0071] S330. Extract the target detection information corresponding to the target object from the target track information corresponding to the target object.

[0072] Among them, the target detection information includes the longitudinal distance information and the antenna channel data obtained by using the radar to be calibrated to measure the preset parts on the target object at each traveling position point. The longitudinal distance is the distance relative to the radar to be calibrated along the normal direction of the radar, and the target object moves straight along the traveling lane parallel to the normal direction of the radar to be calibrated.

[0073] As an optional but non-limiting implementation, extracting the target detection information corresponding to the target object from the target track information corresponding to the target object includes the following steps C1 - C2:

[0074] Step C1. According to the signal-to-noise ratio information included in the target track information corresponding to the target object, eliminate the track information corresponding to the traveling position points with a signal-to-noise ratio less than the preset signal-to-noise ratio threshold in the target track information.

[0075] Step C2. Extract the target detection information corresponding to the target object from the remaining track information of the target track information.

[0076] For the target track information corresponding to the target object, each travel position point included in the target track information can be screened, and the travel position points with a signal-to-noise ratio greater than the threshold are selected, and the track information corresponding to the travel position points with a signal-to-noise ratio less than the preset signal-to-noise ratio threshold in the target track information is eliminated. The target echo with a large signal-to-noise ratio can ensure the accuracy of the measured azimuth angle. For example, 20 dB can be selected.

[0077] S340. Determine the reference antenna phase compensation value adopted in the current compensation stage, and perform antenna phase compensation on the antenna channel data corresponding to each travel position point in the target detection information by using the reference antenna phase compensation value to obtain the compensated detection information.

[0078] S350. Based on the compensated detection information, determine the standard deviation of the lateral distance information corresponding to the measurement of the preset part on the target object located at each travel position point by using the radar to be calibrated after antenna phase compensation. The lateral distance is the distance relative to the radar to be calibrated along the direction perpendicular to the radar normal.

[0079] S360. Calibrate the antenna phase of the radar to be calibrated based on the reference antenna phase compensation value corresponding to the standard deviation of the lateral distance information in each compensation stage.

[0080] Figure 4c After optimizing the antenna phase compensation value for the radar to be calibrated, all the tracks of the same target object measured by the radar to be calibrated fall within the middle travel lane, realizing antenna phase compensation.

[0081] The technical solution of the embodiment of the present invention compensates the antenna channel data in the target detection information by using the reference antenna phase compensation value corresponding to each compensation stage, and then determines the standard deviation of the lateral distance information corresponding to the measurement of the preset part on the target object located at each travel position point by using the radar to be calibrated according to the compensated detection information. Since the target object moves along the travel lane parallel to the normal direction of the radar to be calibrated, the lateral distance of the target object measured by the radar to be calibrated should be a constant. The reference antenna phase compensation value updated through multiple compensation stages is used to update the antenna channel data, and the lateral distance corresponding to the measurement of the preset part on the target object located at each travel position point by using the radar to be calibrated is estimated according to the compensated detection information, so that the standard deviation of the lateral distance of the target is continuously optimized, thereby obtaining the optimal reference antenna phase compensation value to compensate and correct the antenna phase of the radar to be calibrated. The antenna phase compensation can be performed through the detection information of the measured target object, without the need for factory calibration, saving manpower and material resources, and at the same time avoiding the problem of errors in the near-field calibration of large-aperture radars.

[0082] Figure 5The figure below is a flowchart of yet another radar phase compensation method provided by an embodiment of the present invention. The technical solution of this embodiment further optimizes the process of determining the standard deviation of the lateral distance information corresponding to the measurement of a preset part on a target object at each travel position point by a radar to be calibrated after antenna phase compensation based on the compensated detection information on the basis of the foregoing embodiment. This embodiment can be combined with various alternative solutions in one or more of the foregoing embodiments.

[0083] As Figure 5 shown, the radar phase compensation method of this embodiment may include the following processes:

[0084] S510. Determine the target detection information corresponding to the target object. The target detection information includes the longitudinal distance information and the antenna channel data obtained by measuring a preset part on the target object at each travel position point by the radar to be calibrated. The longitudinal distance is the distance relative to the radar to be calibrated along the radar normal direction, and the target object travels straight along the travel lane parallel to the radar normal direction of the radar to be calibrated.

[0085] S520. Determine the reference antenna phase compensation value used in the current compensation stage, and perform antenna phase compensation on the antenna channel data corresponding to each travel position point in the target detection information by using the reference antenna phase compensation value to obtain the compensated detection information.

[0086] S530. Determine the corresponding azimuth angle when measuring a preset part on the target object at each travel position point by the radar to be calibrated after antenna phase compensation based on the antenna channel data in the compensated detection information.

[0087] As an optional but non-limiting implementation manner, determining the corresponding azimuth angle when measuring a preset part on the target object at each travel position point by the radar to be calibrated after antenna phase compensation based on the antenna channel data in the compensated detection information includes the following steps D1-D2:

[0088] Step D1. Perform Fourier transform on the antenna channel data in the compensated detection information of the current compensation stage.

[0089] Step D2. Use the Fourier transform result to perform direction-of-arrival estimation to obtain the corresponding azimuth angle when measuring a preset part on the target object at each travel position point by the radar to be calibrated after antenna phase compensation.

[0090] S540. Based on the azimuth angle corresponding to the measurement of the preset part on the target object at each traveling position point by the radar to be calibrated after antenna phase compensation and the longitudinal distance information in the compensated detection information, determine the standard deviation of the transverse distance information corresponding to the measurement of the preset part on the target object at each traveling position point by the radar to be calibrated after antenna phase compensation; the transverse distance is the distance relative to the radar to be calibrated along the direction perpendicular to the radar normal.

[0091] Optionally, when determining the azimuth angle θ corresponding to the measurement of the preset part on the target object at each traveling position point by the radar to be calibrated after antenna phase compensation i it is possible to use the longitudinal distance information obtained by measuring the preset part on the target object at each traveling position point by the radar to be calibrated included in the compensated detection information and the corresponding azimuth angle θ i to calculate the transverse distance information corresponding to the measurement of the preset part on the target object at each traveling position point by the radar to be calibrated, and then calculate the standard deviation of the transverse distance information for the transverse distance information corresponding to each traveling position point.

[0092] S550. Based on the reference antenna phase compensation value corresponding to the standard deviation of the transverse distance information in each compensation stage, perform antenna phase compensation calibration on the radar to be calibrated.

[0093] The technical solution of the embodiment of the present invention compensates the antenna channel data in the target detection information by using the reference antenna phase compensation value corresponding to each compensation stage, and then determines the standard deviation of the transverse distance information corresponding to the measurement of the preset part on the target object at each traveling position point by the radar to be calibrated according to the compensated detection information. Since the target object moves along the traveling lane parallel to the radar normal of the radar to be calibrated, the transverse distance of the target object measured by the radar to be calibrated should be a constant. The reference antenna phase compensation value updated through multiple compensation stages is used to update the antenna channel data, and the transverse distance corresponding to the measurement of the preset part on the target object at each traveling position point by the radar to be calibrated is estimated according to the compensated detection information, so that the standard deviation of the transverse distance of the target is continuously optimized, thereby obtaining the optimal reference antenna phase compensation value to perform antenna phase compensation correction on the radar to be calibrated. Antenna phase compensation can be performed through the detected information of the actual measured target object, without the need for factory calibration, saving manpower and material resources, and at the same time avoiding the problem of errors in the near-field calibration of large-aperture radars.

[0094] Figure 6The present invention provides a schematic structural diagram of a radar phase compensation device. This embodiment is applicable to the situation of compensating and correcting the antenna phase of a radar. The radar phase compensation device can be implemented in the form of hardware and / or software, and can be configured in any electronic device with network communication functions.

[0095] As Figure 6 shown, the radar phase compensation device of this embodiment may include:

[0096] A first determination module 610, configured to determine target detection information corresponding to a target object. The target detection information includes longitudinal distance information and antenna channel data obtained by measuring a preset part on the target object at each travel position point using a radar to be calibrated. The longitudinal distance is the distance relative to the radar to be calibrated along the radar normal direction, and the target object travels straight along a travel lane parallel to the radar normal direction of the radar to be calibrated;

[0097] A first compensation module 620, configured to determine a reference antenna phase compensation value used in the current compensation stage, and perform antenna phase compensation on the antenna channel data corresponding to each travel position point in the target detection information using the reference antenna phase compensation value to obtain compensated detection information;

[0098] A second determination module 630, configured to determine the standard deviation of the lateral distance information corresponding to measuring a preset part on the target object at each travel position point using the radar to be calibrated after antenna phase compensation based on the compensated detection information. The lateral distance is the distance relative to the radar to be calibrated along the direction perpendicular to the radar normal direction;

[0099] A second compensation module 640, configured to perform antenna phase compensation and calibration on the radar to be calibrated based on the reference antenna phase compensation value corresponding to the standard deviation of the lateral distance information corresponding to each compensation stage.

[0100] Based on the technical solution of the above embodiment, optionally, determining the target detection information corresponding to the target object includes:

[0101] Determining reference track information corresponding to at least one reference object. Each piece of reference track information records reference point track data obtained by measuring a preset part on the same reference object at each travel position point using the radar to be calibrated. The reference point track data includes longitudinal distance information, radial velocity information, signal-to-noise ratio information, and antenna channel data. The reference object is a device traveling on a travel lane parallel to the radar normal direction of the radar to be calibrated;

[0102] Determine the target track information corresponding to the target object from the reference track information corresponding to the at least one reference object, where the target object is a reference object selected from the at least one reference object that moves linearly along the travel lane parallel to the normal direction of the radar to be calibrated;

[0103] Extract the target detection information corresponding to the target object from the target track information corresponding to the target object.

[0104] Based on the technical solution of the above embodiment, optionally, determining the reference track information corresponding to at least one reference object includes:

[0105] Determine the reference radar detection data obtained by the radar to be calibrated detecting each reference object at different travel position points;

[0106] Extract the reference point track data obtained by measuring the preset parts on different reference objects at each travel position point using the radar to be calibrated from each radar detection data;

[0107] Based on the longitudinal distance information and radial velocity information of the reference object corresponding to each reference point track data relative to the radar to be calibrated, associate the reference point track data obtained by measuring the preset parts on the same reference object at each travel position point using the radar to be calibrated to obtain the reference track information corresponding to the at least one reference object.

[0108] Based on the technical solution of the above embodiment, optionally, extracting the target detection information corresponding to the target object from the target track information corresponding to the target object includes:

[0109] According to the signal-to-noise ratio information included in the target track information corresponding to the target object, eliminate the track information corresponding to the travel position points with a signal-to-noise ratio less than the preset signal-to-noise ratio threshold in the target track information;

[0110] Extract the target detection information corresponding to the target object from the remaining track information of the target track information.

[0111] Based on the technical solution of the above embodiment, optionally, the number of travel position points corresponding in the target track information is greater than the preset position point number threshold.

[0112] Based on the technical solution of the above embodiment, optionally, determining the reference antenna phase compensation value used in the current compensation stage includes:

[0113] When the current compensation stage is the first compensation stage, select the antenna phase when the radar to be calibrated detects the device with a longitudinal distance greater than the preset longitudinal distance from the radar to be calibrated as the reference antenna phase compensation value used in the current compensation stage;

[0114] When the current compensation stage is not the first compensation stage, the antenna phase compensation value obtained by updating the reference antenna phase compensation value used in the previous compensation stage by using a preset antenna phase compensation value optimization algorithm is determined as the reference antenna phase compensation value used in the current compensation stage, and the preset antenna phase compensation value optimization algorithm includes the interior point method or the SQP algorithm.

[0115] Based on the technical solution of the above embodiment, optionally, determining the standard deviation of the lateral distance information corresponding to measuring a preset part on a target object at each traveling position point by using the radar to be calibrated after antenna phase compensation based on the compensated detection information includes:

[0116] Determining the azimuth angle corresponding to measuring a preset part on a target object at each traveling position point by using the radar to be calibrated after antenna phase compensation based on the antenna channel data in the compensated detection information;

[0117] Based on the azimuth angle corresponding to measuring a preset part on a target object at each traveling position point by using the radar to be calibrated after antenna phase compensation and the longitudinal distance information in the compensated detection information, determining the standard deviation of the lateral distance information corresponding to measuring a preset part on a target object at each traveling position point by using the radar to be calibrated after antenna phase compensation.

[0118] Based on the technical solution of the above embodiment, optionally, determining the azimuth angle corresponding to measuring a preset part on a target object at each traveling position point by using the radar to be calibrated after antenna phase compensation based on the antenna channel data in the compensated detection information includes:

[0119] Performing Fourier transform on the antenna channel data in the compensated detection information of the current compensation stage;

[0120] Using the Fourier transform result to perform direction of arrival estimation to obtain the azimuth angle corresponding to measuring a preset part on a target object at each traveling position point by using the radar to be calibrated after antenna phase compensation.

[0121] Based on the reference antenna phase compensation values corresponding to the standard deviations of the lateral distance information in each compensation stage, performing antenna phase compensation calibration on the radar to be calibrated includes:

[0122] Determining the reference antenna phase compensation value corresponding to the minimum standard deviation of the lateral distance information from the reference antenna phase compensation values corresponding to the standard deviations of the lateral distance information in each compensation stage;

[0123] Based on the reference antenna phase compensation value corresponding to the minimum standard deviation of the lateral distance information, antenna phase compensation calibration is performed on the radar to be calibrated.

[0124] In the technical solution of the embodiment of the present invention, the antenna channel data in the target detection information is compensated by using the reference antenna phase compensation value corresponding to each compensation stage, and then the standard deviation of the lateral distance information corresponding to measuring a preset part on the target object at each traveling position point by using the radar to be calibrated is determined according to the compensated detection information. Since the target object moves along the traveling lane parallel to the normal direction of the radar to be calibrated, the lateral distance of the target object measured by the radar to be calibrated should be a constant. The antenna channel data is updated by using the reference antenna phase compensation values updated in multiple compensation stages, and the lateral distance corresponding to measuring a preset part on the target object at each traveling position point by using the radar to be calibrated is estimated according to the compensated detection information, so that the standard deviation of the lateral distance of the target is continuously optimized, thereby obtaining the optimal reference antenna phase compensation value to perform compensation correction on the antenna phase of the radar to be calibrated. Antenna phase compensation can be performed through the detected information of the actual measured target object, without the need for factory calibration, saving manpower and material resources, and at the same time avoiding the problem of errors in the near-field calibration of large-aperture radars.

[0125] The radar phase compensation device provided in the embodiment of the present invention can execute the radar phase compensation method provided in any embodiment of the present invention, and has the corresponding functions and beneficial effects for executing the radar phase compensation method. For the detailed process, refer to the relevant operations of the radar phase compensation method in the foregoing embodiments.

[0126] It should be noted that the various units and modules included in the above device are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the embodiments of the present invention.

[0127] Figure 7 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described herein and / or claimed.

[0128] As Figure 7As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as read-only memory (ROM) 12, random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, ROM 12, and RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0129] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0130] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the radar phase compensation method.

[0131] In some embodiments, the radar phase compensation method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the radar phase compensation method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the radar phase compensation method in any other appropriate manner (e.g., by means of firmware).

[0132] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0133] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0134] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0135] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0136] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0137] The computing system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0138] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and this is not limited herein.

[0139] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A radar phase compensation method, characterized in that, it includes: Determine the target detection information corresponding to the target object, where the target detection information includes the longitudinal distance information and antenna channel data obtained by measuring a preset part on the target object at each traveling position point using the radar to be calibrated. The longitudinal distance is the distance relative to the radar to be calibrated along the radar normal direction, and the target object travels straight along the traveling lane parallel to the radar normal direction of the radar to be calibrated; Determine the reference antenna phase compensation value used in the current compensation stage, and use the reference antenna phase compensation value to perform antenna phase compensation on the antenna channel data corresponding to each traveling position point in the target detection information to obtain the compensated detection information; Based on the compensated detection information, determine the standard deviation of the lateral distance information corresponding to the measurement of the preset part on the target object at each traveling position point using the radar to be calibrated after antenna phase compensation. The lateral distance is the distance relative to the radar to be calibrated along the direction perpendicular to the radar normal direction; Based on the reference antenna phase compensation values corresponding to the standard deviations of the lateral distance information in each compensation stage, perform antenna phase compensation calibration on the radar to be calibrated.

2. The method according to claim 1, characterized in that, determining the target detection information corresponding to the target object includes: Determine the reference track information corresponding to at least one reference object. Each reference track information records the reference point track data obtained by measuring a preset part on the same reference object at each traveling position point using the radar to be calibrated. The reference point track data includes longitudinal distance information, radial velocity information, signal-to-noise ratio information, and antenna channel data. The reference object is a device traveling on the traveling lane parallel to the radar normal direction of the radar to be calibrated; From the reference track information corresponding to the at least one reference object, determine the target track information corresponding to the target object. The target object is a reference object selected from the at least one reference object and moving straight along the traveling lane parallel to the radar normal direction of the radar to be calibrated; Extract the target detection information corresponding to the target object from the target track information corresponding to the target object.

3. The method according to claim 2, characterized in that, determining the reference track information corresponding to at least one reference object includes: Determine the reference radar detection data obtained by the radar to be calibrated detecting each reference object at different traveling position points; Extract the reference point track data obtained by measuring a preset part on different reference objects at each traveling position point using the radar to be calibrated from each radar detection data; Based on the longitudinal distance information and radial velocity information of the reference object corresponding to each reference point track data relative to the radar to be calibrated, associate the reference point track data obtained by measuring a preset part on the same reference object at each traveling position point using the radar to be calibrated to obtain the reference track information corresponding to the at least one reference object.

4. The method according to claim 1, characterized in that, determining the reference antenna phase compensation value used in the current compensation stage includes: When the current compensation stage is the first compensation stage, the antenna phase when the to-be-calibrated radar detects a device whose longitudinal distance from the to-be-calibrated radar is greater than a preset longitudinal distance is selected as the reference antenna phase compensation value adopted in the current compensation stage; When the current compensation stage is not the first compensation stage, the antenna phase compensation value obtained by updating the reference antenna phase compensation value adopted in the previous compensation stage using a preset antenna phase compensation value optimization algorithm is determined as the reference antenna phase compensation value adopted in the current compensation stage, and the preset antenna phase compensation value optimization algorithm includes the interior point method or the SQP algorithm.

5. The method according to claim 1, wherein, Based on the compensated detection information, determining the standard deviation of the lateral distance information corresponding to measuring a preset part on the target object at each traveling position point after antenna phase compensation by the to-be-calibrated radar includes: Based on the antenna channel data in the compensated detection information, determining the azimuth angle corresponding to measuring a preset part on the target object at each traveling position point after antenna phase compensation by the to-be-calibrated radar; Based on the azimuth angle corresponding to measuring a preset part on the target object at each traveling position point after antenna phase compensation by the to-be-calibrated radar and the longitudinal distance information in the compensated detection information, determining the standard deviation of the lateral distance information corresponding to measuring a preset part on the target object at each traveling position point after antenna phase compensation by the to-be-calibrated radar.

6. The method according to claim 5, wherein, Based on the antenna channel data in the compensated detection information, determining the azimuth angle corresponding to measuring a preset part on the target object at each traveling position point after antenna phase compensation by the to-be-calibrated radar includes: Performing Fourier transform on the antenna channel data in the compensated detection information of the current compensation stage; Using the Fourier transform result for direction of arrival estimation to obtain the azimuth angle corresponding to measuring a preset part on the target object at each traveling position point after antenna phase compensation by the to-be-calibrated radar.

7. The method according to claim 1, wherein, Based on the reference antenna phase compensation values corresponding to the standard deviations of the lateral distance information in each compensation stage, performing antenna phase compensation calibration on the to-be-calibrated radar includes: Determining the reference antenna phase compensation value corresponding to the minimum standard deviation of the lateral distance information from the reference antenna phase compensation values corresponding to the standard deviations of the lateral distance information in each compensation stage; Based on the reference antenna phase compensation value corresponding to the minimum standard deviation of the lateral distance information, performing antenna phase compensation calibration on the to-be-calibrated radar.

8. A radar phase compensation device, wherein, Comprising: A first determination module, configured to determine target detection information corresponding to a target object, where the target detection information includes longitudinal distance information and antenna channel data obtained by measuring a preset part on the target object at each traveling position point using a radar to be calibrated, the longitudinal distance being the distance relative to the radar to be calibrated along the radar normal direction, and the target object traveling straight along a traveling lane parallel to the radar normal direction of the radar to be calibrated; A first compensation module, configured to determine a reference antenna phase compensation value used in the current compensation stage, and perform antenna phase compensation on the antenna channel data corresponding to each traveling position point in the target detection information using the reference antenna phase compensation value to obtain compensated detection information; A second determination module, configured to determine, based on the compensated detection information, the standard deviation of the lateral distance information corresponding to measuring the preset part on the target object at each traveling position point using the radar to be calibrated after antenna phase compensation, the lateral distance being the distance relative to the radar to be calibrated along the direction perpendicular to the radar normal direction; A second compensation module, configured to perform antenna phase compensation calibration on the radar to be calibrated based on the reference antenna phase compensation value corresponding to the standard deviation of the lateral distance information corresponding to each compensation stage.

9. An electronic device, characterized in that, the electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the radar phase compensation method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the radar phase compensation method according to any one of claims 1-7 when executed by a processor.

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