Beam forming method and device for radar transmitting antenna, equipment and medium

Abstract

The invention provides a beam forming method and device for a radar transmitting antenna, equipment and a medium, and can be used in the technical field of radar detection. The method comprises the following steps: determining a beamforming weight coefficient vector based on a preset detection performance index; wherein the detection performance indexes comprise a near-wave detection performance index and a far-wave detection performance index, and the beam forming weight coefficient vectors comprise a near-wave weight coefficient vector and a far-wave weight coefficient vector; determining a beam mode based on the beam forming weight coefficient vector; wherein the beam mode comprises a near-wave beam mode and a far-wave beam mode; and configuring a phase parameter of each phase shifter in the radar transmitting antenna based on the beam mode, so that waveform transformation can be performed on a transmitting beam of the radar transmitting antenna. According to the method, waveform change is carried out on the transmitting beam of the radar transmitting antenna through the beam forming technology, so that the radar can meet the detection requirements of targets with different distances on the basis that the radar detection performance is not affected.

Description

Technical Field

[0001] The present application relates to the technical field of radar detection, and particularly to a beamforming method, device, equipment and medium for a radar transmitting antenna. Background Art

[0002] In recent years, millimeter-wave radar systems have become an indispensable part of the field of autonomous driving technology because they can perform well in relatively harsh climatic environments, such as rain, fog, low light, etc. Compared with traditional 3D millimeter-wave radars, 4D millimeter-wave radars have a larger number of transceiver antennas, which can significantly improve the detection performance of radars in terms of range resolution, angle resolution, etc., and are first applied to the field of forward detection of vehicles.

[0003] In order to increase the detection range of forward radars, radars often adopt a wave transmission method of alternating near and far waves. However, the existing wave transmission method of alternating near and far waves has problems of reducing the utilization rate of transmitting antennas or increasing the computational complexity of signal processing, which affects the radar detection performance.

[0004] Therefore, it is difficult for existing 4D millimeter-wave radars to meet the detection requirements for targets at different near and far distances without affecting the radar detection performance. Summary of the Invention

[0005] The present application provides a beamforming method, device, equipment and medium for a radar transmitting antenna to solve the technical problem that it is difficult for existing 4D millimeter-wave radars to meet the detection requirements for targets at different near and far distances without affecting the radar detection performance.

[0006] According to the first aspect disclosed in the present application, the present application provides a beamforming method for a radar transmitting antenna, including:

[0007] Based on a preset detection performance index, determining a beamforming weight coefficient vector; wherein, the detection performance index includes a near-wave detection performance index and a far-wave detection performance index, and the beamforming weight coefficient vector includes a near-wave weight coefficient vector and a far-wave weight coefficient vector;

[0008] Based on the beamforming weight coefficient vector, determining a beam pattern; wherein, the beam pattern includes a near-wave beam pattern and a far-wave beam pattern;

[0009] Based on the beam pattern, configuring the phase parameters of each phase shifter in the radar transmitting antenna so that the transmitting beam of the radar transmitting antenna can perform waveform transformation to form a near-wave detection beam or a far-wave detection beam.

[0010] In a feasible implementation manner, based on the beamforming weight coefficient vector, determining a beam pattern includes:

[0011] Determine the near - wave beam pattern based on the far - wave weight coefficient vector;

[0012] Determine the far - wave beam pattern based on the near - wave weight coefficient vector.

[0013] In a feasible implementation manner, the beam pattern satisfies the following formula:

[0014] g(θ, Φ) = a T (θ, Φ) * W

[0015] where g represents the beam pattern, a represents the array response vector of the radar transmitting antenna, θ represents the elevation angle, Φ represents the azimuth angle, W = [W n , W f represents the beamforming weight coefficient vector, W n represents the near - wave weight coefficient vector, and W f represents the far - wave weight coefficient vector.

[0016] In a feasible implementation manner, determining the beamforming weight coefficient vector based on preset detection performance indicators includes:

[0017] Determine the near - wave weight coefficient vector based on the near - wave detection performance indicators;

[0018] Determine the far - wave weight coefficient vector based on the far - wave detection performance indicators.

[0019] In a feasible implementation manner, the near - wave weight coefficient vector satisfies the following formula:

[0020] W n = [W n1 , W n2 , …, W nM T

[0021] where W nM represents the near - wave beamforming weight coefficient of the M - th antenna channel of the radar transmitting antenna.

[0022] In a feasible implementation manner, the far - wave weight coefficient vector satisfies the following formula:

[0023] W f = [W f1 , W f2 , …, W fM T

[0024] where W fM represents the far - wave beamforming weight coefficient of the M - th antenna channel of the radar transmitting antenna.

[0025] ​​In a feasible implementation, before determining the beamforming weight coefficient vector based on the preset detection performance metrics, the method further includes:

[0026] Calibrating each antenna channel of the radar transmitting antenna.

[0027] According to the second aspect disclosed in the present application, the present application provides a beamforming device for a millimeter-wave radar transmitting antenna, including:

[0028] A coefficient vector determination module, configured to determine a beamforming weight coefficient vector based on the preset detection performance metrics; wherein, the detection performance metrics include near-wave detection performance metrics and far-wave detection performance metrics, and the beamforming weight coefficient vector includes a near-wave weight coefficient vector and a far-wave weight coefficient vector;

[0029] A beam pattern determination module, configured to determine a beam pattern based on the beamforming weight coefficient vector; wherein, the beam pattern includes a near-wave beam pattern and a far-wave beam pattern;

[0030] A phase parameter configuration module, configured to configure the phase parameters of each phase shifter in the radar transmitting antenna based on the beam pattern, so that the transmitting beam of the radar transmitting antenna can perform waveform transformation to form a near-wave detection beam or a far-wave detection beam.

[0031] According to the third aspect disclosed in the present application, the present application provides an electronic device, including a processor and a memory communicatively connected to the processor;

[0032] The memory stores computer-executable instructions;

[0033] The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of the first aspect.

[0034] According to the fourth aspect disclosed in the present application, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed, they are used to implement the method according to any one of the first aspect.

[0035] According to the fifth aspect disclosed in the present application, the present application provides a computer program product, including a computer program, and when the computer program is executed, it is used to implement the method according to any one of the first aspect.

[0036] Compared with the prior art, the present application has the following beneficial effects:

[0037] A beamforming method, device, equipment and medium for a radar transmitting antenna provided by this application change the waveform of the transmitting beam of the radar transmitting antenna through beamforming technology, so that the transmitting beam can be freely switched into a near-wave detection beam that meets the detection requirements of near-distance targets or a far-wave detection beam that meets the detection requirements of far-distance targets. It realizes that the radar transmitting antenna only needs to transmit one kind of beam, that is, the multiplexing method of the radar transmitting antenna, and can make the radar meet the detection requirements of targets at different distances of near and far without affecting the radar detection performance, thereby reducing the computational complexity of signal processing, improving the utilization rate of the radar transmitting antenna, and enhancing the radar detection performance. Brief Description of the Drawings

[0038] The accompanying drawings here are incorporated into the specification and constitute a part of this specification, showing the embodiments that conform to this application, and are used together with the specification to explain the principles of this application.

[0039] Figure 1 It is a schematic flowchart of a beamforming method for a radar transmitting antenna provided by an embodiment of this application;

[0040] Figure 2 It is a schematic flowchart of another beamforming method for a radar transmitting antenna provided by an embodiment of this application;

[0041] Figure 3 It is a schematic structural diagram of a beamforming device for a millimeter radar transmitting antenna provided by an embodiment of this application;

[0042] Figure 4 It is a schematic diagram of different DBF simulations of an array with evenly distributed array elements provided by an embodiment of this application;

[0043] Figure 5 It is a schematic diagram of the relationship between the number of array elements of a uniform array and the angular resolution provided by an embodiment of this application;

[0044] Figure 6 It is a schematic structural diagram of an electronic device provided by an embodiment of this application.

[0045] Through the above-mentioned accompanying drawings, the clear embodiments of this application have been shown, and there will be more detailed descriptions later. These drawings and text descriptions are not intended to limit the scope of the concept of this application in any way, but to explain the concept of this application to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiments

[0046] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0047] In recent years, millimeter-wave radar systems have become an indispensable part of the field of autonomous driving technology because they can have good performance in relatively harsh climate environments, such as rain, fog, low light, etc. Compared with traditional 3D millimeter-wave radars, 4D millimeter-wave radars have a larger number of transceiver antennas, which can greatly improve the detection performance of the radar in terms of range resolution, angle resolution, etc., and are first applied to the field of automotive forward detection.

[0048] In order to increase the detection range of the forward radar, the radar often uses a far-near wave transmission method. However, the existing far-near wave implementations are mainly divided into the following two categories: One is to design two sets of transmitting antennas to separately achieve the transmission of far waves and near waves. However, this method will reduce the utilization rate of the transmitting antennas, thereby reducing the detection performance of the radar. The other category, although using the same set of transmitting antennas, realizes the detection of far and near waves by transmitting different designed waveforms, but is only applied to traditional 3D radars with a small number of transmitting antennas. Due to the increase in the number of transmitting antennas of 4D radars, waveform switching will significantly increase the computational complexity of signal processing and affect the detection performance of 4D radars.

[0049] Therefore, it is difficult for existing 4D millimeter-wave radars to meet the detection requirements for targets at different far and near distances without affecting the radar detection performance.

[0050] To solve the above technical problems, the present application proposes a beamforming method, device, equipment, and medium for a radar transmitting antenna. By using beamforming technology to change the waveform of the transmitting beam of the radar transmitting antenna, the radar can meet the detection requirements for targets at different far and near distances without affecting the radar detection performance.

[0051] The technical solution of the beamforming method for the radar transmitting antenna provided by the present application will be described in detail below through specific embodiments. It should be noted that the following embodiments can exist independently or be combined with each other. For the same or similar content, it may not be repeated in different embodiments.

[0052] It should be noted that the execution subject of the beamforming method for the radar transmitting antenna provided by the embodiments of the present application is a 4D millimeter-wave radar. Correspondingly, the beamforming device for the radar transmitting antenna is also set in the 4D millimeter-wave radar.

[0053] Figure 1 This is a schematic flowchart of a beamforming method for a radar transmitting antenna provided by an embodiment of the present application. Refer to Figure 1 , in some embodiments, the process of the beamforming method for the radar transmitting antenna includes the following steps:

[0054] S101. Based on preset detection performance indicators, determine the beamforming weight coefficient vector; wherein, the detection performance indicators include near-wave detection performance indicators and far-wave detection performance indicators, and the beamforming weight coefficient vector includes a near-wave weight coefficient vector and a far-wave weight coefficient vector.

[0055] Among them, beamforming is a signal processing technology that generates a directional beam by adjusting the weighting coefficients of each element in an antenna array. The weight coefficient vector is a vector containing multiple weight coefficients, and each weight coefficient corresponds to an element in the antenna array. The weight coefficient vector plays a crucial role in beamforming. They determine the phase and amplitude of the signal transmitted or received by each antenna element, thereby affecting the radiation pattern of the entire antenna array. By adjusting these weight coefficients, the receiving or transmitting intensity of the antenna array for signals in different directions can be changed. For example, signals at certain angles can obtain constructive interference to enhance the signal intensity; at the same time, signals at other angles can obtain destructive interference to weaken or eliminate interference signals. Therefore, in order to enable the radar to meet the detection requirements and achieve subsequent beamforming, the weight coefficient vector for subsequent beamforming is determined according to the preset detection performance indicators.

[0056] Specifically, the detection performance indicators include detection range, angular resolution, maximum detection distance, etc., and the detection performance indicators can be preset according to the radar detection requirements.

[0057] S102. Based on the beamforming weight coefficient vector, determine the beam pattern; wherein, the beam pattern includes a near-wave beam pattern and a far-wave beam pattern.

[0058] Among them, the weight coefficients determine the phase and amplitude of the signal transmitted or received by each element in the antenna array, thereby directly affecting the directivity and shape of the beam. By adjusting the weight coefficients, a beam pattern with specific directivity and shape can be formed to meet the requirements of different application scenarios.

[0059] Specifically, the corresponding near-wave beam pattern is determined according to the near-wave weight coefficient vector, and the corresponding far-wave beam pattern is determined according to the far-wave weight coefficient vector.

[0060] S103. Configure the phase parameters of each phase shifter in the radar transmitting antenna based on the beam pattern, so that the transmitting beam of the radar transmitting antenna can perform waveform transformation to form a near-wave detection beam or a far-wave detection beam.

[0061] Among them, beamforming is based on the principle of wave interference. By adjusting the phase parameters of each phase shifter in the transmitting antenna, constructive interference is obtained for signals at certain angles, while destructive interference is obtained for signals at other angles. In this way, the waveform of the transmitting beam of the radar transmitting antenna can be changed to form a near-wave detection beam or a far-wave detection beam to meet the requirements of short-range measurement or long-range detection.

[0062] Specifically, the waveform of the transmitting beam originally emitted by the radar transmitting antenna is omnidirectional. For example, for the patch antenna on the PCB board, the waveform direction is generally ±90°, and the energy is relatively divergent. The main difference between the near wave and the far wave is the detection range. Through the beamforming technology, the weight coefficient vector is used to change the shape of the transmitting beam to achieve the required coverage range. For example, the far-wave coverage range is relatively narrow (±30°), and the designed weight vector should control the main lobe width of the beam as much as possible to achieve a width of ±30° to realize far-wave detection.

[0063] Specifically, the phase parameters include phase and amplitude. Among them, in the near-wave mode, the near-wave weight coefficient vector is configured, and the phase shifter parameters make the phase difference between each element smaller, and the transmitting beam forms a near-wave detection beam with a wide main lobe; in the far-wave mode, the far-wave weight coefficient vector is configured, and the phase shifter parameters increase the phase difference between the elements, and the transmitting beam forms a far-wave detection beam with a narrow main lobe; in the scanning mode, by dynamically adjusting the phase shifter parameters and alternately configuring the near-wave weight coefficient vector and the far-wave weight coefficient vector, beam electronic scanning is realized, and the waveform of the transmitting beam is alternately changed, alternately forming a near-wave detection beam and a far-wave detection beam.

[0064] In this embodiment, through the beamforming technology, the waveform of the transmitting beam of the radar transmitting antenna is changed, so that the transmitting beam can be freely switched to a near-wave detection beam that meets the detection of short-range targets or a far-wave detection beam that meets the detection of long-range targets. It realizes the way that the radar transmitting antenna only needs to transmit one kind of beam, that is, the multiplexing method of the radar transmitting antenna. Without affecting the radar detection performance, the radar can meet the detection requirements of targets at different distances, thereby reducing the computational complexity of signal processing, improving the utilization rate of the radar transmitting antenna, and enhancing the radar detection performance.

[0065] In Figure 1 Based on the shown embodiment, the following combines Figure 2 to further introduce the technical solution of the beamforming method of the above radar transmitting antenna.

[0066] Figure 2 For the flow diagram of another beamforming method of the radar transmitting antenna provided by the embodiment of the present application, refer to Figure 2 In some embodiments, the flow of the beamforming method of the radar transmitting antenna includes the following steps:

[0067] S201, perform channel calibration on each antenna channel of the radar transmitting antenna.

[0068] Among them, in order to accurately implement beamforming at the transmitting end, first perform channel calibration on each antenna channel of the radar transmitting antenna to eliminate the influence of differences between channels on beamforming design. After calibration, the consistency of each channel is improved, the beamforming weight calculation is more accurate, the main lobe points accurately, and the side lobe suppression ability is enhanced.

[0069] Specifically, channel calibration includes mutual coupling calibration, phase alignment, and amplitude equalization. Among them, mutual coupling calibration measures the coupling matrix (S parameters) between channels and compensates for the mutual coupling effect in signal processing; phase alignment uses a known reference signal (such as a single-frequency continuous wave) and adjusts the phase shifter parameters of each channel to make the phase error approach zero; amplitude equalization balances the output power of each channel through gain control.

[0070] S202, determine the near-wave weight coefficient vector based on the near-wave detection performance index.

[0071] Among them, for the near-wave weight coefficient vector, by adopting a low side lobe weighting algorithm (such as Taylor weighting, Chebyshev weighting), the beam coverage range is expanded to determine the near-wave weight coefficient vector.

[0072] Specifically, the near-wave weight coefficient vector satisfies the following formula:

[0073] W n =[W n1 ,W n2 ,…,W nM T

[0074] Among them, W nM represents the near-wave beamforming weight coefficient of the Mth antenna channel of the radar transmitting antenna.

[0075] S203, determine the far-wave weight coefficient vector based on the far-wave detection performance index.

[0076] Among them, for the far-wave weight coefficient vector, uniform weighting or adaptive beamforming (such as the MVDR algorithm) is adopted to compress the beam width to determine the far-wave weight coefficient vector.

[0077] Specifically, the far-wave weight coefficient vector satisfies the following formula:

[0078] W f =[W f1 ,W f2 ,…,W fM T

[0079] Among them, W fM ​​It represents the far - wave beamforming weight coefficient of the M - th antenna channel of the radar transmitting antenna.

[0080] S204. Determine the near - wave beam pattern based on the far - wave weight coefficient vector.

[0081] S205. Determine the far - wave beam pattern based on the near - wave weight coefficient vector.

[0082] Specifically, the beam pattern satisfies the following formula:

[0083] g(θ, Φ) = a T (θ, Φ)*W

[0084] where g represents the beam pattern, a represents the array response vector of the radar transmitting antenna, θ represents the elevation angle, Φ represents the azimuth angle, W = [W n , W f represents the beamforming weight coefficient vector, W n represents the near - wave weight coefficient vector, and W f represents the far - wave weight coefficient vector.

[0085] Specifically, the array response vector is a vector that describes the ability of the radar transmitting antenna array to radiate or receive signals in a specific direction in space. It depends on factors such as the geometric structure of the array, the element spacing, the number of array elements, and the wavelength of the signal. The phase part of the array response vector describes the phase relationship of the signals radiated by the transmitting array in different directions. In the beamforming process, the product of the beamforming weight coefficient vector and the array response vector determines the amplitude pattern of the finally formed beam.

[0086] Specifically, the elevation angle refers to the direction angle of the radar beam in the vertical plane relative to directly up or directly down. It can be adjusted by changing the phase of each unit in the antenna array so that the radar beam is directed towards the desired elevation angle. Usually, the radar can control the elevation angle by changing the phase and amplitude of the antenna elements.

[0087] Specifically, the azimuth angle refers to the direction angle of the projection of the radar beam on the horizontal plane relative to due north or due south. It can be adjusted by changing the phase of each unit in the antenna array so that the radar beam is directed towards the desired azimuth angle. Usually, the radar can control the azimuth angle by changing the phase and amplitude of the antenna elements.

[0088] S206. Configure the phase parameters of each phase shifter in the radar transmitting antenna based on the beam pattern so that the transmitting beam of the radar transmitting antenna can perform waveform transformation to form a near - wave detection beam or a far - wave detection beam.

[0089] Among them, according to the beam pattern, the phase and amplitude of the phase shifters in each channel of the radar transmitting antenna are changed, thereby changing the waveform of the transmitting beam so that it can form a near - wave detection beam or a far - wave detection beam.

[0090] In this embodiment, the waveform of the transmitting beam of the radar transmitting antenna is changed through beamforming technology, so that the radar can meet the detection requirements of targets at different distances near and far without affecting the radar detection performance.

[0091] Based on the above embodiment, refer to Figure 3 and Figure 4 to verify the feasibility of the beamforming method for the millimeter-wave radar transmitting antenna.

[0092] Refer to Figure 3 , in order to meet generality, the verification is mainly aimed at a uniformly distributed linear array with a wave transmitting direction of 0°. Figure 3 Fig. shows a uniformly distributed 8-element array. By configuring different beamforming weight coefficient vectors, beam patterns with different requirements are realized. It can be seen from the figure that when the beamforming with a uniform distribution method is selected, the beam width is the narrowest and the angular resolution is relatively high. Although its peak sidelobe ratio is relatively lower than other design methods, it can fully meet the detection requirements of distant targets.

[0093] Figure 3 It shows that the shape of the beam (the width of the main lobe of the beam) can be changed by different weight coefficient vectors. Different distributions mainly refer to the ways of designing the weight vector. For example, if the beam width requirement for a far wave is relatively narrow, the designed weight vector can be uniformly distributed. If it is desired to slightly increase the beam width, the designed weight coefficient vector can tend to a Gaussian distribution, etc. In actual applications, the obtained beam shape can be designed according to actual requirements.

[0094] Figure 4 Fig. shows the relationship between the number of transmitting antenna elements and the beam width (i.e., angular resolution) after beamforming under the beamforming designed in the uniform distribution method, and the wave transmitting direction is 0°. It can be seen from Figure 4 that as the number of transmitting antennas increases, the width of the transmitting beam can be gradually reduced through beamforming. When the number of transmitting antenna elements is 8, the beam width of the transmitting antenna can reach 12.8446°, which can fully meet the design requirements of the long-distance detection range.

[0095] In summary, on the original transmitting waveform of the radar, by changing the beam width on the original transmitting elements through beamforming technology, the function of enabling the same designed waveform to achieve detection requirements at different distances can be effectively realized, thereby reducing the computing amount and design complexity of the radar and improving the detection performance of the radar itself.

[0096] Figure 5 Fig. is a schematic structural diagram of a beamforming device for a millimeter-wave radar transmitting antenna provided by an embodiment of the present application. Refer to Figure 5, the beamforming device of the millimeter-wave radar transmitting antenna includes various functional modules for implementing the beamforming method of the aforementioned radar transmitting antenna, and any functional module can be implemented in software and / or hardware.

[0097] In some embodiments, the beamforming device 500 of the millimeter-wave radar transmitting antenna includes a coefficient vector determination module 501, a beam pattern determination module 502, and a phase parameter configuration module 503. Among them:

[0098] The coefficient vector determination module 501 is configured to determine a beamforming weight coefficient vector based on a preset detection performance index; wherein, the detection performance index includes a near-wave detection performance index and a far-wave detection performance index, and the beamforming weight coefficient vector includes a near-wave weight coefficient vector and a far-wave weight coefficient vector;

[0099] The beam pattern determination module 502 is configured to determine a beam pattern based on the beamforming weight coefficient vector; wherein, the beam pattern includes a near-wave beam pattern and a far-wave beam pattern;

[0100] The phase parameter configuration module 503 is configured to configure the phase parameters of each phase shifter in the radar transmitting antenna based on the beam pattern, so that the transmitting beam of the radar transmitting antenna can perform waveform transformation to form a near-wave detection beam or a far-wave detection beam.

[0101] In some embodiments, the beam pattern determination module 502 is specifically configured to:

[0102] Determine the near-wave beam pattern based on the far-wave weight coefficient vector;

[0103] Determine the far-wave beam pattern based on the near-wave weight coefficient vector.

[0104] In some embodiments, the beam pattern satisfies the following formula:

[0105] g(θ,Φ) = a T (θ,Φ)*W

[0106] Wherein, g represents the beam pattern, a represents the array response vector of the radar transmitting antenna, θ represents the elevation angle, Φ represents the azimuth angle, W = [W n ,W f represents the beamforming weight coefficient vector, W n represents the near-wave weight coefficient vector, and W f represents the far-wave weight coefficient vector.

[0107] In some embodiments, the coefficient vector determination module 501 is specifically configured to:

[0108] Determine the near-wave weight coefficient vector based on the near-wave detection performance index;

[0109] Based on the far - wave detection performance index, determine the far - wave weight coefficient vector.

[0110] In some embodiments, the near - wave weight coefficient vector satisfies the following formula:

[0111] W n =[W n1 ,W n2 ,…,W nM T

[0112] where W nM represents the near - wave beamforming weight coefficient of the M - th antenna channel of the radar transmitting antenna.

[0113] In some embodiments, the far - wave weight coefficient vector satisfies the following formula:

[0114] W f =[W f1 ,W f2 ,…,W fM T

[0115] where W fM represents the far - wave beamforming weight coefficient of the M - th antenna channel of the radar transmitting antenna.

[0116] In some embodiments, the device 500 further includes an antenna channel calibration module 504, and the antenna channel calibration module 504 is specifically configured to:

[0117] Perform channel calibration on each antenna channel of the radar transmitting antenna.

[0118] The beamforming device 500 of the millimeter - wave radar transmitting antenna provided by the embodiments of the present application is used to execute the technical solutions provided by the foregoing embodiments of the beamforming method of the radar transmitting antenna. Its implementation principle and technical effects are similar to those of the foregoing method embodiments, and will not be elaborated herein.

[0119] ​​It should be noted that it should be understood that the division of each module of the above device is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. And these modules can all be implemented in the form of software called by processing elements, or all in the form of hardware, or some modules can be implemented in the form of software called by processing elements and some modules in the form of hardware. For example, the coefficient vector determination module 501 can be a separately established processing element, or can be integrated in a certain chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and the function of the above coefficient vector determination module 501 can be called and executed by a certain processing element of the above device. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together or can be independently implemented. Here, the processing element can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the integrated logic circuit in the processor element or the instructions in the form of software.

[0120] Figure 6 FIG. is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Refer to Figure 6 , the electronic device 600 includes a processor 601 and a memory 02 communicatively connected to the processor 601;

[0121] The memory 602 stores computer-executable instructions;

[0122] The processor 601 executes the computer-executable instructions stored in the memory 602 to implement the technical solution of the foregoing beamforming method of the radar transmitting antenna.

[0123] In the above-mentioned electronic device 600, the memory 602 and the processor 601 are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus connection. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus. The memory 602 stores computer-executable instructions for implementing the beamforming method of the aforementioned radar transmitting antenna, including at least one software function module stored in the memory 602 in the form of software or firmware. The processor 601 executes various functional applications and data processing by running the software programs and modules stored in the memory 602.

[0124] The memory 602 includes at least one type of readable storage medium, not limited to Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electric Erasable Programmable Read-Only Memory (EEPROM), etc. Among them, the memory 602 is used to store programs, and the processor 601 executes the programs after receiving the execution instructions. Further, the software programs and modules in the memory 602 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.) and may communicate with various hardware or software components to provide a running environment for other software components.

[0125] The processor 601 can be an integrated circuit chip with the ability to process signals. The aforementioned processor 601 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor, or the processor 601 can also be any conventional processor, etc.

[0126] The electronic device 600 is used to execute the technical solution provided by the foregoing embodiment of the beamforming method of the radar transmitting antenna. Its implementation principle and technical effects are similar to those in the foregoing method embodiment, and will not be elaborated here.

[0127] The embodiments of the present application further provide a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium. When the computer-executable instructions are executed, they are used to implement the technical solution of the beamforming method of the radar transmitting antenna as described above.

[0128] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk. The computer-readable storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0129] An exemplary readable storage medium is coupled to the processor, enabling the processor to read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an Application Specific Integrated Circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the control device of the beamforming device of the millimeter-wave radar transmitting antenna.

[0130] The embodiments of the present application further provide a computer program product, including a computer program. When the computer program is executed, it is used to implement the technical solution of the beamforming method of the radar transmitting antenna as described above.

[0131] In the above embodiments, those skilled in the art can understand that implementing the above method embodiments can be achieved in whole or in part through software, hardware, firmware, or any combination thereof. When implemented using software, it can be achieved in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless network, microwave, etc.) means. The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0132] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope described in this specification.

[0133] After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily conceive of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include well-known common knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the appended claims.

[0134] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A beamforming method for a radar transmitting antenna, characterized in that, Including: Based on preset detection performance metrics, determine the beamforming weight coefficient vector; wherein, the detection performance metrics include near-wave detection performance metrics and far-wave detection performance metrics, and the beamforming weight coefficient vector includes a near-wave weight coefficient vector and a far-wave weight coefficient vector; Based on the beamforming weight coefficient vector, determine the beam pattern; wherein, the beam pattern includes a near-wave beam pattern and a far-wave beam pattern; Based on the beam pattern, configure the phase parameters of each phase shifter in the radar transmitting antenna, so that the transmitting beam of the radar transmitting antenna can perform waveform transformation to form a near-wave detection beam or a far-wave detection beam.

2. The method according to claim 1, wherein Based on the beamforming weight coefficient vector, determining the beam pattern includes: Based on the far-wave weight coefficient vector, determine the near-wave beam pattern; Based on the near-wave weight coefficient vector, determine the far-wave beam pattern.

3. The method according to claim 2, characterized in that, The beam pattern satisfies the following formula: g(θ, Φ) = a T (θ, Φ) * W where, g represents the beam pattern, a represents the array response vector of the radar transmitting antenna, θ represents the elevation angle, Φ represents the azimuth angle, W = [W n , W f represents the beamforming weight coefficient vector, W n represents the near-wave weight coefficient vector, W f represents the far-wave weight coefficient vector.

4. The method according to claim 1, wherein Based on preset detection performance metrics, determining the beamforming weight coefficient vector includes: Based on the near-wave detection performance metrics, determine the near-wave weight coefficient vector; Based on the far-wave detection performance metrics, determine the far-wave weight coefficient vector.

5. The method according to claim 4, wherein The near-wave weight coefficient vector satisfies the following formula: W n = [W n1 , W n2 , …, W nM T ​ Among them, W nM represents the near-wave beamforming weight coefficient of the M-th antenna channel of the radar transmitting antenna.

6. The method according to claim 4, characterized in that, The far-wave weight coefficient vector satisfies the following formula: W f = [W f1 , W f2 , …, W fM T ​ Among them, W fM represents the far-field beamforming weight coefficient of the Mth antenna channel of the radar transmitting antenna.

7. The method according to any one of claims 1 to 6, characterized in that Before determining the beamforming weight coefficient vector based on preset detection performance metrics, the method further includes: Perform channel calibration on each antenna channel of the radar transmitting antenna.

8. A beamforming device for a millimeter-wave radar transmitting antenna, characterized in that, Including: A coefficient vector determination module, configured to determine the beamforming weight coefficient vector based on preset detection performance metrics; wherein, the detection performance metrics include near-wave detection performance metrics and far-wave detection performance metrics, and the beamforming weight coefficient vector includes a near-wave weight coefficient vector and a far-wave weight coefficient vector; A beam pattern determination module, configured to determine the beam pattern based on the beamforming weight coefficient vector; wherein, the beam pattern includes a near-wave beam pattern and a far-wave beam pattern; A phase parameter configuration module, configured to configure the phase parameters of each phase shifter in the radar transmitting antenna based on the beam pattern, so that the transmitting beam of the radar transmitting antenna can perform waveform transformation to form a near-wave detection beam or a far-wave detection beam.

9. An electronic device, characterized in that, Including a processor and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed, they are used to implement the method according to any one of claims 1 to 7.

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