Antenna phase compensation method, apparatus, device, and storage medium

Abstract

The application provides an antenna phase compensation method, device, equipment and storage medium, the method comprises: obtaining first antenna data of a radar antenna for a target in a far-field scene for each radar antenna; compensating the phase in the first antenna data based on the target compensation phase corresponding to the first antenna data, to obtain compensated first antenna data, the target compensation phase is determined based on the near-field compensation phase of the radar antenna in the near-field scene, the first distance and the second distance, the first distance is the distance between the antenna aperture center in the near-field scene and the corner reflector arranged in the near-field scene, and the second distance is the distance between the radar antenna and the antenna aperture center. The application can compensate the antenna phase in the far-field scene.

Description

Technical Field

[0001] This invention relates to the field of antenna technology, and in particular to an antenna phase compensation method, apparatus, device, and storage medium. Background Technology

[0002] Millimeter-wave radar can be used to acquire information such as the position and speed of vehicles on the road, thereby enabling road traffic control or holographic perception. However, due to the limited number of antenna channels and the small antenna aperture of millimeter-wave radar, the angular measurement accuracy is not high, and the lateral distance measurement of targets is inaccurate.

[0003] To increase the aperture of millimeter-wave radar with a limited number of channels and avoid grating lobe issues, a large-aperture sparse array scheme has been proposed. By increasing the antenna spacing of a traditional uniform array and adopting an unequal spacing method, the advantages of no grating lobes and high angle measurement accuracy can be achieved, but this also brings the disadvantage of a reduced main-side lobe ratio.

[0004] However, in practice, radar antenna manufacturing processes can lead to decreased antenna consistency. This results in phase and amplitude differences between different receiving antennas, further reducing the main-to-side lobe ratio of sparsely arranged arrays, and even causing side lobes to exceed the main lobe. Consequently, the target's peak value during angle measurement changes from the main lobe to the side lobe, leading to incorrect angle measurement results. To address this issue, antenna array compensation is required. Currently, this compensation is performed before the radar leaves the factory in a microwave anechoic chamber or dark box. However, this compensation method utilizes data obtained in near-field scenarios and is not suitable for compensation in far-field scenarios. Summary of the Invention

[0005] This invention provides an antenna phase compensation method, apparatus, device, and storage medium to address the shortcomings of existing technologies where compensation data obtained in near-field scenarios is unsuitable for compensation in far-field scenarios, thereby achieving the purpose of compensating antenna phase in far-field scenarios.

[0006] This invention provides an antenna phase compensation method, comprising:

[0007] For each radar antenna, acquire the first antenna data of the radar antenna facing the target in the far-field scene;

[0008] Based on the target compensation phase corresponding to the first antenna data, the phase in the first antenna data is compensated to obtain the compensated first antenna data. The target compensation phase is determined based on the near-field compensation phase of the radar antenna in the near-field scene, the first distance, and the second distance. The first distance is the distance between the center of the antenna aperture and the corner reflector set in the near-field scene, and the second distance is the distance between the radar antenna and the center of the antenna aperture.

[0009] According to an antenna phase compensation method provided by the present invention, the method further includes:

[0010] The corrected phase is determined based on the first distance, the second distance, and the wavelength of the electromagnetic wave emitted by the radar;

[0011] The difference between the near-field compensation phase and the correction phase is determined as the target compensation phase.

[0012] According to an antenna phase compensation method provided by the present invention, the method further includes:

[0013] Determine the first range-Doppler RD map based on the range-Doppler-antenna data in the near-field scenario;

[0014] In the first RD diagram, the first range cell where the target point is located is determined. The target point is the point that is closest to the radar among at least two reference points that characterize the corner reflector in the first Doppler cell of the first RD diagram.

[0015] Extract the second antenna data corresponding to the first range unit and the first Doppler unit from the range-Doppler-antenna data in the near-field scenario;

[0016] The near-field compensation phase is determined based on the data from the second antenna.

[0017] According to an antenna phase compensation method provided by the present invention, the method further includes:

[0018] For each of the aforementioned reference points, a third distance between the reference point and the radar is determined;

[0019] Determine the difference between each of the third distances and the first distance;

[0020] The target point is determined based on the differences mentioned above.

[0021] According to an antenna phase compensation method provided by the present invention, determining the target point based on each of the differences includes:

[0022] Based on the differences mentioned above, determine the minimum difference;

[0023] Determine whether the minimum difference is less than a preset value, the preset value being determined based on the radar's range resolution;

[0024] If the minimum difference is less than the preset value, the reference point corresponding to the minimum difference is determined as the target point.

[0025] According to an antenna phase compensation method provided by the present invention, the step of acquiring first antenna data of the radar antenna targeting a target in a far-field scene includes:

[0026] The second RD map is determined based on the range-Doppler-antenna data in the far-field scenario;

[0027] In the second RD diagram, the second distance cell and the second Doppler cell where the target is located are determined;

[0028] Extract the first antenna data corresponding to the second range unit and the second Doppler unit from the range-Doppler-antenna data in the far-field scenario.

[0029] The present invention also provides an antenna phase compensation device, comprising:

[0030] The acquisition module is used to acquire the first antenna data of the radar antennas toward the target in a far-field scenario for each radar antenna.

[0031] The compensation module is used to compensate the phase in the first antenna data based on the target compensation phase corresponding to the first antenna data to obtain the compensated first antenna data. The target compensation phase is determined based on the near-field compensation phase of the radar antenna in the near-field scene, a first distance, and a second distance. The first distance is the distance between the center of the antenna aperture and the corner reflector set in the near-field scene, and the second distance is the distance between the radar antenna and the center of the antenna aperture.

[0032] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the antenna phase compensation method as described above.

[0033] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the antenna phase compensation method as described above.

[0034] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the antenna phase compensation method as described above.

[0035] The antenna phase compensation method, apparatus, device, and storage medium provided by this invention acquire first antenna data of the radar antenna relative to a target in a far-field scenario for each radar antenna. Based on the target compensation phase corresponding to the first antenna data, the phase in the first antenna data is compensated. This target compensation phase is obtained by correcting the near-field compensation phase of the radar antenna in the near-field scenario based on the distance between the center of the antenna aperture and the corner reflector set in the near-field scenario, and the distance between the radar antenna and the center of the antenna aperture. Therefore, this target compensation phase can be applied to the compensation of antenna data in a far-field scenario. Furthermore, after compensating the phase in the antenna data in the far-field scenario based on this target compensation phase, the accuracy of the measured angle information can be improved when measuring the angle of the target based on the compensated antenna data. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram illustrating the principle of phase compensation in a near-field scene according to an embodiment of the present invention;

[0038] Figure 2 This is a schematic flowchart of the antenna phase compensation method provided in an embodiment of the present invention;

[0039] Figure 3 A schematic diagram illustrating the effect of phase compensation based on the pre-correction near-field compensation phase provided in an embodiment of the present invention;

[0040] Figure 4 A schematic diagram illustrating the effect of phase compensation based on the corrected near-field compensation phase, provided in an embodiment of the present invention.

[0041] Figure 5 This is a schematic diagram of the antenna phase compensation device provided in an embodiment of the present invention;

[0042] Figure 6 A schematic diagram of the physical structure of an electronic device is provided. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0044] Millimeter-wave radar can be used to acquire information such as the position and speed of vehicles on roads, thereby enabling road traffic control or holographic perception. Compared with cameras, millimeter-wave radar has significant advantages in ranging and speed measurement; in addition, millimeter-wave radar is not affected by lighting conditions and can still work in adverse conditions such as rain, snow, and fog, and has a longer detection range. However, due to the limited number of antenna channels and the small antenna aperture of millimeter-wave radar, the angle measurement accuracy is not high, and the lateral distance measurement of targets is inaccurate.

[0045] To increase the aperture of millimeter-wave radar with a limited number of channels and avoid grating lobe issues, a large-aperture sparse array scheme has been proposed. By increasing the antenna spacing of a traditional uniform array and adopting an unequal spacing method, the advantages of no grating lobes and high angle measurement accuracy can be achieved. However, this also brings the disadvantage of a reduced main-sidelobe ratio.

[0046] The signal processing flow of traffic radar generally begins with range and Doppler processing to obtain a range-Doppler (RD) map. Constant False Alarm Rate (CFAR) detection is then performed on the RD map, followed by extraction of antenna dimension data corresponding to the target range-Doppler cell for angle measurement. Because traffic radar has high range and Doppler resolution, it is assumed that only one target exists within a range-Doppler resolution cell. Therefore, angle measurement is performed under a single-target assumption, typically using a Fast Fourier Transform (FFT) to obtain the spatial spectrum, and then extracting the angle corresponding to the maximum value of the spatial spectrum. Under this single-target assumption, a low main-sidelobe ratio has little impact, as it mainly leads to the problem of large target sidelobes masking small targets in multi-target scenarios. Since the ambiguity range is inversely proportional to the spacing between antennas in a uniform array, and a sparse array is a non-uniform array that does not have an ambiguity problem, under ideal conditions where manufacturing process errors are not considered, a sparse array can increase the aperture without causing ambiguity. Therefore, it is an effective method to resolve the contradiction between a large aperture and a large unambiguous range in traffic radar.

[0047] However, in practical applications, radar antenna manufacturing processes can lead to a decrease in antenna consistency. This can result in phase and amplitude differences between different receiving antennas, further reducing the main lobe-to-side lobe ratio of sparse arrays, and even causing side lobes to be higher than the main lobe. Consequently, the target's peak value changes from the main lobe to the side lobe during angle measurement, resulting in incorrect angle measurement results.

[0048] To address this issue, antenna array compensation is required. Currently, this is typically performed on the radar before it leaves the factory, in a microwave anechoic chamber or dark box. However, since the far-field scenarios for large-aperture array antennas are usually quite demanding, and the space within a microwave anechoic chamber or dark box is limited, the above methods can only achieve compensation in near-field scenarios, and it is difficult to meet the antenna phase compensation requirements in far-field scenarios.

[0049] In view of the above-mentioned problems, this invention proposes an antenna phase compensation method. In this method, the near-field compensation phase in near-field scenarios can be corrected so that the corrected target compensation phase is suitable for far-field scenarios. Therefore, phase compensation can be performed on the antenna data in far-field scenarios based on the target compensation phase. In this way, the purpose of antenna phase compensation in far-field scenarios can be achieved. The above-mentioned method proposed in this invention will be described below.

[0050] Figure 1 This is a schematic diagram illustrating the principle of phase compensation in near-field scenarios provided by an embodiment of the present invention. Figure 1 The geometry of a corner reflector and a radar antenna inside a microwave anechoic chamber or dark box is shown. The corner reflector is located at point P, the center point of the radar antenna aperture is O, PO = h, the i-th antenna is located at point A, and the distance from the center is AO = x. The distance from the corner reflector to antenna i is AP = y. Considering that the antenna normal and the line connecting PO cannot perfectly coincide in practice, let the angle between them be θ. The phase compensation method proposed in this embodiment is robust to this angular deviation. In the far-field scenario, it can be assumed that h = y, but in the near-field scenario, they are not equal. Therefore, it is necessary to calculate the difference between h and y to determine the phase value that needs to be corrected. The difference Δy between h and y is shown in formula (1):

[0051]

[0052] According to formula (1), the phase difference between the assumed phase of the antenna in the near field scenario and the assumed phase in the far field scenario consists of two parts. The first part is a term that is independent of the angle θ and only related to the antenna position x and the distance h between the antenna and the corner reflector. The second part is a term that is related to the angle θ.

[0053] It is understandable that the error in the second part above can be equivalent to a small systematic angle measurement deviation, which will be compensated for during angle compensation after the radar is attached to the roadside, without any other impact. Proof is given below:

[0054] Assuming the received signal phase of the antenna at position x is 0 under ideal conditions, then the signal received from a small angle... The real part s of the target's echo signal in the far-field scene is shown in Equation (2):

[0055]

[0056] Where G represents the amplitude of the received signal, which has no effect on angle measurement, and λ represents the wavelength of the electromagnetic wave emitted by the radar. (Target angle of traffic radar) Usually smaller, therefore have Since formula (2) represents an unbiased ideal signal, adding the second term of formula (1) to formula (2) yields formula (3), where formula (3) represents a signal that takes into account the deviation of the second term in formula (1).

[0057]

[0058] Comparing formula (3) with formula (2), it can be seen that the target angle in formula (2) In the case of the deviation of the second term in formula (1), it becomes Therefore, this deviation introduces an angular deviation of λθ / h into the final angle measurement result.

[0059] Therefore, only the first part of formula (1) needs to be compensated. Specifically, the target compensation phase can be determined based on the values ​​of h when acquiring data in the microwave anechoic chamber and x at the distance of each antenna from the center of the antenna aperture.

[0060] The following is combined with Figures 2 to 4 The antenna phase compensation method provided in the embodiments of the present invention is described below. The embodiments of the present invention are applicable to scenarios requiring phase compensation in antenna data in far-field environments. The execution subject of this method can be an electronic device such as a millimeter-wave radar, computer, server, server cluster, or a specially designed antenna phase compensation device, or it can be an antenna phase compensation device installed in such an electronic device, which can be implemented through software, hardware, or a combination of both.

[0061] Figure 2 This is a schematic flowchart of the antenna phase compensation method provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the method includes:

[0062] Step 201: For each radar antenna, acquire the first antenna data of the radar antenna pointing at the target in the far-field scene.

[0063] In this step, when detecting targets using radar, the radar is typically mounted on the roadside to acquire first-order antenna data from each radar antenna targeting the target in the far-field scenario. When the radar is operational, it performs range and Doppler processing on the received Analog-to-Digital Converter (ADC) data to obtain three-dimensional range-Doppler-antenna data. Then, non-coherent accumulation is performed on the antenna-dimensional data to obtain the accumulated RD map. Based on this RD map, target detection is performed. After determining the range-Doppler cell where the target is located, the target's antenna-dimensional data z = [z1, z2, ..., z] can be extracted from the three-dimensional range-Doppler-antenna data. K The symbol 'k' represents the total number of radar antennas. Targets can include vehicles, obstacles, people, or signs, etc.

[0064] It should be understood that millimeter-wave radar typically includes multiple radar antennas, and each antenna acquires first antenna data for the aforementioned target in the far-field scenario. For example, the first antenna data for the k-th radar antenna is z. K wait.

[0065] Step 202: Based on the target compensation phase corresponding to the first antenna data, compensate the phase in the first antenna data to obtain the compensated first antenna data. The target compensation phase is determined based on the near-field compensation phase of the radar antenna in the near-field scene, the first distance and the second distance. The first distance is the distance between the center of the antenna aperture and the corner reflector set in the near-field scene in the near-field scene, and the second distance is the distance between the radar antenna and the center of the antenna aperture.

[0066] Specifically, the target compensation phase is the compensation phase used to compensate for the phase in antenna data acquired in far-field scenarios. Since the near-field compensation phase in near-field scenarios is usually easier to obtain—for example, it can be calculated in a microwave anechoic chamber or darkroom—and... Figure 1 As shown, in far-field scenarios, h is usually considered to be equal to y, but in near-field scenarios, the two are not equal. Therefore, the near-field compensation phase obtained in near-field scenarios can be corrected based on the difference Δy between h and y. That is, the near-field compensation phase can be corrected based on the distance between the center of the antenna aperture and the corner reflector set in the near-field scenario, as well as the distance between the radar antenna and the center of the antenna aperture. Thus, a compensation phase suitable for compensating the phase in the antenna data in far-field scenarios can be obtained.

[0067] Furthermore, since the near-field compensation phase may differ for each radar antenna, each radar antenna will have its own corresponding target compensation phase. The target compensation phases for each radar antenna can form a multi-dimensional compensation phase Ω = [Ω1, Ω2, ..., Ω...]. K ], where Ω K This represents the target compensation phase corresponding to the k-th radar antenna.

[0068] When performing phase compensation, assume that the first antenna data corresponding to the extracted radar antenna data is z = [z1, z2, ..., z]. K Then the compensated data for each first antenna is: in, z represents the compensated first antenna data corresponding to the i-th radar antenna. i Ω represents the data of the first antenna corresponding to the i-th radar antenna. i This represents the target compensation phase corresponding to the i-th radar antenna.

[0069] Furthermore, for each radar antenna, the phase in the first antenna data corresponding to that radar antenna can be compensated based on the target compensation phase, thereby obtaining the compensated first antenna data. After compensating the first antenna data of each radar antenna, angle measurement can be performed based on all the compensated first antenna data.

[0070] The antenna phase compensation method provided in this embodiment of the invention can enable the corrected near-field compensation phase to have a better compensation effect in far-field scenarios. Figure 3 This is a schematic diagram illustrating the effect of phase compensation based on the uncorrected near-field compensation phase, provided in an embodiment of the present invention. Figure 4 This is a schematic diagram illustrating the effect of phase compensation based on the corrected near-field compensation phase, as provided in an embodiment of the present invention. Figure 3 and Figure 4 As shown, the compensation effect of phase compensation after correcting the near-field compensation phase is better than the compensation effect of phase compensation before correcting the near-field compensation phase.

[0071] The antenna phase compensation method provided in this invention acquires first antenna data of the radar antenna relative to a target in a far-field scenario for each radar antenna. Based on the target compensation phase corresponding to the first antenna data, the phase in the first antenna data is compensated. This target compensation phase is obtained by correcting the near-field compensation phase of the radar antenna in the near-field scenario based on the distance between the center of the antenna aperture and the corner reflector set in the near-field scenario, and the distance between the radar antenna and the center of the antenna aperture. Therefore, this target compensation phase can be applied to the compensation of antenna data in a far-field scenario. Furthermore, after compensating the phase in the antenna data in the far-field scenario based on this target compensation phase, the accuracy of the measured angle information can be improved when measuring the angle of the target based on the compensated antenna data.

[0072] For example, based on the above embodiments, the target compensation phase can be determined in the following manner:

[0073] The corrected phase is determined based on the first distance, the second distance, and the wavelength of the electromagnetic wave emitted by the radar. The difference between the near-field compensation phase and the corrected phase is determined as the target compensation phase.

[0074] Specifically, to reduce the impact of the near-field compensated phase obtained in near-field scenarios on far-field scenarios, the near-field compensated phase needs to be corrected. First, the corrected phase is calculated, assuming the distance from the k-th antenna on the radar to the center of the antenna aperture is x. k According to formula (4), the corrected phase Θ can be obtained as:

[0075]

[0076] Where, x k Let h represent the second distance corresponding to the k-th antenna, h represent the first distance, and λ represent the wavelength of the electromagnetic wave emitted by the radar.

[0077] Therefore, the target compensation phase can be determined based on formula (5):

[0078] Ω=Φ-Θ (5)

[0079] Where Ω=[Ω1,Ω2,…,Ω K ], where Φ represents the near-field compensation phase.

[0080] In this embodiment, the corrected phase can be determined based on the first distance, the second distance, and the wavelength of the electromagnetic wave emitted by the radar. The near-field compensation phase is then corrected based on this corrected phase, so that the obtained target compensation phase can be applied to the far-field scenario. After compensating the phase in the antenna data in the far-field scenario based on the target compensation phase, the accuracy of the target angle measurement can be improved when performing angle measurement based on the compensated antenna data.

[0081] For example, based on the above embodiments, when obtaining the first antenna data of the radar antenna for the target in the far-field scene in step 201, it can be done by determining the second RD map based on the range-Doppler-antenna data in the far-field scene, determining the second range unit and the second Doppler unit where the target is located in the second RD map, and extracting the first antenna data corresponding to the second range unit and the second Doppler unit from the range-Doppler-antenna data in the far-field scene.

[0082] Specifically, when the radar is mounted on the roadside and in operation, it performs range processing and Doppler processing on the received ADC data to obtain three-dimensional data: range-Doppler-antenna data for the far-field scene. Further, non-coherent accumulation can be performed on the antenna dimension data within this three-dimensional data to obtain the accumulated second RD map. After performing CFAR detection on the second RD map, the second range cell and second Doppler cell containing the target can be determined within the second RD map.

[0083] Furthermore, after detecting the target based on the second RD map and determining the second range cell and the second Doppler cell where the target is located, antenna data z = [z1, z2, ..., z] corresponding to the second range cell and the second Doppler cell can be extracted from the range-Doppler-antenna data in the far-field scene. K Here, k represents the total number of radar antennas. For the k-th radar antenna, the first antenna data corresponding to that antenna is z. K .

[0084] In this embodiment, a second RD map can be determined based on range-Doppler-antenna data in a far-field scenario, and the second range cell and second Doppler cell where the target is located can be determined in the second RD map. The first antenna data corresponding to the second range cell and the second Doppler cell can be extracted from the range-Doppler-antenna data in a far-field scenario, so that the first antenna data can be obtained accurately and quickly.

[0085] The following will provide a detailed explanation of how the near-field compensation phase is determined in the near-field scenarios mentioned in the foregoing embodiments.

[0086] For example, a first range-Doppler RD map can be determined based on range-Doppler-antenna data in the near-field scenario, and a first range cell containing the target point can be determined in the first RD map. The target point is the point closest to the radar among at least two reference points representing corner reflectors in the first Doppler cell of the first RD map. After extracting the second antenna data corresponding to the first range cell and the first Doppler cell from the range-Doppler-antenna data in the near-field scenario, the near-field compensation phase can be determined based on the second antenna data.

[0087] Specifically, the radar can be fixed inside a microwave anechoic chamber or dark box, with the walls of the chamber or box covered with absorbing material to minimize the impact of clutter on the compensated phase. Alternatively, a corner reflector can be fixed in the normal direction of the radar antenna, at a distance h from the radar, where h is typically on the order of several meters. The corner reflector is also located inside the microwave anechoic chamber or dark box. After the radar is powered on, it receives data, typically a few frames. It should be understood that the scenario described above constitutes the near-field scenario in this embodiment of the invention.

[0088] In the aforementioned near-field scenario, the ADC data output by the radar receiver undergoes range and Doppler processing to obtain three-dimensional range-Doppler-antenna data. Furthermore, non-coherent accumulation can be performed on the antenna dimension data within this three-dimensional range-Doppler-antenna data to obtain the accumulated first RD map.

[0089] Within the first RD diagram, N targets will appear in the first Doppler cell. Each target can be understood as a reference point representing a corner reflector. These N targets may be direct echoes from the corner reflector or multipath echoes that have undergone multiple reflections between the radar radome and the corner reflector. Here, N is a positive integer greater than or equal to 1. The first Doppler cell can, for example, be a 0-Doppler channel.

[0090] Furthermore, when N reference points appear in the first Doppler cell, it is necessary to determine the point closest to the radar from the N reference points and designate the point closest to the radar as the target point, so as to determine the first range cell where the target point is located in the first RD map.

[0091] It should be noted that if the target point is not found in the first RD map, the search will be repeated in the next frame of data until the target point is found.

[0092] After identifying the first range cell, the second antenna data corresponding to the first range cell and the first Doppler cell will be extracted from the range-Doppler-antenna data in the near-field scenario. The near-field compensated phase can then be obtained by calculating the phase from the second antenna data. This near-field compensation phase can also be understood as the microwave anechoic chamber measurement compensation phase.

[0093] For example, assuming the first range cell where the target point is located is determined to be range cell j, the second antenna data s = [s1, s2, ..., s2] corresponding to the j-th range cell and the 0-Doppler cell can be extracted from the range-Doppler-antenna data in the near-field scene. K ], where K represents the number of radar antennas, s kThis represents the radar received data located in the j-th range cell, 0-Doppler cell, and k-th antenna cell, which is also the second antenna data. For the second antenna data s = [s1, s2, ..., sk] K By calculating the phase of each term in the equation, the near-field compensation phase can be obtained.

[0094] In this embodiment, after determining the first RD map based on range-Doppler-antenna data in the near-field scenario, the first range cell containing the target point can be determined within the first RD map. Since the target point needs to be determined from multiple reference points, and this target point is the point closest to the radar among at least two reference points representing the corner reflector within the first Doppler cell of the first RD map, the phenomenon of errors caused by clutter can be avoided. In addition, the second antenna data corresponding to the first range cell and the first Doppler cell can be directly extracted from the range-Doppler-antenna data in the near-field scenario, improving the determination efficiency and accuracy of the second antenna data, thereby enhancing the accuracy of the near-field compensation phase determined based on the second antenna data.

[0095] For example, based on the above embodiments, the target point can be determined in the following manner:

[0096] For each reference point, a third distance between the reference point and the radar is determined, and the difference between each third distance and the first distance is determined. The target point is then determined based on each difference.

[0097] Specifically, assume there are N targets within the first Doppler cell, each target corresponding to a reference point, and the third distances between each reference point and the radar within the first Doppler cell are r1, r2, ..., r N Then determine the third distances r1, r2, ..., r respectively. N The difference between the radar and the first distance h is used to determine the reference point q that is closest to the location of the corner reflector, based on each difference. For example, this can be based on q = arg min|r q -h| Determine the target point. It should be understood that if there are two reference points and the third distance between them and the radar, and the difference between the third distance and the first distance is minimized, then any reference point can be arbitrarily selected as the direct echo of the corner reflector, that is, any reference point can be arbitrarily selected as the target point.

[0098] In this embodiment, by determining the third distance between each reference point and the radar, and by determining the difference between each third distance and the first distance, the target point is determined based on each difference, thereby making the determined target point more accurate.

[0099] Furthermore, in the above embodiments, when determining the target point based on each difference, the minimum difference can be determined based on each difference, and it can be determined whether the minimum difference is less than a preset value. If the minimum difference is less than the preset value, the reference point corresponding to the minimum difference is determined as the target point, wherein the preset value is determined based on the radar's range resolution.

[0100] Specifically, after determining the differences corresponding to each reference point and selecting the minimum difference, it can be further determined whether the minimum difference is less than a preset value. This preset value could, for example, be half the radar's range resolution. For instance, it could be based on the formula |r q -h|<ΔR / 2 determines whether the minimum difference is less than a preset value. If the above formula is satisfied, the reference point q is taken as the target point. If not, the search for the target point continues in the next frame of data.

[0101] In this embodiment, by determining the minimum difference based on each difference, and when the minimum difference is less than a preset value, the reference point corresponding to the minimum difference is determined as the target point. This makes the distance between the finally determined target point and the radar smaller, ensuring that the determined target point is the corner reflector, and making the determined target point more accurate.

[0102] The antenna phase compensation device provided by the present invention is described below. The antenna phase compensation device described below can be referred to in correspondence with the antenna phase compensation method described above.

[0103] Figure 5 This is a schematic diagram of the antenna phase compensation device provided in an embodiment of the present invention, with reference to... Figure 5 As shown, the antenna phase compensation device 500 includes:

[0104] The acquisition module 501 is used to acquire the first antenna data of the radar antennas targeting the target in a far-field scenario for each radar antenna.

[0105] The compensation module 502 is used to compensate the phase in the first antenna data based on the target compensation phase corresponding to the first antenna data to obtain the compensated first antenna data. The target compensation phase is determined based on the near-field compensation phase of the radar antenna in the near-field scene, a first distance and a second distance. The first distance is the distance between the center of the antenna aperture and the corner reflector set in the near-field scene, and the second distance is the distance between the radar antenna and the center of the antenna aperture.

[0106] In one example embodiment, the apparatus further includes: a determining module, wherein:

[0107] The determination module is used to determine the corrected phase based on the first distance, the second distance, and the wavelength of the electromagnetic wave emitted by the radar;

[0108] The determining module is further configured to determine the difference between the near-field compensation phase and the corrected phase as the target compensation phase.

[0109] In one example embodiment, the determining module is further configured to determine a first range-Doppler RD map based on the range-Doppler-antenna data in the near-field scenario;

[0110] The determination module is further configured to determine the first range cell in the first RD diagram where the target point is located, wherein the target point is the point closest to the radar among at least two reference points characterizing the corner reflector in the first Doppler cell of the first RD diagram;

[0111] The extraction module is also used to extract second antenna data corresponding to the first range unit and the first Doppler unit from the range-Doppler-antenna data in the near-field scenario;

[0112] The determining module is also used to determine the near-field compensation phase based on the second antenna data.

[0113] In one example embodiment, the determining module is further configured to determine a third distance between the reference point and the radar for each of the reference points;

[0114] The determining module is also configured to determine the difference between each of the third distances and the first distance;

[0115] The determining module is also used to determine the target point based on each of the differences.

[0116] In one example embodiment, the determining module is specifically used for:

[0117] Based on the differences mentioned above, determine the minimum difference;

[0118] Determine whether the minimum difference is less than a preset value, the preset value being determined based on the radar's range resolution;

[0119] If the minimum difference is less than the preset value, the reference point corresponding to the minimum difference is determined as the target point.

[0120] In one example embodiment, the acquisition module 501 is specifically used for:

[0121] The second RD map is determined based on the range-Doppler-antenna data in the far-field scenario;

[0122] In the second RD diagram, the second distance cell and the second Doppler cell where the target is located are determined;

[0123] Extract the first antenna data corresponding to the second range unit and the second Doppler unit from the range-Doppler-antenna data in the far-field scenario.

[0124] The apparatus of this embodiment can be used to execute the method of any embodiment in the antenna phase compensation method side embodiment. Its specific implementation process and technical effects are similar to those in the antenna phase compensation method side embodiment. For details, please refer to the detailed description in the antenna phase compensation method side embodiment, which will not be repeated here.

[0125] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include a processor 610, a communication interface 620, a memory 630, and a communication bus 640. The processor 610, communication interface 620, and memory 630 communicate with each other via the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute an antenna phase compensation method. This method includes: acquiring first antenna data of the radar antenna targeting a target in a far-field scenario for each radar antenna; compensating the phase in the first antenna data based on the target compensation phase corresponding to the first antenna data to obtain compensated first antenna data. The target compensation phase is determined based on the near-field compensation phase of the radar antenna in a near-field scenario, a first distance, and a second distance. The first distance is the distance between the center of the antenna aperture and a corner reflector set in the near-field scenario, and the second distance is the distance between the radar antenna and the center of the antenna aperture.

[0126] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0127] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the antenna phase compensation method provided by the above methods. The method includes: acquiring first antenna data of the radar antenna targeting a target in a far-field scenario for each radar antenna; compensating the phase in the first antenna data based on the target compensation phase corresponding to the first antenna data to obtain compensated first antenna data. The target compensation phase is determined based on the near-field compensation phase of the radar antenna in a near-field scenario, a first distance, and a second distance. The first distance is the distance between the center of the antenna aperture in the near-field scenario and a corner reflector set in the near-field scenario, and the second distance is the distance between the radar antenna and the center of the antenna aperture.

[0128] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the antenna phase compensation method provided by the above methods. The method includes: acquiring first antenna data of the radar antenna toward a target in a far-field scenario for each radar antenna; compensating the phase in the first antenna data based on the target compensation phase corresponding to the first antenna data to obtain compensated first antenna data, wherein the target compensation phase is determined based on the near-field compensation phase of the radar antenna in a near-field scenario, a first distance, and a second distance, wherein the first distance is the distance between the center of the antenna aperture in the near-field scenario and a corner reflector set in the near-field scenario, and the second distance is the distance between the radar antenna and the center of the antenna aperture.

[0129] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0130] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An antenna phase compensation method, characterized in that, include: For each radar antenna, acquire the first antenna data of the radar antenna facing the target in the far-field scene; Based on the target compensation phase corresponding to the first antenna data, the phase in the first antenna data is compensated to obtain the compensated first antenna data. The target compensation phase is determined based on the near-field compensation phase of the radar antenna in the near-field scene, the first distance and the second distance. The first distance is the distance between the center of the antenna aperture and the corner reflector set in the near-field scene in the near-field scene, and the second distance is the distance between the radar antenna and the center of the antenna aperture. The method further includes: The first RD map is determined based on the range-Doppler-antenna data in the near-field scenario; In the first RD diagram, the first range cell where the target point is located is determined. The target point is the point that is closest to the radar among at least two reference points that characterize the corner reflector in the first Doppler cell of the first RD diagram. Extract the second antenna data corresponding to the first range unit and the first Doppler unit from the range-Doppler-antenna data in the near-field scenario; The near-field compensation phase is determined based on the data from the second antenna.

2. The antenna phase compensation method according to claim 1, characterized in that, The method further includes: The corrected phase is determined based on the first distance, the second distance, and the wavelength of the electromagnetic wave emitted by the radar; The difference between the near-field compensation phase and the correction phase is determined as the target compensation phase.

3. The antenna phase compensation method according to claim 1, characterized in that, The method further includes: For each of the aforementioned reference points, a third distance between the reference point and the radar is determined; Determine the difference between each of the third distances and the first distance; The target point is determined based on the differences mentioned above.

4. The antenna phase compensation method according to claim 3, characterized in that, Determining the target point based on each of the differences includes: Based on the differences mentioned above, determine the minimum difference; Determine whether the minimum difference is less than a preset value, the preset value being determined based on the radar's range resolution; If the minimum difference is less than the preset value, the reference point corresponding to the minimum difference is determined as the target point.

5. The antenna phase compensation method according to any one of claims 1-4, characterized in that, The acquisition of the first antenna data of the radar antenna targeting the target in the far-field scene includes: The second RD map is determined based on the range-Doppler-antenna data in the far-field scenario; In the second RD diagram, the second distance cell and the second Doppler cell where the target is located are determined; Extract the first antenna data corresponding to the second range unit and the second Doppler unit from the range-Doppler-antenna data in the far-field scenario.

6. An antenna phase compensation device, characterized in that, include: The acquisition module is used to acquire the first antenna data of the radar antennas toward the target in a far-field scenario for each radar antenna. The compensation module is used to compensate the phase in the first antenna data based on the target compensation phase corresponding to the first antenna data to obtain the compensated first antenna data. The target compensation phase is determined based on the near-field compensation phase of the radar antenna in the near-field scene, a first distance and a second distance. The first distance is the distance between the center of the antenna aperture and the corner reflector set in the near-field scene, and the second distance is the distance between the radar antenna and the center of the antenna aperture. The determination module is used to determine the first RD map based on the range-Doppler-antenna data in the near-field scenario; The determining module is further configured to determine the first range cell in the first RD diagram where the target point is located, wherein the target point is the point closest to the radar among at least two reference points characterizing the corner reflector in the first Doppler cell of the first RD diagram; The extraction module is used to extract the second antenna data corresponding to the first range unit and the first Doppler unit from the range-Doppler-antenna data in the near-field scenario; The determining module is further configured to determine the near-field compensation phase based on the second antenna data.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the antenna phase compensation method as described in any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the antenna phase compensation method as described in any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the antenna phase compensation method as described in any one of claims 1 to 5.

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