Target point identification method, apparatus, computer equipment and readable storage medium

Abstract

The application relates to a target track identification method and device, computer equipment and a readable storage medium. The method comprises the following steps: acquiring a radar signal received by a radar array, performing coherent and incoherent processing on the radar signal, and generating a heat map of radial distance and radial relative speed; determining echo signals corresponding to detected target tracks in the heat map; if there is at least one target track in the echo signals, determining a main array target track angle estimation value and a main array candidate angle position vector of a radar main array and a subarray candidate angle position vector of a radar subarray according to a preset main array and single subarray joint angle measurement strategy; performing intersection operation on the main array candidate angle position vector and the subarray candidate angle position vector to obtain a joint candidate angle position vector; and identifying the main array target track angle estimation value according to the joint candidate angle position vector to obtain an identification result of the target track. The method can effectively identify the target track.

Description

Technical Field

[0001] This application relates to the field of radar technology, and in particular to a target point identification method, apparatus, computer device, and readable storage medium. Background Technology

[0002] With the rapid development of intelligent driving technology, ADAS (Advanced Driver Assistance Systems) are becoming increasingly feature-rich, leading to ever-increasing demands on the performance of automotive millimeter-wave radar. Millimeter-wave radar has garnered significant attention due to its unique advantages, including immunity to lighting conditions, enhanced privacy protection, and superior robustness in adverse weather conditions. The primary task of automotive millimeter-wave radar is to accurately detect objects within a target area and precisely estimate key information such as their distance, speed, and angle. The estimation of the target point's angle information relies on the phase information of the radar array's echo signal.

[0003] In related technologies, the angle information of target points is estimated using superimposed phase information. However, this method cannot effectively identify target points. Summary of the Invention

[0004] Therefore, it is necessary to provide a target point identification method, apparatus, computer equipment, computer-readable storage medium, and computer program product that can effectively identify target points and reduce the risk of generating false targets, in order to address the above-mentioned technical problems.

[0005] Firstly, this application provides a method for identifying target points, including:

[0006] The radar received signal reflected by the target object is acquired, and the radar received signal is coherently and incoherently processed to generate a heat map of radial distance and radial relative velocity.

[0007] Determine the echo signal corresponding to the target point detected in the heat map;

[0008] For each detected target point in the radial distance and radial relative velocity heatmap, if there is at least one target point in the echo signal, the estimated angle value of the main array target point and the candidate angle position vector of the main array, as well as the candidate angle position vector of the subarray, are determined according to the preset main array and subarray joint angle measurement strategy; wherein, the number of estimated angle values ​​of the main array target point is the same as the number of target points;

[0009] The intersection operation is performed on the candidate angle position vector of the main array and the candidate angle position vector of the subarray to obtain the joint candidate angle position vector; wherein, each element in the joint candidate angle position vector corresponds to a candidate angle value;

[0010] The target point trace angle estimate of the main array is identified based on the joint candidate angle position vector to obtain the identification result of the target point trace.

[0011] In one embodiment, determining the estimated angle of the main array target point and the candidate angle position vector of the main array and the candidate angle position vector of the radar subarray according to a preset joint angle measurement strategy of the main array and subarray includes:

[0012] Based on the preset joint angle measurement strategy of the main array and subarray, the estimated angle values ​​of the target points in the main array and the target points in the subarray of the radar array are determined; wherein, the number of estimated angle values ​​of the target points in the subarray is the same as the number of target points.

[0013] Based on the preset angle measurement range and angle measurement interval in the joint angle measurement strategy of the main array and the subarray, the candidate angle position vectors of the radar main array and the radar subarray are initialized to obtain the corresponding initial candidate angle position vectors of the main array and the subarray.

[0014] Based on the estimated angle of the main array target point and the angle selection range, the initial candidate angle position vector of the main array is subjected to information expansion processing to obtain the candidate angle position vector of the main array.

[0015] Based on the estimated angle of the target point trace in the subarray and the angle selection range, the initial candidate angle position vector of the subarray is subjected to information expansion processing to obtain the candidate angle position vector of the subarray.

[0016] In one embodiment, determining the estimated angle values ​​of the target points in the main array and the target points in the subarrays of the radar array according to a preset joint angle measurement strategy of the main array and subarrays includes:

[0017] Based on a preset joint angle measurement strategy of main array and subarray, the main array and subarray of the radar array are determined, and the main array steering vector and subarray steering vector corresponding to each set of angle measurement angles within the preset angle measurement range are determined; the number of each set of angle measurement angles is the same as the number of target points.

[0018] Based on the main array steering vector and the echo signal, determine the main array echo power spectrum corresponding to each set of angle measurement angles within the preset angle measurement range of the radar main array; and based on the subarray steering vector and the subarray echo signal in the echo signal, determine the subarray echo power spectrum corresponding to each set of angle measurement angles within the preset angle measurement range of the radar subarray.

[0019] The estimated angle of the target point in the main array is obtained when the echo power spectrum of the main array reaches its maximum value, and the estimated angle of the target point in the subarray is obtained when the echo power spectrum of the subarray reaches its maximum value.

[0020] In one embodiment, determining the main array echo power spectrum of the radar main array corresponding to each set of angle measurement angles within the preset angle measurement range based on the main array steering vector and the echo signal, and determining the subarray echo power spectrum of the radar subarray corresponding to each set of angle measurement angles within the preset angle measurement range based on the subarray steering vector and the subarray echo signal in the echo signal, includes:

[0021] When there are two target points, each set of angle measurement angles includes a first angle measurement angle and a second angle measurement angle;

[0022] Based on the main array guiding vector corresponding to the first angle measurement angle and the main array guiding vector corresponding to the second angle measurement angle, determine the main array guiding vector matrix;

[0023] Based on the subarray guiding vector corresponding to the first angle measurement angle and the subarray guiding vector corresponding to the second angle measurement angle, determine the subarray guiding vector matrix;

[0024] Based on the main array steering vector matrix and the echo signal, determine the main array echo power spectrum corresponding to each set of angle measurement angles within the preset angle measurement range;

[0025] Based on the subarray steering vector matrix and the subarray echo signal in the echo signal, determine the subarray echo power spectrum corresponding to each set of angle measurement angles within the preset angle measurement range.

[0026] In one embodiment, the step of performing information expansion processing on the initial candidate angle position vector of the main array based on the estimated angle value of the target point trace and the angle selection range to obtain the candidate angle position vector of the main array includes:

[0027] Determine the initial candidate angle value corresponding to each element in the initial candidate angle position vector of the main array;

[0028] From the initial candidate angle values, determine the matching candidate angle value that matches the estimated angle value of the main array target point trace, and set the value of the main array initial candidate angle position vector that corresponds to the matching candidate angle value at the target candidate angle position to a preset value;

[0029] Centered on the target candidate angle position, the values ​​of the initial candidate angle positions within the angle selection range are all set to the preset values ​​to obtain the main array candidate angle position vector.

[0030] In one embodiment, the step of performing information expansion processing on the initial candidate angle position vector of the subarray based on the estimated angle value of the target point trace in the subarray and the angle selection range to obtain the candidate angle position vector of the subarray includes:

[0031] Determine the initial candidate angle value corresponding to each element in the initial candidate angle position vector of the subarray;

[0032] From the initial candidate angle values, determine the matching candidate angle value that matches the estimated angle value of the target point trace in the subarray, and set the value of the target candidate angle position corresponding to the matching candidate angle value in the initial candidate angle position vector of the subarray to a preset value;

[0033] Centered on the target candidate angle position, the values ​​of the initial candidate angle positions within the angle selection range are all set to the preset values ​​to obtain the subarray candidate angle position vector.

[0034] In one embodiment, the step of identifying the estimated angle of the main array target point based on the joint candidate angle position vector to obtain the identification result of the target point includes:

[0035] Determine the set of target angles corresponding to the positions with preset amplitudes in the joint candidate angle position vector;

[0036] If there is only one estimated angle value for the main array target point, and there is an angle value in the target angle set that matches the estimated angle value for the main array target point, then the target point is determined to be a real target point.

[0037] If no angle value matches the estimated angle of the target point in the main array, then the target point is determined to be a false target point.

[0038] In one embodiment, the method further includes:

[0039] If there are two estimated angle values ​​for the main array target points, and if there is an angle value in the target angle set that matches the two estimated angle values ​​for the main array target points, then both target points are determined to be real target points.

[0040] If there is no angle value in the target angle set that matches the estimated angle values ​​of the two main array target points, then it is determined that both target points are false target points.

[0041] If there is an angle value in the target angle set that matches the estimated angle value of one of the main array target points, then the corresponding target point is determined to be a real target point, and the other target point is a false target point.

[0042] Secondly, this application also provides a target point recognition device, comprising:

[0043] The acquisition module is used to acquire radar signals reflected by the target object;

[0044] The target detection module is used to perform coherent and incoherent processing on the radar received signal to generate a heat map of radial distance and radial relative velocity; and to determine the echo signal corresponding to the target point trace detected in the heat map.

[0045] The signal processing module is used to determine the estimated angle of the target point in the radar main array and the candidate angle position vector of the main array, as well as the candidate angle position vector of the subarray, for each detected target point in the thermal map of radial distance and radial relative velocity. If there is at least one target point in the echo signal, the module determines the estimated angle of the target point in the radar main array and the candidate angle position vector of the main array, as well as the candidate angle position vector of the subarray, according to a preset joint angle measurement strategy of the main array and subarray. The number of estimated angles of the target point in the main array is the same as the number of target points.

[0046] The intersection operation processing module is used to perform an intersection operation on the candidate angle position vector of the main array and the candidate angle position vector of the subarray to obtain a joint candidate angle position vector; wherein, each element in the joint candidate angle position vector corresponds to a candidate angle value;

[0047] The dot pattern recognition module is used to identify the estimated angle of the target dot pattern in the main array based on the joint candidate angle position vector, and obtain the recognition result of the target dot pattern.

[0048] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the methods described above.

[0049] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0050] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the methods described above.

[0051] The aforementioned target trace identification method, apparatus, computer equipment, computer-readable storage medium, and computer program product perform coherent and incoherent processing on the acquired radar received signal to generate a heat map of radial distance and radial relative velocity. They determine the echo signal corresponding to the detected target trace in the heat map. If at least one target trace exists in the echo signal, a preset joint angle measurement strategy of the main array and subarrays is used to determine the estimated angle value of the target trace in the main array, as well as the candidate angle position vectors of the main array and the subarray. The intersection of these two candidate angle position vectors is performed to obtain a joint candidate angle position vector. Based on the joint candidate angle position vector, the target trace is identified using the estimated angle value of the main array target trace. This approach starts from the source of target point generation, employs a joint angle measurement strategy of main array and subarray, and uses latent angle intersection operation to filter multipath target points. This filtering method does not rely on the judgment of the characteristics of the generated target points, and the intersection operation method is more robust than a single preset judgment threshold. In addition, this approach does not rely on multipath reflector recognition or reflection path modeling, avoiding the problem of possible mismatch between the model and the actual scene. While improving the quality of the output points, it further enhances the applicability. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is an application environment diagram of the target point recognition method in one embodiment;

[0054] Figure 2 This is a flowchart illustrating a target point identification method in one embodiment;

[0055] Figure 3 This is a flowchart illustrating step 206 in one embodiment;

[0056] Figure 4 This is a flowchart illustrating a method for determining the estimated angles of target points in the main array and the subarray in one embodiment.

[0057] Figure 5 This is a flowchart illustrating a single-target dot recognition method in one embodiment;

[0058] Figure 6 This is a schematic diagram of the actual radar antenna position in one embodiment;

[0059] Figure 7 This is a schematic diagram of the discrete spectrum of the main array echo power and the discrete spectrum of the subarray echo power in the first specific embodiment;

[0060] Figure 8 This is a schematic diagram of the candidate angle position vector after the main array information is expanded in the first specific embodiment;

[0061] Figure 9 This is a schematic diagram of the candidate angle position vector after the subarray information is expanded in the first specific embodiment;

[0062] Figure 10 This is a schematic diagram illustrating the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the first specific embodiment;

[0063] Figure 11 This is a schematic diagram of the discrete spectrum of the main array echo power and the discrete spectrum of the subarray echo power in the second specific embodiment;

[0064] Figure 12 This is a schematic diagram of the candidate angle position vector after the main array information is expanded in the second specific embodiment;

[0065] Figure 13 This is a schematic diagram of the candidate angle position vector after the subarray information is expanded in the second specific embodiment;

[0066] Figure 14 This is a schematic diagram illustrating the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the second specific embodiment;

[0067] Figure 15 This is a flowchart illustrating a dual-target dot recognition method in one embodiment;

[0068] Figure 16 This is a schematic diagram of the discrete spectrum of the main array echo power in the third specific embodiment;

[0069] Figure 17 This is a schematic diagram of the discrete spectrum of subarray echo power in the third specific embodiment;

[0070] Figure 18 This is a schematic diagram of the candidate angle position vector after the main array information is expanded in the third specific embodiment;

[0071] Figure 19 This is a schematic diagram of the candidate angle position vector after the subarray information is expanded in the third specific embodiment;

[0072] Figure 20 This is a schematic diagram illustrating the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the third specific embodiment;

[0073] Figure 21This is a schematic diagram of the discrete spectrum of the main array echo power in the fourth specific embodiment;

[0074] Figure 22 This is a schematic diagram of the discrete spectrum of subarray echo power in the fourth specific embodiment;

[0075] Figure 23 This is a schematic diagram of the candidate angle position vector after the main array information is expanded in the fourth specific embodiment;

[0076] Figure 24 This is a schematic diagram of the candidate angle position vector after the subarray information is expanded in the fourth specific embodiment;

[0077] Figure 25 This is a schematic diagram illustrating the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the fourth specific embodiment;

[0078] Figure 26 This is a schematic diagram of the discrete spectrum of the main array echo power in the fifth specific embodiment;

[0079] Figure 27 This is a schematic diagram of the discrete spectrum of subarray echo power in the fifth specific embodiment;

[0080] Figure 28 This is a schematic diagram of the candidate angle position vector after the main array information is expanded in the fifth specific embodiment;

[0081] Figure 29 This is a schematic diagram of the candidate angle position vector after the subarray information is expanded in the fifth specific embodiment;

[0082] Figure 30 This is a schematic diagram illustrating the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the fifth specific embodiment;

[0083] Figure 31 This is a flowchart illustrating the target point identification method in another embodiment;

[0084] Figure 32 This is a structural block diagram of a target dot recognition device in one embodiment;

[0085] Figure 33 This is an internal structural diagram of a computer device in one embodiment;

[0086] Figure 34 This is a structural diagram of a chip in one embodiment. Detailed Implementation

[0087] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0088] With the rapid development of intelligent driving technology, the functions of ADAS (Advanced Driver Assistance Systems) are becoming increasingly rich, and the demand for the performance of automotive millimeter-wave radar is also constantly increasing. Multiple-Input Multiple-Output (MIMO) technology is widely used in modern automotive millimeter-wave radar systems. MIMO technology significantly improves angular resolution by expanding the virtual aperture, and the number of virtual antennas is equal to the product of the number of transmitting antennas and receiving antennas. Through reasonable array design and angle estimation algorithms, the angle measurement performance of automotive radar can be further improved under hardware constraints (i.e., radar size), promoting the widespread application of millimeter-wave radar in the field of intelligent driving. The main task of automotive millimeter-wave radar is to accurately detect objects within the target area and accurately estimate key information such as their distance, speed, and angle.

[0089] Target trace angle estimation relies on the radar array's echo signal. Multipath scenarios are extremely common in daily life, with typical scenarios including but not limited to city streets, tunnel environments, parking lots, and highways. In multipath scenarios, the transmitted signal from the radar array's transmitting antenna is reflected, refracted, or scattered by objects in the surrounding environment (such as fences, buildings, vehicles, etc.) during propagation, causing the target trace's echo signal to reach the radar array's receiving antenna along multiple paths. Therefore, for each target trace detected in the radial distance-radial relative velocity heatmap, the phase information of the echo signal received by the radar array may be the phase information of a single target trace or the superposition of phase information from multiple target traces along different paths. Directly using the superimposed phase information for angle estimation may result in angle measurement errors, increasing the risk of false target generation and thus reducing the trace quality.

[0090] To address the above problems, the following technologies are employed in related fields:

[0091] Scene recognition-based suppression techniques filter out multipath targets by identifying reflective surfaces (such as fences, tunnels, etc.) in a specific scene. However, this approach has limited applicability and its accuracy depends on scene recognition: the technique relies on accurate identification of reflective surfaces; if reflective surfaces in the scene (such as partially occluded fences) are not identified, it cannot be effectively applied.

[0092] Suppression techniques based on target characteristics: These techniques utilize features such as the target's position, velocity, signal-to-noise ratio (SNR), and main-to-side lobe ratio to identify multipath targets. This approach is primarily designed for multipath targets with obvious anomalies, such as low SNR and low main-to-side lobe ratio, meaning its recognition capability is limited. If the judgment criteria are broadened, it may misidentify real target traces as multipath target traces, severely reducing the quality of the trace output, thus posing a risk of misidentifying real targets.

[0093] Suppression techniques based on transform angle measurement algorithm models: This method improves the angle measurement algorithm by selecting an angle estimation model applicable to the current echo signal based on a preset model judgment threshold. These models include single-target angle measurement models, dual-target angle measurement models, and multipath angle measurement models. Using a multipath model for angle measurement can reduce misjudgments of multipath targets caused by model mismatch in the angle measurement algorithm. However, this approach has high computational complexity, its accuracy depends heavily on the preset model judgment threshold, and it is highly dependent on modeling.

[0094] To address the technical problem of ineffective target point identification in related technologies, a target point identification method is proposed. This method starts from the source of target point generation, adopts a joint angle measurement strategy of main array and subarray, and uses latent angle intersection operation to filter multipath target points. This avoids the dependence on multipath reflector identification or reflection path modeling, and uses point angle information for filtering. Compared with using subsequent information such as main-side lobe ratio and SNR, it has higher information richness and accuracy, stronger identification ability, and reduces the risk of misidentification.

[0095] The target point recognition method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, a radar system is installed on a mobile carrier. The radar system includes a vehicle-mounted radar 102 mounted on the mobile carrier. The mobile carrier can be, for example, a vehicle 100, a drone, a boat, an airplane, a helicopter, a lawnmower, construction equipment, a robot, etc. The vehicle 100 can be of different types, and this embodiment does not impose any particular limitation. A data storage system can store the data that the radar system needs to process. The data storage system can be integrated into the radar system or placed on a cloud server or other network server.

[0096] The system acquires radar signals reflected by the target object, performs coherent and incoherent processing on the radar signals, and generates a heatmap of radial distance and radial relative velocity. It then determines the echo signals corresponding to the target points detected in the heatmap. For each target point detected in the radial distance and radial relative velocity heatmap, if at least one target point exists in the echo signal, it determines the estimated angle value of the main array target point and the candidate angle position vector of the main array, as well as the candidate angle position vector of the subarray, according to a preset joint angle measurement strategy of the main array and subarrays. The number of estimated angle values ​​for the main array target points is the same as the number of target points. The system performs an intersection operation on the candidate angle position vectors of the main array and the subarrays to obtain a joint candidate angle position vector. Each element in the joint candidate angle position vector corresponds to a candidate angle value. Finally, it identifies the estimated angle values ​​of the main array target points based on the joint candidate angle position vector, obtaining the target point identification result.

[0097] In one exemplary embodiment, such as Figure 2 As shown, a target point trace recognition method is provided, which can be applied to... Figure 1 The following steps, 202 to 210, are used as examples to illustrate the application scenarios.

[0098] Step 202: Obtain the radar signal received by the radar array, perform coherent and incoherent processing on the radar signal, and generate a heat map of radial distance and radial relative velocity.

[0099] A radar array consists of a main array and subarrays. The radar signals received by the radar array can be signals reflected from a target object, ground reflection signals formed by radar-transmitted signals being reflected by the ground, multipath reflection signals that may reach the receiving antenna after multiple reflections, or interference signals from other signal sources.

[0100] The specific implementation method for generating a heatmap of radial distance and radial relative velocity by performing coherent and incoherent processing on radar signals can be achieved using existing methods and will not be elaborated here. The heatmap of radial distance and radial relative velocity can also be called a radial distance-radial relative velocity heatmap.

[0101] For example, a MIMO radar system includes M transmitting antennas and The system uses a root receiving antenna. It generates a heat map of radial distance and radial relative velocity by coherently and incoherently processing the radar signals received by the radar array (i.e., radar received signals).

[0102] Step 204: Determine the echo signal corresponding to the detected target point in the heat map.

[0103] The method for determining the echo signal corresponding to the detected target point in the heat map can be achieved by applying a detection algorithm or related technology to determine the index value of the target point in terms of radial distance and radial relative velocity, and obtaining the echo signal of the target point at that location. Further, the echo signals are sorted according to the actual antenna position of the MIMO radar, and the sorted echo signals are denoted as x. It should be noted that the detection algorithm can be freely chosen according to specific needs, and the specific implementation method can be achieved using existing methods, which will not be elaborated here.

[0104] Step 206: For each target point detected in the radial distance and radial relative velocity heatmap, if there is at least one target point in the echo signal, determine the estimated angle value of the main array target point and the candidate angle position vector of the main array and the candidate angle position vector of the radar subarray according to the preset main array and subarray joint angle measurement strategy; wherein, the number of estimated angle values ​​of the main array target point is the same as the number of target points.

[0105] It should be noted that the number of target points in the echo signal corresponding to the detected target points can be one, two, or more. The actual number of target points in the echo signal can be determined using a signal source number estimation algorithm. Optionally, a signal source number estimation algorithm is used to determine the number of target points in the sorted echo signal x at the positions of the radial distance index and radial relative velocity index of the detected targets, thus obtaining the actual number of target points in the echo signal. The signal source number estimation algorithm can be, but is not limited to, algorithms such as the smoothed rank algorithm or the eigenvalue decomposition signal source number estimation algorithm. The choice of signal source number estimation algorithm can be freely selected based on the actual application scenario. The preset joint angle measurement strategy of the main array and single subarray can be as follows: extract the subarray echo signal from the echo signal; determine the echo power of the corresponding subarray at each angle within the preset angle measurement range FOV based on the subarray echo signal and the steering vector corresponding to the subarray; determine the echo power of the corresponding main array at each angle within the preset angle measurement range FOV based on the echo signal and the steering vector corresponding to the main array; determine the estimated angle of the target point of the subarray based on maximizing the subarray echo power spectrum; and determine the estimated angle of the target point of the main array based on maximizing the main array echo power spectrum.

[0106] Based on the preset angle measurement range, angle interval, estimated angle values ​​of target points in the subarray and estimated angle values ​​of target points in the main array, initialize the candidate angle position vectors of the main array and subarray, determine the candidate angle position vectors corresponding to the main array and subarray respectively, and perform an intersection operation on the determined candidate angle position vectors of the main array and subarray to determine the potential target angle set.

[0107] It should be noted that the extraction of subarray echo signals from the echo signals can be determined based on the subarray division method. The target points detected in the radial distance and radial relative velocity heatmap are detected based on two dimensions: distance and velocity. Therefore, the number of target points in the echo signals is determined from the angular dimension. For example, for each target point detected in the radial distance and radial relative velocity heatmap, an echo signal can be extracted. Then, for this echo signal, the presence of single / double / multiple target points can be determined from the angular dimension. In other words, the determination of the number of target points in the echo signals is based on the angular dimension, assuming the same distance and velocity.

[0108] Step 208: Perform an intersection operation on the candidate angle position vectors of the main array and the candidate angle position vectors of the subarray to obtain a joint candidate angle position vector; wherein each element in the joint candidate angle position vector corresponds to a candidate angle value.

[0109] The intersection operation can be achieved by multiplying corresponding elements of the candidate angle position vectors of the main array and the candidate angle position vectors of the subarrays, resulting in a joint candidate angle position vector. For example, based on the candidate angle position vectors of the main array... candidate angle position vectors of subarray Determine the joint candidate angle position vector It can be represented as:

[0110] ,in, This represents the Hadamard product, also known as the element-wise product.

[0111] Step 210: Identify the estimated angle of the target point trace in the main array based on the joint candidate angle position vector to obtain the identification result of the target point trace.

[0112] Among them, the angles corresponding to the positions where the amplitude of the joint candidate angle position vector is 1 are candidate angles, i.e., potential target angles. Based on the angles corresponding to the positions where the amplitude of the joint candidate angle position vector is 1, the corresponding set of potential target angles can be obtained. If there is an angle in the set of potential target angles that matches the estimated angle of the main array target point, it indicates that the main array target point is a non-multipath target point, and the target point information is retained. If there is no such angle, it indicates that the main array target point is a multipath target point, and the target point information is deleted.

[0113] The aforementioned target trace identification method performs coherent and incoherent processing on the acquired radar received signal to generate a heatmap of radial distance and radial relative velocity. It then determines the echo signal corresponding to the target trace detected in the heatmap. For each target trace detected in the radial distance and radial relative velocity heatmap, if at least one target trace exists in the echo signal, it uses a preset joint angle measurement strategy of the main array and subarrays to determine the estimated angle value of the target trace in the main array, as well as the candidate angle position vectors of the main array and the subarray. It performs an intersection operation on these two candidate angle position vectors to obtain a joint candidate angle position vector, and performs target trace identification based on the estimated angle value of the target trace in the main array using the joint candidate angle position vector. This approach starts from the source of target point generation, employs a joint angle measurement strategy of main array and subarray, and uses latent angle intersection operation to filter multipath target points. This filtering method does not rely on the judgment of the characteristics of the generated target points, and the intersection operation method is more robust than a single preset judgment threshold. In addition, this approach does not rely on multipath reflector recognition or reflection path modeling, avoiding the problem of possible mismatch between the model and the actual scene. While improving the quality of the output points, it further enhances the applicability.

[0114] In one exemplary embodiment, such as Figure 3 As shown, step 206 includes steps 302 to 306. Wherein:

[0115] Step 302: Based on the preset joint angle measurement strategy of the main array and the subarray, determine the estimated angle values ​​of the target points in the main array and the target points in the subarray of the radar array; wherein, the number of estimated angle values ​​of the target points in the subarray is the same as the number of target points.

[0116] The principle for determining the target point angle estimates of the main array and the subarray is the same. The target point angle estimates of the main array are determined by maximizing the echo power spectrum of the main array, and the target point angle estimates of the subarray are determined by maximizing the echo power spectrum of the subarray.

[0117] The main array echo power spectrum is determined by the echo power at each angle within a preset FOV (field of view). The power at each angle is obtained by performing an inner product between the echo signal and the main array steering vector. Similarly, the subarray echo power spectrum is determined by the echo power at each angle within a preset FOV. The power at each angle is obtained by performing an inner product between the subarray echo signal and the subarray steering vector.

[0118] The number of estimated angle values ​​for target points in the main array and the number of estimated angle values ​​for target points in the subarray are the same as the number of target points.

[0119] Step 304: Based on the preset angle measurement range and angle measurement interval in the joint angle measurement strategy of the main array and the subarray, initialize the candidate angle position vectors of the main array and the subarray to obtain the corresponding initial candidate angle position vectors of the main array and the subarray.

[0120] For example, based on the preset angle measurement range (FOV) and angle measurement interval in the joint angle measurement strategy of the main array and sub-arrays. Initialize the candidate angle position vector of the main array for Zero-dimensional vector. Candidate angular position vector of the principal array. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. It should be noted that this correspondence exists if and only if the estimated angle value of the main matrix corresponds to a certain angle position in the candidate angle position vector of the main matrix. When the corresponding angle values ​​are equal, k represents the range of angle index values. ,in The value is determined by the FOV and the angular interval (i.e., the angular measurement interval).

[0121] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the subarray for Zero-dimensional vector. Submatrix candidate angular position vector. There is a one-to-one correspondence between the elements in the vector and the candidate angle values. It should be noted that this correspondence is valid only if the estimated angle value of the subarray is equal to the angle value corresponding to a certain angle position in the candidate angle position vector of the subarray. .

[0122] Step 306: Based on the estimated angle of the target point in the main array and the angle selection range, perform information expansion processing on the initial candidate angle position vector of the main array to obtain the candidate angle position vector of the main array.

[0123] The information expansion processing involves taking the element already set to 1 in the initial candidate angle position vector of the main array as the center, setting the corresponding elements on both sides of this center within the angle selection range to 1, and setting the other elements to 0. Angle selection range It was determined in advance based on actual needs. Understandably, considering that there may be some noise affecting the accuracy of angle measurement, the actual purpose of information expansion processing is to expand the area near setting 1.

[0124] For example, the initial candidate angle position vector of the main array Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1 to determine the candidate angle position vector after the final main array information is expanded. , which is the candidate angle position vector of the main array.

[0125] Step 308: Based on the estimated angle values ​​of the target points in the subarray and the angle selection range, perform information expansion processing on the initial candidate angle position vector of the subarray to obtain the candidate angle position vector of the subarray.

[0126] The information expansion process refers to taking the element that has been set to 1 in the initial candidate angle position vector of the subarray as the center, setting the corresponding elements on both sides of the center within the angle selection range to 1, and setting the other elements to 0.

[0127] For example, using the initial candidate angular position vector of the subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1 to determine the candidate angle position vector after the final subarray information is expanded. .

[0128] In this embodiment, by using a preset joint angle measurement strategy of the main array and subarrays, the estimated angle values ​​of the target points in the main array and the target points in the subarrays of the radar array are first determined. Based on this, the initial candidate angle position vectors of the corresponding main array / subarrays are expanded according to the two determined angle estimates. Then, based on the candidate angle position vectors expanded by the final main array information and the candidate angle position vectors expanded by the subarray information, all potential target angles can be determined. This can reduce the problem of estimation deviation of the real target angle caused by angle measurement deviation introduced by hardware-related factors (such as antenna processing, antenna amplitude and phase inconsistency, etc.).

[0129] Understandably, in related technologies, using secondary information such as main-sidelobe ratio and SNR to identify target traces has low recognition capability and carries recognition risks. The aforementioned methods propose a joint processing approach based on the main array and subarrays, innovatively achieving the identification and suppression of multipath target trace generation sources. The following are the specific implementation steps for determining the estimated angles of the target traces in the main array and the subarrays.

[0130] In one exemplary embodiment, such as Figure 4 As shown, a method for determining the estimated angle values ​​of target points in the main array and target points in the subarray is provided, including the following steps:

[0131] Step 402: According to the preset joint angle measurement strategy of main array and subarray, determine the main array and subarray of the radar array, and the main array guide vector and subarray guide vector corresponding to each set of angle measurement angles within the preset angle measurement range; the number of each set of angle measurement angles is the same as the number of target points.

[0132] Considering practical application scenarios, for each target point detected in the radial distance and radial relative velocity heatmap, the number of target points corresponding to the azimuth angle dimension can be one, two, or even more. This embodiment uses the example of one or two target points for illustration. The steering vector is a complex vector representing the phase and amplitude relationship of each element in the antenna array when receiving or transmitting signals in a specific direction. The main array steering vector specifically refers to the steering vector used for beamforming in the main antenna array of a radar.

[0133] For example, based on the subarray division in the radar system, from the echo signal Extracting subarray echo signals Among them, superscript This represents the identifier related to the subarray. It should be noted that the selection of the subarray echo signal is determined by the subarray division. The specific subarray division comes from the actual system design requirements and will not be elaborated here. Based on the echo signal, the main array steering vector corresponding to each set of angles within the preset angle measurement range is determined, and based on the subarray echo signal, the subarray steering vector corresponding to each set of angles within the preset angle measurement range is determined. For example, calculating different angles within the preset angle measurement range (FOV). Corresponding main array steering vector And based on the subarray echo signal Calculate different angles within the FOV (field of view) of the angle measurement. Corresponding subarray steering vector .

[0134] It should be noted that from different angles The guiding vectors corresponding to the main array and subarrays can also be calculated offline and saved, and then directly called during online processing. This processing method saves running time.

[0135] Step 404: Based on the main array steering vector and echo signal, determine the main array echo power spectrum corresponding to each set of angle measurement angles within the preset angle measurement range of the radar main array, and based on the subarray steering vector and subarray echo signal in the echo signal, determine the subarray echo power spectrum corresponding to each set of angle measurement angles within the preset angle measurement range of the radar subarray.

[0136] The echo power spectrum of the main array and the echo power spectrum of the subarray are both discrete echo power spectra. The number of target points can be either one or two. Two target points can be dual target points at the same distance and speed. Therefore, the number of angle measurements involved in calculating the echo power differs depending on the number of target points involved in determining the echo power spectrum for these two cases, as detailed below:

[0137] Scenario 1: There is a single target point, meaning that the number of angles measured in each group is one.

[0138] Based on the main array steering vector and echo signal, determine the main array echo power corresponding to each angle measurement angle within the preset angle measurement range of the radar main array, and determine the corresponding main array echo power spectrum based on the main array echo power. Also, based on the subarray steering vector and subarray echo signal in the echo signal, determine the subarray echo power corresponding to each angle measurement angle within the preset angle measurement range of the radar subarray, and determine the corresponding subarray echo power spectrum based on the subarray echo power.

[0139] For example, based on the main array steering vector and echo signal Calculate the echo power of the main array at each angle within the FOV (field of view). The echo power can be expressed as:

[0140] ;

[0141] in, Represents echo signal The conjugate transpose of , corresponding to the discrete spectrum of the main array echo power, can be denoted as:

[0142] ;

[0143] Based on the subarray steering vector Subarray echo signal Calculate the echo power of the subarray at each angle within the azimuth field of view (FOV):

[0144] ;

[0145] in, Represents the subarray echo signal The conjugate transpose corresponds to the discrete spectrum of the subarray echo power. It can be written as:

[0146] .

[0147] Scenario 2: There are two target points, meaning each set of angular measurements contains two points.

[0148] Accordingly, when there are two target points, each set of angle measurement angles includes a first angle measurement angle and a second angle measurement angle. For each set of angle measurement angles, the main array steering vector matrix is ​​determined based on the main array steering vector corresponding to the first angle measurement angle and the main array steering vector corresponding to the second angle measurement angle. The subarray steering vector matrix is ​​determined based on the subarray steering vector corresponding to the first angle measurement angle and the subarray steering vector corresponding to the second angle measurement angle. Based on the main array steering vector matrix and the echo signal, the main array echo power spectrum corresponding to each set of angle measurement angles within the preset angle measurement range is determined. Based on the subarray steering vector matrix and the subarray echo signal in the echo signal, the subarray echo power spectrum corresponding to each set of angle measurement angles within the preset angle measurement range is determined.

[0149] For example, for any first angle within the preset angle measurement range FOV The corresponding main array steering vector is denoted as For any second angle within the FOV of the angular measurement range The corresponding main array steering vector is denoted as The main steering vector matrix containing information from both is denoted as... .

[0150] For any first angle within the FOV of the angular measurement range The corresponding subarray steering vector is denoted as For any second angle within the FOV of the angular measurement range The corresponding subarray steering vector is denoted as The submatrix guiding vector matrix containing information from both is denoted as .

[0151] Subscript and subscript These represent the first angle and the second angle, respectively. and .

[0152] Based on the main array steering vector matrix and echo signal The echo power corresponding to any two-angle combination within the FOV of the main array can be calculated as follows:

[0153] ;

[0154] Therefore, the discrete spectrum of the echo power corresponding to the two-dimensional angle of the main array, i.e., the echo power spectrum of the main array, can be expressed as:

[0155] ;

[0156] Based on the subarray steering vector matrix and the subarray echo signal The echo power corresponding to any two-angle combination of the subarray within the FOV of the angular measurement range can be expressed as:

[0157] ;

[0158] The discrete spectrum of echo power corresponding to the two-dimensional angle of the subarray, i.e., the echo power spectrum of the subarray, can be expressed as:

[0159] ;

[0160] Step 406: Determine the estimated angle of the target point in the main array when the main array echo power spectrum reaches its maximum value, and the estimated angle of the target point in the subarray when the subarray echo power spectrum reaches its maximum value.

[0161] Among them, the echo power spectrum of the main array / subarray reaches its maximum value, that is, the echo power spectrum of the main array and the subarray is maximized. Selecting the angle corresponding to maximizing the two-dimensional power spectrum of the main array / subarray means finding the angle in two-dimensional space that makes the power spectrum reach its maximum value. This angle usually represents the direction in which the target signal is most likely to arrive.

[0162] For example, for a target point with only one location, based on the above method to determine the discrete spectrum of the main array echo power and the discrete spectrum of the subarray echo power, the main array echo power spectrum is maximized. Obtain the estimated angle of the main array target point. , can be represented as: ;

[0163] and maximizing the subarray echo power spectrum Obtain the estimated angle of the target point in the subarray. This can be represented as: .

[0164] For cases where only two target points exist, based on the above method to determine the discrete power spectrum of the main array echo and the discrete power spectrum of the subarray echo, the angle estimate of the dual target points of the main array is obtained by selecting the angle combination that maximizes the two-dimensional power spectrum of the main array. ,Right now ;

[0165] By selecting the angle combination that maximizes the two-dimensional power spectrum of the subarray, the estimated angle of the dual target points in the subarray is obtained. ,Right now:

[0166] .

[0167] In this embodiment, for the identification of single-target and dual-target points, the identification is based on the estimated angle values ​​of the main array target points and the subarray target points. Compared with the use of subsequent information such as the main-side lobe ratio, the information richness and accuracy are higher, the identification ability is stronger, and the risk of misidentification is lower.

[0168] Based on the estimated angles of the target points in the main array and the subarray, the following describes the methods for determining the candidate angle position vectors of the main array and the subarray in order to achieve effective identification and suppression of target points. The principles for determining the candidate angle position vectors of the main array and the subarray are the same.

[0169] In an exemplary embodiment, based on the estimated angle of the main array target point and the angle selection range, the initial candidate angle position vector of the main array is subjected to information expansion processing to obtain the candidate angle position vector of the main array, including:

[0170] Determine the initial candidate angle value corresponding to each element in the initial candidate angle position vector of the main array; determine the matching candidate angle value that matches the estimated angle value of the target point trace of the main array from the initial candidate angle values, and set the value of the target candidate angle position corresponding to the matching candidate angle value in the initial candidate angle position vector of the main array as the preset value; with the target candidate angle position as the center, set the values ​​of the initial candidate angle positions within the angle selection range to the preset value to obtain the intermediate candidate angle position vector; perform information expansion processing on the intermediate candidate angle position vector to obtain the main array candidate angle position vector.

[0171] Based on the estimated angle values ​​of the target points in the subarray and the angle selection range, the initial candidate angle position vectors of the subarray are subjected to information expansion processing to obtain the candidate angle position vectors of the subarray, including:

[0172] Determine the initial candidate angle value corresponding to each element in the initial candidate angle position vector of the subarray; determine the matching candidate angle value that matches the estimated angle value of the target point trace in the subarray from the initial candidate angle value, and set the value of the matching candidate angle value in the initial candidate angle position vector of the subarray at the corresponding target candidate angle position as the preset value; with the target candidate angle position as the center, set the values ​​of the initial candidate angle positions within the angle selection range to the preset value to obtain the intermediate candidate angle position vector; perform information expansion processing on the intermediate candidate angle position vector to obtain the subarray candidate angle position vector.

[0173] The preset value can be 1. The following are the methods for determining the number of target points as one and as two:

[0174] Scenario 1: There exists a target point.

[0175] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the main array for Zero-dimensional vector. Candidate angular position vector of the principal array. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is true if and only if the estimated principal matrix angle value... With the main array candidate angle position vector At a certain angle position When the corresponding angle values ​​are equal, .

[0176] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the subarray for Zero-dimensional vector. Submatrix candidate angular position vector. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. The submatrix angle estimates are given if and only if the ... With the candidate angle position vector of the subarray At a certain angle position When the corresponding angle values ​​are equal, .

[0177] Using the candidate angle position vector of the main array Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1 to determine the candidate angle position vector after the final main array information is expanded. .

[0178] candidate angle position vectors of subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1 to determine the candidate angle position vector after the final subarray information is expanded. .

[0179] Scenario 2: Two target points exist.

[0180] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the main array for Zero-dimensional vector. Candidate angular position vector of the principal array. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is true if and only if the estimated principal matrix angle value... With the main array candidate angle position vector Two angle positions in the middle When the corresponding angle values ​​are equal, let .

[0181] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the subarray for Zero-dimensional vector. Submatrix candidate angular position vector. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. The submatrix angle estimates are given if and only if the ... With the candidate angle position vector of the subarray Two angle positions in the middle When the corresponding angle values ​​are equal, let .

[0182] Using the candidate angle position vector of the main array Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1 to determine the candidate angle position vector after the final main array information is expanded. .

[0183] candidate angle position vectors of subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1 to determine the candidate angle position vector after the final subarray information is expanded. .

[0184] In this embodiment, the intersection operation of the candidate angle position vectors of the main array and subarrays in the information expansion processing can ensure the set of potential target angles, avoid the omission of potential target angles, and ensure the reliability of target point recognition.

[0185] Based on the above-described implementation methods, the following is a specific implementation of target point identification. In one embodiment, the target point angle estimation value of the main array is identified according to the joint candidate angle position vector to obtain the target point identification result, including:

[0186] Determine the set of target angles corresponding to positions with preset amplitudes in the joint candidate angle position vector; if there is only one estimated angle value for the main array target point, and there is an angle value in the target angle set that matches the estimated angle value for the main array target point, then the target point is determined to be a real target point; if there is no angle value that matches the angle value for the main array target point, then the target point is determined to be a false target point.

[0187] When there are two estimated angle values ​​for the target points in the main array, if there is an angle value in the target angle set that matches the estimated angle values ​​of the two target points in the main array, then both target points are determined to be real target points; if there is no angle value in the target angle set that matches the estimated angle values ​​of the two target points in the main array, then both target points are determined to be false target points; if there is an angle value in the target angle set that matches the estimated angle value of one target point in the main array, then the corresponding target point is determined to be a real target point, and the other target point is a false target point.

[0188] The amplitude is a preset value, which can be 1, based on the joint candidate angle position vector. The angle corresponding to the position with a median amplitude of 1 is defined as the potential target angle set. That is, the set of target angles.

[0189] When there is only one estimated angle value for the main target point, if the estimated angle value for the main target point is... If the target point of the main array is determined to be a non-multipath target point, the target point information is retained; if The target point is identified as a multipath target point, and its information is deleted.

[0190] When there are two estimated angle values ​​for the main array target points, that is, when the estimated angle values ​​for the main array target points are... and the estimated angle of the main array target point ,if and It was determined that both target traces in the main array were non-multipath target traces, and the dual target trace information was retained. If and ,Sure For multipath target points, delete the target point information and confirm. For non-multipath target points, retain the target point information. If and ,Sure For multipath target points, delete the target point information and confirm. For non-multipath target points, retain the target point information. If and It was determined that both target traces in the main array were multipath target traces, and the dual target trace information was deleted.

[0191] In this embodiment, by using a joint angle measurement processing method of the main array and a single subarray, the screening and suppression of multipath target points can be efficiently completed without the need to introduce complex multi-subarrays to participate in the processing. At the same time, the use of the latent angle intersection operation method to screen multipath target points is more robust than a single preset judgment threshold. Moreover, this method does not depend on the model, reducing the model's occupation of computing resources and alleviating the system's operating burden.

[0192] In one exemplary embodiment, such as Figure 5 As shown, a single target point trace recognition method is provided, which includes the following:

[0193] The system acquires radar signals received from the radar array, performs coherent and incoherent processing on the radar signals, and generates a heatmap of radial distance and radial relative velocity. It then determines the echo signals corresponding to the detected target points in the heatmap. For each target point detected in the radial distance and radial relative velocity heatmap, if a target point exists in the echo signal, the subarray echo signal is extracted from the echo signal according to the subarray division. Preset parameters for target point identification are determined, including a preset angle measurement range, angle interval, angle index value range, and a single-sided selection range for the target point angle.

[0194] The steering vectors corresponding to the main array and subarrays are calculated separately. Based on the steering vectors of the main array and subarrays, as well as the echo signals of the main array and subarrays, the echo power of the main array and subarrays at each angle within the FOV is calculated, resulting in the corresponding discrete spectrum of the main array echo power and the discrete spectrum of the subarray echo power. The corresponding angle estimates, i.e., the estimated angles of the target point traces in the main array and the subarray, are obtained by maximizing the discrete spectrum of the main array echo power and the discrete spectrum of the subarray echo power, respectively.

[0195] Based on this, according to preset parameters and the estimated angles of the target points in the main array and the target points in the subarray, the candidate angle position vectors of the main array and the subarray are initialized respectively to obtain the initial candidate angle position vectors of the main array and the subarray. Then, the final candidate angle position vectors of the main array and the subarray are determined respectively to obtain the candidate angle position vectors of the main array and the subarray. The intersection operation of the candidate angle position vectors of the main array and the candidate angle position vectors of the subarray is performed to determine the potential target angle set. Finally, based on the potential target angle set, it is determined whether the estimated value of the target point in the main array is an element in the potential target angle set to obtain the target point recognition result.

[0196] It should be noted that the specific implementation of this example can be achieved using the methods described above, and will not be elaborated upon here.

[0197] The following are examples of application scenarios based on the above methods, including:

[0198] Example 1: A single target trace is a multipath target trace, exhibiting a significant difference between the radar's transmitted signal angle to the target and the target's received signal angle to the radar. The corresponding radar transmitted signal angle to the target and target received signal angle to the radar are as follows: and .

[0199] The S10 MIMO radar system includes root transmitting antenna and The virtual antenna position of the MIMO radar is as follows: Figure 6 As shown, for each target point detected in the radial distance and radial relative velocity heatmap, the echo signals are sorted, and the sorted echo signals are denoted as x.

[0200] S20. Employ the characteristic decomposition signal source number estimation algorithm based on the echo signal. Determine the number of target points .

[0201] S30. Due to The single-target point tracking technology solution includes the following steps:

[0202] A-S301 - Example 1. Extracting Subarray Echo Signals:

[0203] According to such Figure 5 The subarray division shown is based on the echo signal. Extracting subarray echo signals superscript Represents the identifier related to the subarray.

[0204] A-S302 - Example 1. Determining the preset parameters used for target point recognition:

[0205] Determine the FOV (Field of View) for angle measurement: , angular interval .

[0206] Determine the range of angle index values ,in The value is determined by the field of view (FOV) and the angular interval:

[0207] ;

[0208] Determine the single-sided selection range of the target point's trace angle. :when Other angles .

[0209] A-S303 - Example 1. Calculate the steering vectors corresponding to the main array and subarray respectively:

[0210] Calculate different angles within the FOV (field of view) of the angle measurement. Corresponding main array steering vector .

[0211] Based on the subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. Corresponding subarray steering vector .

[0212] A-S304 - Example 1. Calculate the echo power of the main array and subarray at each angle within the FOV:

[0213] Calculate the echo power of the main array at each angle within the FOV (field of view):

[0214] ;

[0215] The corresponding discrete spectrum of the main array echo power is denoted as:

[0216] ;

[0217] Calculate the echo power of the subarray at each angle within the azimuth field of view (FOV):

[0218] ;

[0219] The discrete spectrum of the corresponding subarray echo power is denoted as:

[0220]

[0221] The discrete spectrum of the main array echo power and the discrete spectrum of the subarray echo power are as follows: Figure 7 The diagram shown is a schematic of the discrete spectrum of the main array echo power and the discrete spectrum of the subarray echo power in the first specific embodiment. The horizontal axis represents the angle and the vertical axis represents the amplitude.

[0222] A-S305 - Example 1. Angle estimates are obtained by maximizing the echo power spectra of the main array and subarrays respectively:

[0223] By maximizing the main array echo power spectrum Obtain the estimated angle of the main array target point. ,Right now:

[0224]

[0225] By maximizing the subarray echo power spectrum Obtain the estimated angle of the main array target point. ,Right now:

[0226] ;

[0227] A-S306 - Example 1. Initialize the candidate angle position vectors of the main array and subarray respectively:

[0228] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the main array for Zero-dimensional vector. Candidate angular position vector of the principal array. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the estimated angle values ​​of the main matrix... Therefore ,the remaining .

[0229] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the subarray for Zero-dimensional vector. Submatrix candidate angular position vector. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the submatrix angle estimates... Therefore ,the remaining .

[0230] A-S307 - Example 1. Determine the final candidate angle position vectors for the main array and subarrays respectively:

[0231] Using the candidate angle position vector of the main array Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final main array information. That is, the candidate angle position vector of the main array, such as Figure 8 As shown, this is a schematic diagram of the candidate angle position vector after the main array information is expanded in the first specific embodiment. The horizontal axis represents the angle value index and the vertical axis represents the amplitude.

[0232] candidate angle position vectors of subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final subarray information. That is, the candidate angular position vector of the subarray, such as Figure 9 As shown, this is a schematic diagram of the candidate angle position vector after the subarray information is expanded in the first specific embodiment. The horizontal axis represents the angle value index and the vertical axis represents the magnitude.

[0233] A-S308 - Example 1. Determining the set of potential target angles through intersection operations:

[0234] Determine the joint candidate angle position vector:

[0235] ;

[0236] in, Represents the Hadamard product. Joint candidate angle position vector. The relationship between the mid-angle index value and the amplitude value is as follows: Figure 10 As shown, this is a schematic diagram illustrating the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the first specific embodiment. The horizontal axis represents the angle index value, and the vertical axis represents the amplitude. Based on the joint candidate angle position vector... The angle corresponding to the position with a median amplitude of 1 is defined as the potential target angle set. Due to the joint candidate angle position vector There is no angle corresponding to a position with an amplitude value of 1 in the set of potential target angles. It is an empty set.

[0237] A-S309 - Example 1. Determining the estimated value of the main array target point. Is it a set of potential target angles? Elements in:

[0238] Due to the estimated value of the main array target point Not part of the potential target angle set The elements in the array are used to determine if the target point is a multipath target point, and the target point information is deleted.

[0239] S40. Traverse all target points detected in the radial distance and radial relative velocity heatmap, perform the above judgment, and finally output the non-multipath target points.

[0240] Example 2: The single target point is a non-multipath target point, and the corresponding angle is...

[0241] S10. MIMO radar system includes root transmitting antenna and The virtual antenna position of the MIMO radar is as follows: Figure 6 As shown, for each target point detected in the radial distance and radial relative velocity heatmap, the echo signals are sorted, and the sorted echo signals are denoted as x.

[0242] S20. Employ the characteristic decomposition signal source number estimation algorithm based on the echo signal. Determine the number of target points .

[0243] S30. Due to The technical solution employing a single-target point trace includes:

[0244] A-S301 - Example 2. Extracting Subarray Echo Signals:

[0245] According to such Figure 6 The subarray division shown is based on the echo signal. Extracting subarray echo signals superscript Represents the identifier related to the subarray.

[0246] A-S302-Example 2. Determining the preset parameters used for target point recognition:

[0247] Determine the FOV (Field of View) for angle measurement: , angular interval .

[0248] Determine the range of angle index values ,in The value is determined by the field of view (FOV) and the angular interval:

[0249] ;

[0250] Determine the single-sided selection range of the target point's trace angle. :when Other angles .

[0251] A-S303 - Example 2. Calculate the steering vectors corresponding to the main array and subarray respectively:

[0252] Calculate different angles within the FOV (field of view) of the angle measurement. Corresponding main array steering vector .

[0253] Based on the subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. Corresponding subarray steering vector .

[0254] A-S304 - Example 2. Calculate the echo power of the main array and subarray at each angle within the FOV:

[0255] Calculate the echo power of the main array at each angle within the FOV (field of view):

[0256] ;

[0257] The corresponding discrete spectrum of the main array echo power is denoted as:

[0258] ;

[0259] Calculate the echo power of the subarray at each angle within the azimuth field of view (FOV):

[0260] ;

[0261] The discrete spectrum of the corresponding subarray echo power is denoted as:

[0262] ;

[0263] The discrete spectrum of the main array echo power and the discrete spectrum of the subarray echo power are as follows: Figure 11 The diagram shown is a schematic of the discrete spectrum of the main array echo power and the discrete spectrum of the subarray echo power in the second specific embodiment. The horizontal axis represents the angle and the vertical axis represents the amplitude.

[0264] A-S305 - Example 2. Angle estimates are obtained by maximizing the echo power spectra of the main array and subarrays respectively:

[0265] By maximizing the main array echo power spectrum Obtain the estimated angle of the main array target point. ,Right now:

[0266] ;

[0267] By maximizing the subarray echo power spectrum Obtain the estimated angle of the main array target point. ,Right now:

[0268] ;

[0269] A-S306-Example 2. Initialize the candidate angle position vectors of the main array and subarray respectively:

[0270] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the main array for Zero-dimensional vector. Candidate angular position vector of the principal array. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the estimated angle values ​​of the main matrix... Therefore ,the remaining .

[0271] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the subarray for Zero-dimensional vector. Submatrix candidate angular position vector. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the submatrix angle estimates... Therefore ,the remaining .

[0272] A-S307-Example 2. Determine the final candidate angle position vectors for the main array and subarrays respectively:

[0273] Using the candidate angle position vector of the main array Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final main array information. ,like Figure 12 As shown, this is a schematic diagram of the candidate angle position vector after the main array information is expanded in the second specific embodiment. The horizontal axis represents the angle index value and the vertical axis represents the amplitude.

[0274] candidate angle position vectors of subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final subarray information. ,like Figure 13 As shown, this is a schematic diagram of the candidate angle position vector after the subarray information is expanded in the second specific embodiment. The horizontal axis represents the angle index value, and the vertical axis represents the amplitude.

[0275] A-S308 - Example 2. Determining the set of potential target angles through intersection operations:

[0276] Determine the joint candidate angle position vector:

[0277] ;

[0278] in, Represents the Hadamard product. Joint candidate angle position vector. The relationship between the mid-angle index value and the amplitude value is as follows: Figure 14 The diagram shown illustrates the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the second specific embodiment. The horizontal axis represents the angle index value, and the vertical axis represents the amplitude. Based on the joint candidate angle position vector... The angle corresponding to the position with a median amplitude of 1 is defined as the potential target angle set. .

[0279] A-S309 - Example 2. Determining the estimated value of the main array target point. Is it a set of potential target angles? Elements in:

[0280] Due to the estimated value of the main array target point Belongs to the set of potential target angles The elements in, i.e. The target point is determined to be a non-multipath target point, and its information is retained.

[0281] S40. Traverse all the target points detected in the radial distance and radial relative velocity heatmap, perform the above judgment, and finally output the target points.

[0282] In the aforementioned single-target point trace recognition methods, starting from the source of target point trace generation, a joint angle measurement strategy using a main array and a single subarray is employed to achieve multipath target point trace recognition. Even if the characteristics of multipath target point traces do not meet traditional judgment conditions, multipath target point trace recognition and suppression can still be achieved, effectively adapting to both simple and complex scenarios and further expanding the scope of application. Simultaneously, the implementation of the above methods does not require modeling of multipath routes, avoiding the problem of potential model mismatch with actual scenarios, thus improving both the quality of the output point traces and further enhancing applicability.

[0283] In one exemplary embodiment, such as Figure 15 As shown, a method for identifying dual-target dots is provided, which includes the following:

[0284] The system acquires radar signals received from the radar array, performs coherent and incoherent processing on the radar signals, and generates a heatmap of radial distance and radial relative velocity. It then determines the echo signals corresponding to the detected target points in the heatmap. For each target point detected in the radial distance and radial relative velocity heatmap, if two target points exist in the echo signal, the subarray echo signal is extracted from the echo signal according to the subarray division. Preset parameters for target point recognition are determined, including a preset angle measurement range, angle interval, angle index value range, and a single-sided selection range for the target point angle.

[0285] The steering vectors corresponding to the main array and subarrays are calculated separately, forming matrices for the main array and subarrays containing steering vectors for any two-angle combinations. Based on the matrices containing steering vector information for the main array and subarrays, as well as the echo signals from the echo arrays and subarrays, the echo power corresponding to any two-angle combinations within the FOV of the main array and subarrays is calculated, yielding the corresponding discrete spectra of the main array echo power and the discrete spectra of the subarray echo power. By maximizing the discrete spectra of the main array echo power and the discrete spectra of the subarray echo power, the estimated angles for the determined angle combinations are obtained, namely, the estimated angles of the dual-target points in the main array and the subarray.

[0286] Based on this, according to preset parameters and the estimated angles of the dual target points in the main array and the dual target points in the subarray, the candidate angle position vectors of the main array and the subarray are initialized respectively to obtain the initial candidate angle position vectors of the main array and the subarray. Then, the final candidate angle position vectors of the main array and the subarray are determined respectively to obtain the candidate angle position vectors of the main array and the subarray. The intersection operation of the candidate angle position vectors of the main array and the subarray is performed to determine the potential target angle set. Finally, based on the potential target angle set, it is determined whether the estimated angle of the dual target points in the main array is an element in the potential target angle set to obtain the target point recognition result.

[0287] It should be noted that the specific implementation of this example can be achieved using the methods described above, and will not be elaborated upon here.

[0288] The following are examples of application scenarios based on the above methods, including:

[0289] Example 1: Both target traces are multipath target traces, exhibiting a significant difference between the radar's transmitted signal angle to the target and the target's received signal angle to the radar. The radar's transmitted signal angle to the target and the target's received signal angle to the radar for target trace 1 are respectively... and The angles of the radar's transmitted signal and the angles of the radar's received signal corresponding to target point 2 are respectively... and .

[0290] S10. MIMO radar system includes root transmitting antenna and The virtual antenna position of the MIMO radar is as follows: Figure 6 As shown, for each target point detected in the radial distance and radial relative velocity heatmap, the echo signals are sorted, and the sorted echo signals are denoted as x.

[0291] S20. Employ the characteristic decomposition signal source number estimation algorithm based on the echo signal. Determine the number of target points .

[0292] S30. Due to The technical solution employing dual-target point tracking includes the following steps:

[0293] B-S301 - Example 1. Extracting Subarray Echo Signals:

[0294] According to such Figure 6 The subarray division shown is based on the echo signal. Extracting subarray echo signals superscript Represents the identifier related to the subarray.

[0295] B-S302 - Example 1. Determining the preset parameters used for target point recognition:

[0296] Determine the FOV (Field of View) for angle measurement: , angular interval .

[0297] Determine the range of angle index values ,in The value is determined by the field of view (FOV) and the angular interval:

[0298] ;

[0299] Determine the single-sided selection range of the target point's trace angle. :when ; other angle measurement ranges .

[0300] B-S303 - Example 1. Calculate the steering vectors corresponding to the main array and subarray respectively:

[0301] Calculate different angles within the FOV (field of view) of the angle measurement. Corresponding main array steering vector .

[0302] Based on the subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. Corresponding subarray steering vector .

[0303] B-S304 - Example 1. Form matrices containing the main matrix and sub-matrices, each containing the guiding vector corresponding to any combination of two angles:

[0304] For any first angle within the preset angle measurement range FOV The corresponding main array steering vector is denoted as For any second angle within the FOV of the angular measurement range The corresponding main array steering vector is denoted as The matrix containing information from both is denoted as:

[0305] ;

[0306] For any first angle within the FOV of the angular measurement range The corresponding subarray steering vector is denoted as For any second angle within the FOV of the angular measurement range The corresponding subarray steering vector is denoted as The matrix containing information from both is denoted as:

[0307] ;

[0308] subscript and subscript These represent the first angle and the second angle, respectively. and .

[0309] B-S305 - Example 1. Calculate the echo power of the main array and sub-array for any two-angle combination within the FOV:

[0310] Calculate the echo power of the main array for any combination of two angles within the FOV (field of view):

[0311] ;

[0312] The discrete spectrum of echo power corresponding to the two-dimensional angle of the main array is denoted as:

[0313] ;

[0314] The discrete spectrum of echo power corresponding to the two-dimensional angle of the main array is as follows: Figure 16 As shown, this is a schematic diagram of the discrete spectrum of the main array echo power in the third specific embodiment. The horizontal axis represents angle 1, and the vertical axis represents angle 2.

[0315] Calculate the echo power of the subarray for any two-angle combination within the FOV (field of view):

[0316] ;

[0317] The discrete spectrum of echo power corresponding to the two-dimensional angle of the subarray is denoted as:

[0318] ;

[0319] The discrete spectrum of echo power corresponding to the two-dimensional angle of the subarray is as follows Figure 17 The diagram shown is a schematic of the discrete spectrum of subarray echo power in the third specific embodiment. The horizontal axis represents angle 1, and the vertical axis represents angle 2.

[0320] B-S306 - Example 1. By selecting the angle combination that maximizes the two-dimensional power spectrum of the main array and the subarray respectively, the estimated angle values ​​of the dual target traces of the main array and the subarray are obtained:

[0321] By selecting the angle combination that maximizes the two-dimensional power spectrum of the main array, the estimated angle values ​​of the dual target points on the main array are obtained. ,Right now:

[0322] ;

[0323] By selecting the angle combination that maximizes the two-dimensional power spectrum of the subarray, the estimated angle of the dual target points in the subarray is obtained. ,Right now:

[0324] ;

[0325] B-307 - Example 1. Initialize the candidate angle position vectors of the main array and subarray respectively:

[0326] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the main array for Zero-dimensional vector. Candidate angular position vector of the principal array. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the estimated angle values ​​of the dual target points in the main array... Therefore ,the remaining .

[0327] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the subarray for Zero-dimensional vector. Submatrix candidate angular position vector. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the subarray contains dual-target point trace angle estimates. Therefore ,the remaining .

[0328] B-308 - Example 1. Determine the final candidate angle position vectors for the main array and subarrays respectively:

[0329] Using the candidate angle position vector of the main array Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final main array information. ,like Figure 18 As shown, this is a schematic diagram of the candidate angle position vector after the main array information is expanded in the third specific embodiment. The horizontal axis represents the angle index value and the vertical axis represents the amplitude.

[0330] candidate angle position vectors of subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final subarray information. ,like Figure 19As shown, this is a schematic diagram of the candidate angle position vector after the subarray information is expanded in the third specific embodiment. The horizontal axis represents the angle index value, and the vertical axis represents the amplitude.

[0331] B-S309 - Example 1. Determining the set of potential target angles through intersection operation:

[0332] Determine the joint candidate angle position vector:

[0333] ;

[0334] in, Represents the Hadamard product. Joint candidate angle position vector. The relationship between the mid-angle index value and the amplitude value is as follows: Figure 20 The diagram shown illustrates the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the third specific embodiment. The horizontal axis represents the angle index value, and the vertical axis represents the amplitude. Based on the joint candidate angle position vector... The angle corresponding to the position with a median amplitude of 1 is defined as the potential target angle set. Due to the joint candidate angle position vector There is no angle corresponding to a position with an amplitude value of 1 in the set of potential target angles. It is an empty set.

[0335] B-S310 - Example 1. Determining the estimated value of the main array target point. Is it a set of potential target angles? Elements in:

[0336] Due to the estimated angle of the dual target points of the main array None of them belong to the set of potential target angles. The elements in the array are used to determine the main array dual-target point traces as multipath target point traces, and the dual-target point trace information is deleted.

[0337] S40. Traverse all the target points detected in the radial distance and radial relative velocity heatmap, perform the above judgment, and finally output the target points.

[0338] Example 2: Two target tracks, one a multipath target track and the other a non-multipath target track. For the multipath target track, there is a significant difference between the radar's transmitted signal angle to the target and the target's received signal angle to the radar. The corresponding radar transmitted signal angle to the target and target received signal angle to the radar are as follows: and For non-multipath target points, the corresponding angle is... .

[0339] S10. MIMO radar system includes root transmitting antenna and The virtual antenna position of the MIMO radar is as follows: Figure 6 As shown, for each target point detected in the radial distance and radial relative velocity heatmap, the echo signals are sorted, and the sorted echo signals are denoted as x.

[0340] S20. Employ the characteristic decomposition signal source number estimation algorithm based on the echo signal. Determine the number of target points .

[0341] S30. Due to The technical solution employing dual-target point tracking includes:

[0342] B-S301 - Example 2. Extracting Subarray Echo Signals:

[0343] According to such Figure 6 The subarray division shown is based on the echo signal. Extracting subarray echo signals superscript Represents the identifier related to the subarray.

[0344] B-S302-Example 2. Determining the target point recognition parameters used in the scheme:

[0345] Determine the FOV (Field of View) for angle measurement: , angular interval .

[0346] Determine the range of angle index values ,in The value is determined by the field of view (FOV) and the angular interval:

[0347] ;

[0348] Determine the single-sided selection range of the target point's trace angle. :when Other angles .

[0349] B-S303 - Example 2. Calculate the steering vectors corresponding to the main array and subarray respectively:

[0350] Calculate different angles within the FOV (field of view) of the angle measurement. Corresponding main array steering vector .

[0351] Based on the subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. Corresponding subarray steering vector .

[0352] B-S304 - Example 2. Form matrices containing the main matrix and sub-matrices, each containing the guiding vector corresponding to any combination of two angles:

[0353] For any first angle within the FOV of the angular measurement range The corresponding main array steering vector is denoted as For any second angle within the FOV of the angular measurement range The corresponding main array steering vector is denoted as The matrix containing information from both is denoted as:

[0354] ;

[0355] For any first angle within the FOV of the angular measurement range The corresponding subarray steering vector is denoted as For any second angle within the FOV of the angular measurement range The corresponding subarray steering vector is denoted as The matrix containing information from both is denoted as:

[0356] ;

[0357] subscript and subscript These represent the first angle and the second angle, respectively. and .

[0358] B-S305 - Example 2. Calculate the echo power of the main array and sub-array for any two-angle combination within the FOV:

[0359] Calculate the echo power of the main array for any combination of two angles within the FOV (field of view):

[0360] ;

[0361] The discrete spectrum of echo power corresponding to the two-dimensional angle of the main array is denoted as:

[0362] ;

[0363] The discrete spectrum of echo power corresponding to the two-dimensional angle of the main array is as follows: Figure 21 The diagram shown is a schematic diagram of the discrete spectrum of the main array echo power in the fourth specific embodiment.

[0364] Calculate the echo power of the subarray for any two-angle combination within the FOV (field of view):

[0365] ;

[0366] The discrete spectrum of echo power corresponding to the two-dimensional angle of the subarray is denoted as:

[0367] ;

[0368] The discrete spectrum of echo power corresponding to the two-dimensional angle of the subarray is as follows Figure 22 The diagram shown is a schematic of the discrete spectrum of subarray echo power in the fourth specific embodiment.

[0369] B-S306-Example 2. By selecting the angle combination that maximizes the two-dimensional power spectrum of the main array and the subarray respectively, the estimated angle values ​​of the dual target traces of the main array and the subarray are obtained:

[0370] By selecting the angle combination that maximizes the two-dimensional power spectrum of the main array, the estimated angle values ​​of the dual target points on the main array are obtained. ,Right now:

[0371] ;

[0372] By selecting the angle combination that maximizes the two-dimensional power spectrum of the subarray, the estimated angle of the dual target points in the subarray is obtained. ,Right now:

[0373] ;

[0374] B-307 - Example 2. Initialize the candidate angle position vectors of the main array and subarray respectively:

[0375] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the main array for Zero-dimensional vector. Candidate angular position vector of the principal array. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the estimated angle values ​​of the dual target points in the main array... Therefore ,the remaining .

[0376] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the subarray for Zero-dimensional vector. Submatrix candidate angular position vector. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the subarray contains dual-target point trace angle estimates. Therefore ,the remaining .

[0377] B-308 - Example 2. Determine the final candidate angle position vectors for the main array and subarrays respectively:

[0378] Using the candidate angle position vector of the main array Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final main array information. ,like Figure 23 As shown, this is a schematic diagram of the candidate angle position vector after the main array information is expanded in the fourth specific embodiment. The horizontal axis represents the angle index value and the vertical axis represents the amplitude.

[0379] candidate angle position vectors of subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final subarray information. ,like Figure 24 As shown, this is a schematic diagram of the candidate angle position vector after the subarray information is expanded in the fourth specific embodiment. The horizontal axis represents the angle index value, and the vertical axis represents the amplitude.

[0380] B-S309 - Example 2. Determining the set of potential target angles through intersection operations:

[0381] Determine the joint candidate angle position vector:

[0382] ;

[0383] in, Represents the Hadamard product. Joint candidate angle position vector. The relationship between the mid-angle index value and the amplitude value is as follows: Figure 25 The diagram shown illustrates the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the fourth specific embodiment. The horizontal axis represents the angle index value, and the vertical axis represents the amplitude. Based on the joint candidate angle position vector... The angle corresponding to the position with a median amplitude of 1 is defined as the potential target angle set. .

[0384] B-S310 - Example 2. Determining the estimated value of the target point in the main array. Is it a set of potential target angles? Elements in:

[0385] Due to the estimated angle of the dual target points of the main array middle, If the target point is identified as a multipath target, delete the point information. If a point is determined to be a non-multipath target, its information is retained.

[0386] S40. Traverse all the target points detected in the radial distance and radial relative velocity heatmap, perform the above judgment, and finally output the target points.

[0387] Example 3: Both target points are non-multipath target points, and the corresponding angles are respectively and .

[0388] S10. MIMO radar system includes root transmitting antenna and The virtual antenna position of the MIMO radar is as follows: Figure 6 As shown, for each target point detected in the radial distance and radial relative velocity heatmap, the echo signals are sorted, and the sorted echo signals are denoted as x.

[0389] S20. Employ the characteristic decomposition signal source number estimation algorithm based on the echo signal. Determine the number of target points .

[0390] S30. Due to The technical solution employing dual-target point tracking includes:

[0391] B-S301 - Example 3. Extracting Subarray Echo Signals:

[0392] According to such Figure 6 The subarray division shown is based on the echo signal. Extracting subarray echo signals superscript Represents the identifier related to the subarray.

[0393] B-S302 - Example 3. Determining the preset parameters used for target point recognition:

[0394] Determine the FOV (Field of View) for angle measurement: , angular interval .

[0395] Determine the range of angle index values ,in The value is determined by the field of view (FOV) and the angular interval:

[0396] ;

[0397] Determine the single-sided selection range of the target point's trace angle. :when Other angles .

[0398] B-S303 - Example 3. Calculate the steering vectors corresponding to the main array and subarray respectively:

[0399] Calculate different angles within the FOV (field of view) of the angle measurement. Corresponding main array steering vector .

[0400] Based on the subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. Corresponding subarray steering vector .

[0401] B-S304 - Example 3. Form matrices containing the guiding vectors corresponding to any combination of two angles in the main matrix and sub-matrices respectively:

[0402] For any first angle within the FOV of the angular measurement range The corresponding main array steering vector is denoted as For any second angle within the FOV of the angular measurement range The corresponding main array steering vector is denoted as The matrix containing information from both is denoted as:

[0403] ;

[0404] For any first angle within the FOV of the angular measurement range The corresponding subarray steering vector is denoted as For any second angle within the FOV of the angular measurement range The corresponding subarray steering vector is denoted as The matrix containing information from both is denoted as:

[0405] ;

[0406] subscript and subscript These represent the first angle and the second angle, respectively. and .

[0407] B-S305 - Example 3. Calculate the echo power of the main array and sub-array for any two-angle combination within the FOV:

[0408] Calculate the echo power of the main array for any combination of two angles within the FOV (field of view):

[0409] ;

[0410] The discrete spectrum of echo power corresponding to the two-dimensional angle of the main array is denoted as:

[0411] ;

[0412] The discrete spectrum of echo power corresponding to the two-dimensional angle of the main array is as follows: Figure 26The diagram shown is a schematic diagram of the discrete spectrum of the main array echo power in the fifth specific embodiment.

[0413] Calculate the echo power of the subarray for any two-angle combination within the FOV (field of view):

[0414] ;

[0415] The discrete spectrum of echo power corresponding to the two-dimensional angle of the subarray is denoted as:

[0416] ;

[0417] The discrete spectrum of echo power corresponding to the two-dimensional angle of the subarray is as follows Figure 27 The diagram shown is a schematic of the discrete spectrum of subarray echo power in the fifth specific embodiment.

[0418] B-S306-Example 3. By selecting the angle combination that maximizes the two-dimensional power spectrum of the main array and the subarray respectively, the estimated angle values ​​of the dual target traces of the main array and the subarray are obtained:

[0419] By selecting the angle combination that maximizes the two-dimensional power spectrum of the main array, the estimated angle values ​​of the dual target points on the main array are obtained. ,Right now:

[0420] ;

[0421] By selecting the angle combination that maximizes the two-dimensional power spectrum of the subarray, the estimated angle of the dual target points in the subarray is obtained. ,Right now:

[0422] ;

[0423] B-307 - Example 3. Initialize the candidate angle position vectors of the main array and subarray respectively:

[0424] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the main array for Zero-dimensional vector. Candidate angular position vector of the principal array. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the estimated angle values ​​of the dual target points in the main array... Therefore ,the remaining .

[0425] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the subarray for Zero-dimensional vector. Submatrix candidate angular position vector. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the subarray contains dual-target point trace angle estimates. Therefore ,the remaining .

[0426] B-308 - Example 3. Determine the final candidate angle position vectors for the main array and subarrays respectively:

[0427] Using the candidate angle position vector of the main array Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final main array information. ,like Figure 28 As shown, this is a schematic diagram of the candidate angle position vector after the main array information is expanded in the fifth specific embodiment. The horizontal axis represents the angle index value and the vertical axis represents the amplitude.

[0428] candidate angle position vectors of subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final subarray information. ,like Figure 29 As shown, this is a schematic diagram of the candidate angle position vector after the subarray information is expanded in the fifth specific embodiment. The horizontal axis represents the angle index value, and the vertical axis represents the amplitude.

[0429] B-S309 - Example 3. Determining the set of potential target angles through intersection operations:

[0430] Determine the joint candidate angle position vector:

[0431] ;

[0432] in, Represents the Hadamard product. Joint candidate angle position vector. The relationship between the mid-angle index value and the amplitude value is as follows: Figure 30 The diagram shown illustrates the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the fifth specific embodiment. The horizontal axis represents the angle index value, and the vertical axis represents the amplitude. Based on the joint candidate angle position vector... The angle corresponding to the position with a median amplitude of 1 is defined as the potential target angle set. .

[0433] B-S310 - Example 3. Determining the estimated value of the target point in the main array. Is it a set of potential target angles? Elements in:

[0434] Due to the estimated angle of the dual target points of the main array middle, If a target point is determined to be non-multipath, its information is retained. If a point is determined to be a non-multipath target, its information is retained.

[0435] S40. After traversing all target points, the final target point is output.

[0436] In the aforementioned dual-target point recognition methods, starting from the source of target point generation, a joint angle measurement strategy using a main array and a subarray is employed to identify multipath target points. Even if the characteristics of multipath target points do not meet traditional judgment conditions, multipath target point recognition and suppression can still be achieved, effectively adapting to both simple and complex scenarios and further expanding the scope of application. Simultaneously, the implementation of these methods does not require modeling of multipath routes, avoiding the potential mismatch between the model and the actual scene, thus improving both the quality of the output points and the applicability.

[0437] In one exemplary embodiment, such as Figure 31 As shown, a target point trace recognition method is provided, including the following steps:

[0438] Step 3102: Obtain the radar signal received by the radar array, perform coherent and incoherent processing on the radar signal, and generate a heat map of radial distance and radial relative velocity.

[0439] Step 3104: Determine the echo signal corresponding to each detected target point in the heat map.

[0440] Step 3106: Use the signal source number estimation algorithm to estimate the number of target points in the echo signal. If the number of target points is one, proceed to step 3108. If the number of target points is two target points, proceed to step 3110.

[0441] Step 3108: When there is only one target point, identify it according to the single target point identification method.

[0442] The identification method based on single target point identification can be achieved through the aforementioned limitations, and will not be elaborated upon here.

[0443] Step 3110: When there are two target points, identify them according to the dual target point identification method.

[0444] The identification method based on dual target point recognition can be achieved through the aforementioned limitations, and will not be elaborated upon here.

[0445] In the above embodiments, for both single-target and dual-target point traces, a joint angle measurement strategy using a main array and a single subarray is employed, starting from the source of the target point trace generation, to achieve multipath target point trace identification. Even if the characteristics of the multipath target point trace do not meet traditional judgment conditions, multipath target point trace identification and suppression can still be achieved, effectively adapting to both simple and complex scenarios and further expanding the scope of application. Simultaneously, the implementation of the above method does not require modeling of multipath routes, avoiding the problem of potential model mismatch with actual scenarios, thus improving both the quality of the output point trace and its applicability.

[0446] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0447] Based on the same inventive concept, this application also provides a target point trace recognition device for implementing the target point trace recognition method described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more target point trace recognition device embodiments provided below can be found in the limitations of the target point trace recognition method above, and will not be repeated here.

[0448] In one exemplary embodiment, such as Figure 32 As shown, a target dot recognition device is provided, comprising: an acquisition module 3202, a target detection module 3204, a signal processing module 3206, an intersection operation processing module 3208, and a dot recognition module 3210, wherein:

[0449] The acquisition module 3202 is used to acquire the radar received signal reflected by the target object.

[0450] The target detection module 3204 is used to perform coherent and incoherent processing on the radar received signal to generate a heat map of radial distance and radial relative velocity; and to determine the echo signal corresponding to each detected target point in the heat map.

[0451] The signal processing module 3206 is used to determine the estimated angle of the target point of the radar main array and the candidate angle position vector of the main array, as well as the candidate angle position vector of the subarray, for each target point detected in the thermal map of radial distance and radial relative velocity. If there is at least one target point in the echo signal, the module determines the estimated angle of the target point of the radar main array and the candidate angle position vector of the main array, as well as the candidate angle position vector of the subarray, according to the preset joint angle measurement strategy of the main array and the subarray. The number of estimated angles of the target point of the main array is the same as the number of target points.

[0452] The intersection operation processing module 3208 is used to perform an intersection operation on the candidate angle position vector of the main array and the candidate angle position vector of the subarray to obtain a joint candidate angle position vector; wherein, each element in the joint candidate angle position vector corresponds to a candidate angle value.

[0453] The dot pattern recognition module 3210 is used to identify the estimated angle of the target dot pattern in the main array based on the joint candidate angle position vector, and obtain the recognition result of the target dot pattern.

[0454] The aforementioned target point recognition device starts from the source of target point generation, adopts a joint angle measurement strategy of main array and subarray, and uses the latent angle intersection operation method to filter multipath target points. It avoids the dependence on multipath reflector recognition or reflection path modeling, and uses point angle information for filtering. Compared with using the main-side lobe ratio, SNR and other subsequent information, it has higher information richness and accuracy, stronger recognition ability, and reduces the risk of misidentification.

[0455] In an exemplary embodiment, the signal processing module 3206 includes an angle information processing module and an information expansion module. The angle information processing module is used to determine the estimated angle values ​​of the main array target points and the estimated angle values ​​of the subarray target points of the radar array according to a preset joint angle measurement strategy of the main array and the subarray. The number of estimated angle values ​​of the subarray target points is the same as the number of target points.

[0456] Based on the preset angle measurement range and angle measurement interval in the joint angle measurement strategy of the main array and the subarray, the candidate angle position vectors of the radar main array and the radar subarray are initialized to obtain the corresponding initial candidate angle position vectors of the main array and the subarray.

[0457] The information expansion module is used to expand the initial candidate angle position vector of the main array based on the estimated angle value of the target point trace and the angle selection range of the main array, so as to obtain the candidate angle position vector of the main array.

[0458] Based on the estimated angle values ​​of the target points in the subarray and the range of angle selection, the initial candidate angle position vectors of the subarray are expanded to obtain the candidate angle position vectors of the subarray.

[0459] In an exemplary embodiment, the angle information processing module is used to determine the main array and subarray of the radar array according to a preset joint angle measurement strategy of main array and subarray, and the main array steering vector and subarray steering vector corresponding to each set of angle measurement angles within a preset angle measurement range; the number of each set of angle measurement angles is the same as the number of target points.

[0460] Based on the main array steering vector and echo signal, determine the main array echo power spectrum of the radar main array within the preset angle measurement range, and based on the subarray steering vector and subarray echo signal in the echo signal, determine the subarray echo power spectrum of the radar subarray within the preset angle measurement range.

[0461] The estimated angle of the target point in the main array is obtained when the echo power spectrum of the main array reaches its maximum value, and the estimated angle of the target point in the subarray is obtained when the echo power spectrum of the subarray reaches its maximum value.

[0462] In an exemplary embodiment, the angle information processing module is used to, when there are two target points, each set of angle measurements includes a first angle measurement angle and a second angle measurement angle.

[0463] The main array guiding vector matrix is ​​determined based on the main array guiding vector corresponding to the first angle measurement angle and the main array guiding vector corresponding to the second angle measurement angle.

[0464] The subarray guiding vector matrix is ​​determined based on the subarray guiding vector corresponding to the first angle measurement angle and the subarray guiding vector corresponding to the second angle measurement angle.

[0465] Based on the main array steering vector matrix and echo signal, determine the main array echo power spectrum corresponding to each set of angle measurement angles within the preset angle measurement range;

[0466] Based on the subarray steering vector matrix and the subarray echo signal in the echo signal, determine the subarray echo power spectrum corresponding to each set of angle measurement angles within the preset angle measurement range of the radar subarray.

[0467] In an exemplary embodiment, the angle information processing module is used to determine the initial candidate angle value corresponding to each element in the initial candidate angle position vector of the main array;

[0468] From the initial candidate angle values, determine the matching candidate angle values ​​that match the estimated angle values ​​of the main array target points, and set the values ​​in the initial candidate angle position vector of the main array that correspond to the matching candidate angle values ​​at the corresponding target candidate angle positions as preset values;

[0469] Centered on the target candidate angle position, the values ​​of the initial candidate angle positions within the angle selection range are all set to preset values ​​to obtain the intermediate candidate angle position vector;

[0470] In an exemplary embodiment, the information expansion module is used to expand the intermediate candidate angle position vector to obtain the main array candidate angle position vector.

[0471] In an exemplary embodiment, the angle information processing module is used to determine the initial candidate angle value corresponding to each element in the initial candidate angle position vector of the subarray;

[0472] Determine the matching candidate angle value that matches the estimated angle value of the target point trace in the subarray from the initial candidate angle values, and set the value of the matching candidate angle value in the subarray initial candidate angle position vector at the corresponding target candidate angle position as the preset value;

[0473] Centered on the target candidate angle position, the values ​​of the initial candidate angle positions within the angle selection range are all set to preset values ​​to obtain the intermediate candidate angle position vector;

[0474] In an exemplary embodiment, the information expansion module is used to perform information expansion processing on the intermediate candidate angle position vector to obtain the subarray candidate angle position vector.

[0475] In an exemplary embodiment, the dot recognition module 3210 is used to determine the set of target angles corresponding to the positions with a preset value in the joint candidate angle position vector;

[0476] If there is only one estimated angle value for the target point in the main array, and there is an angle value in the target angle set that matches the estimated angle value for the target point in the main array, then the target point is determined to be the real target point.

[0477] If no angle value matches the estimated angle of the target point in the main array, the target point is determined to be a false target point.

[0478] In an exemplary embodiment, the dot pattern recognition module 3210 is used to determine that both target dots are real target dots if there is an angle value in the target angle set that matches the two main array target dot pattern angle estimates when there are two main array target dot pattern angle estimates.

[0479] If there is no angle value in the target angle set that matches the estimated angle values ​​of the two main target points, then both target points are determined to be false target points.

[0480] If there is an angle value in the target angle set that matches the estimated angle of a target point in the main array, then the corresponding target point is determined to be a real target point, and the other target point is a false target point.

[0481] Each module in the aforementioned target point recognition device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of the computer device as software, so that the processor can call and execute the operations corresponding to each module. In an exemplary embodiment, a computer device is provided, which can be a terminal, and its internal structure diagram can be as follows. Figure 33 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements a target dot recognition method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0482] Those skilled in the art will understand that Figure 33 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0483] In one exemplary embodiment, a chip is provided, such as Figure 34As shown, the chip includes a processor and a memory. The processor can be a central processing unit, a specific ASIC, or one or more integrated circuits for controlling program execution. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. When the computer program is executed by the processor, it implements a target point recognition method.

[0484] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0485] In one embodiment, a chip is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0486] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0487] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0488] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0489] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0490] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this application.

[0491] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A target track identification method, characterized by, The method comprises: acquiring radar signals received by a radar array, performing coherent and incoherent processing on the radar signals to generate a heat map of radial distance and radial relative velocity; determining echo signals corresponding to detected target tracks in the heat map; for each of the detected target tracks in the heat map of radial distance and radial relative velocity, if there is at least one target track in the echo signals, determining, according to a preset main array and single subarray joint angle measurement strategy, main array target track angle estimation values of a radar main array and main array candidate angle position vectors, and subarray candidate angle position vectors of a radar subarray; wherein the number of main array target track angle estimation values is the same as the number of target tracks; performing intersection operation on the main array candidate angle position vectors and the subarray candidate angle position vectors to obtain joint candidate angle position vectors; wherein each element in the joint candidate angle position vectors corresponds to a candidate angle value; performing identification on the main array target track angle estimation values according to the joint candidate angle position vectors to obtain identification results of the target tracks.

2. The method of claim 1, wherein, The method comprises: determining, according to a preset main array and single subarray joint angle measurement strategy, main array target track angle estimation values of a radar array and subarray target track angle estimation values; wherein the number of subarray target track angle estimation values is the same as the number of target tracks; initializing candidate angle position vectors of the radar main array and the radar subarray according to a preset angle measurement range and angle measurement interval in the main array and single subarray joint angle measurement strategy to obtain main array initial candidate angle position vectors and subarray initial candidate angle position vectors corresponding thereto respectively; performing information extension processing on the main array initial candidate angle position vectors according to the main array target track angle estimation values and an angle selection range to obtain the main array candidate angle position vectors; performing information extension processing on the subarray initial candidate angle position vectors according to the subarray target track angle estimation values and the angle selection range to obtain the subarray candidate angle position vectors.

3. The method of claim 2, wherein, The method comprises: determining, according to a preset main array and single subarray joint angle measurement strategy, a main array and a subarray of a radar array, and main array steering vectors and subarray steering vectors corresponding to each set of angle measurement angles in the preset angle measurement range; the number of each set of angle measurement angles is the same as the number of target tracks; determining main array echo power spectra corresponding to the preset angle measurement range of the radar main array according to the main array steering vectors and the echo signals, and determining subarray echo power spectra corresponding to the preset angle measurement range of the radar subarray according to the subarray steering vectors and subarray echo signals in the echo signals; The main array target track angle estimation value obtained when the main array echo power spectrum reaches a maximum value, and the subarray target track angle estimation value obtained when the subarray echo power spectrum reaches a maximum value.

4. The method of claim 3, wherein, The method further includes: determining, according to the main array steering vector and the echo signal, a main array echo power spectrum corresponding to each group of the angle measurement angles within the preset angle measurement range of the radar main array; and determining, according to the subarray steering vector and the subarray echo signal in the echo signal, a subarray echo power spectrum corresponding to each group of the angle measurement angles within the preset angle measurement range of the radar subarray. In the case that the target track quantity is two, each group of the angle measurement angles includes a first angle measurement angle and a second angle measurement angle; determining a main array steering vector matrix according to the main array steering vector corresponding to the first angle measurement angle and the main array steering vector corresponding to the second angle measurement angle; determining a subarray steering vector matrix according to the subarray steering vector corresponding to the first angle measurement angle and the subarray steering vector corresponding to the second angle measurement angle; determining, according to the main array steering vector matrix and the echo signal, a main array echo power spectrum corresponding to each group of the angle measurement angles within the preset angle measurement range of the radar main array; determining, according to the subarray steering vector matrix and the subarray echo signal in the echo signal, a subarray echo power spectrum corresponding to each group of the angle measurement angles within the preset angle measurement range of the radar subarray.

5. The method according to any one of claims 2 to 4, characterized in that, The information expansion processing of the main array initial candidate angle position vector according to the main array target track angle estimation value and the angle selection range includes: determining an initial candidate angle value corresponding to each element in the main array initial candidate angle position vector; determining a matching candidate angle value matched with the main array target track angle estimation value from the initial candidate angle value, and setting a value of the main array initial candidate angle position vector corresponding to the matching candidate angle value at a target candidate angle position as a preset value; centering on the target candidate angle position, setting values of initial candidate angle positions within the angle selection range as the preset value, to obtain the main array candidate angle position vector.

6. The method of claim 5, wherein, The information expansion processing of the main array initial candidate angle position vector according to the main array target track angle estimation value and the angle selection range includes: determining an initial candidate angle value corresponding to each element in the main array initial candidate angle position vector; determining a matching candidate angle value matched with the main array target track angle estimation value from the initial candidate angle value, and setting a value of the main array initial candidate angle position vector corresponding to the matching candidate angle value at a target candidate angle position as a preset value; centering on the target candidate angle position, setting values of initial candidate angle positions within the angle selection range as the preset value, to obtain the main array candidate angle position vector.

7. The method of claim 1, wherein, The identification of the main array target track angle estimation value according to the joint candidate angle position vector includes: determining a target angle set corresponding to a position with a preset value in the joint candidate angle position vector; in a case where the number of the main array target track angle estimation values is one, if there is an angle value in the target angle set matching the main array target track angle estimation value, determining that the target track is a real target track; if there is no angle value matching the main array target track angle estimation value, determining that the target track is a false target track.

8. The method of claim 7, wherein, The method further comprises: in a case where the number of the main array target track angle estimation values is two, if there are angle values in the target angle set matching the two main array target track angle estimation values, determining that the two target tracks are real target tracks; if there are no angle values in the target angle set matching the two main array target track angle estimation values, determining that the two target tracks are false target tracks; if there is an angle value in the target angle set matching one of the main array target track angle estimation values, determining that the corresponding target track is a real target track and the other target track is a false target track.

9. A target track identification device, characterized by comprising: The device comprises: an acquisition module configured to acquire radar receiving signals reflected by a target object; a target detection module configured to perform coherent and incoherent processing on the radar receiving signals to generate a heat map of radial distance and radial relative velocity, and determine echo signals corresponding to detected target tracks in the heat map; a signal processing module configured to, for each of the detected target tracks in the heat map of radial distance and radial relative velocity, if there are at least one target track in the echo signals, determine main array target track angle estimation values of a radar main array and a main array candidate angle position vector and a subarray candidate angle position vector of a radar subarray according to a preset main array and single subarray joint angle measurement strategy; wherein the number of main array target track angle estimation values is the same as the number of target tracks. an intersection operation processing module configured to perform intersection operation on the main array candidate angle position vector and the subarray candidate angle position vector to obtain a joint candidate angle position vector; wherein each element in the joint candidate angle position vector corresponds to a candidate angle value. a track identification module configured to identify the main array target track angle estimation values according to the joint candidate angle position vector to obtain an identification result of the target tracks. 10.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-9. The processor executes the computer program to implement the steps of the method of any one of claims 1 to 8.

11. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 8.

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