Target trace point identification method and device, computer equipment and readable storage medium

Abstract

The invention relates to a target trace point identification method and device, computer equipment and a readable storage medium. The method comprises the steps of determining a main array angle estimation value set of a main array and a sub-array angle estimation value set of each sub-array according to a preset main array and multi-sub-array combined angle measurement strategy if the number of target trace points in an echo signal is multiple; according to the angle estimation value sets of the main array and the sub-arrays, respectively determining candidate angle position vectors of the main array and the sub-arrays; weighting the candidate angle position vectors of the main array and each sub-array to obtain a combined total candidate angle position vector, and determining a potential target angle set according to the amplitude value of each angle position element in the combined total candidate angle position vector; and identifying each main array target trace point angle estimation value in the main array angle estimation value set according to the potential target angle set to obtain a respective corresponding identification result. By adopting the method, the target trace point can be effectively identified, and the false target generation risk is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of radar, and in particular to a target track identification method and device, a computer device, and a readable storage medium. BACKGROUND

[0002] With the rapid development of intelligent driving technology, the functions of ADAS (Advanced Driver Assistance System) are becoming more and more rich, and the demand for vehicle-mounted millimeter wave radar performance is also constantly increasing. Millimeter wave radar is attracting attention due to its unique advantages, including immunity to light conditions, higher privacy protection capability, and excellent robustness in bad weather. The main task of vehicle-mounted millimeter wave radar is to accurately detect objects in the target area and accurately estimate key information such as distance, speed, and angle. The angle information estimation of the target track depends on the phase information of the radar array echo signal.

[0003] In related technologies, the angle information estimation of the target track uses the superimposed phase information for angle estimation. However, this method cannot effectively identify the target track. SUMMARY

[0004] Therefore, it is necessary to provide a target track identification method and device, a computer device, a computer readable storage medium, and a computer program product that can effectively identify the target track and reduce the risk of false target generation.

[0005] In a first aspect, the present application provides a target track identification method, comprising:

[0006] obtaining a heat map of radial distance and radial relative speed generated based on a radar received signal, and determining, for each target track detected in the heat map of radial distance and radial relative speed, an echo signal corresponding to the detected target track in the heat map;

[0007] if there are multiple target tracks in the echo signal, determining multiple subarray echo signals from the echo signal;

[0008] determining a main array angle estimation value set of a main array corresponding to the echo signal and a subarray angle estimation value set of a subarray corresponding to each of the subarray echo signals according to a preset main array and multiple subarray joint angle measurement strategy;

[0009] determining a main array candidate angle position vector of the main array and a subarray candidate angle position vector of each of the subarrays according to a preset angle parameter in the main array and multiple subarray joint angle measurement strategy, the main array angle estimation value set, and the subarray angle estimation value set;

[0010] weighting processing is performed on the main array candidate angle position vector and each of the subarray candidate angle position vectors to obtain a joint total candidate angle position vector, and potential target angle sets are determined according to amplitude values of angle position elements in the joint total candidate angle position vector;

[0011] Each main array target track angle estimate value in the main array angle estimate value set is identified according to the potential target angle set to obtain a corresponding identification result.

[0012] In one of the embodiments, the preset angle parameters include a preset angle measurement range, an angle interval, and an angle index value range, and the determination of the main array angle estimate value set corresponding to the echo signal of the main array and the subarray angle estimate value set corresponding to the echo signal of each subarray according to the preset main array and multi-subarray joint angle measurement strategy includes:

[0013] The preset main array and multi-subarray joint angle measurement strategy is used to determine a steering vector corresponding to each angle in the preset angle measurement range for the main array and each subarray respectively to obtain a corresponding main array steering vector and subarray steering vector;

[0014] The main array target track angle estimate initial related information corresponding to the main array and the subarray target track angle estimate initial related information corresponding to each subarray are determined.

[0015] The preset number of times of angle estimation processing is performed on the echo signal and the echo signal of each subarray according to the main array steering vector, the subarray steering vector, the main array target track angle estimate initial related information, and the subarray target track angle estimate initial related information to determine the main array angle estimate value set corresponding to the echo signal of the main array and the subarray angle estimate value set corresponding to the echo signal of each subarray.

[0016] In one of the embodiments, the main array target track angle estimate initial related information includes an initial main array target track estimate value set and an initial main array residual, and each of the subarray target track angle estimate initial related information includes a corresponding initial subarray target track estimate value set and an initial subarray residual, and the preset number of times of angle estimation processing is performed on the echo signal and the echo signal of each subarray according to the main array steering vector, the subarray steering vector, the main array target track angle estimate initial related information, and the subarray target track angle estimate initial related information to determine the main array angle estimate value set corresponding to the echo signal of the main array and the subarray angle estimate value set corresponding to the echo signal of each subarray.

[0017] In the first angle estimation process, an echo power spectrum of a main array echo signal in the echo signal and echo power spectra of each subarray echo signal in the echo signal are calculated respectively to obtain main array echo power spectra and each subarray echo power spectrum; for the main array echo power spectrum, an angle corresponding to a power spectrum peak value is selected as a main array target track angle estimation value, and for each subarray echo power spectrum, an angle corresponding to a power spectrum peak value is selected as a subarray target track angle estimation value of the corresponding subarray;

[0018] According to the main array target track angle estimation value and the main array steering vector, the initial main array residual of the main array is updated to obtain a current main array residual;

[0019] According to the subarray target track angle estimation value and the subarray steering vector, the initial subarray residual of the subarray is updated to obtain a current subarray residual;

[0020] For each angle estimation process of the second time and thereafter, the current main array residual is taken as an initial main array residual signal of this round, each current subarray residual is taken as an initial subarray residual signal of this round, echo power spectra corresponding to the initial main array residual signal of this round and each initial subarray residual signal are calculated respectively to obtain corresponding main array echo power spectra and each subarray echo power spectrum, and according to power spectrum peak values, main array target track angle estimation values and each subarray target track angle estimation value are determined for the main array echo power spectra and each subarray echo power spectrum, until the number of angle estimation processes is greater than the preset number of times, and the angle estimation process is ended for the preset number of times;

[0021] A main array angle estimation value set corresponding to the main array of the echo signal and each subarray angle estimation value set corresponding to the subarray of each subarray echo signal are determined.

[0022] In one embodiment, according to the main array target track angle estimation value and the main array steering vector, the initial main array residual of the main array is updated to obtain a current main array residual, which includes:

[0023] The main array target track angle estimation value currently determined is added to an initial main array target track estimation value set, and a corresponding main array steering vector is generated based on the main array target track angle estimation value to obtain a current main array target track estimation value set and a current main array steering vector;

[0024] The initial main array residual is orthogonally projected on a subspace spanned by the current main array steering vector to obtain a first orthogonal projection component;

[0025] The first orthogonal projection component is subtracted from the initial main array residual to update the initial main array residual to obtain a current main array residual.

[0026] In one of the embodiments, the updating of the initial subarray residual of the subarray according to the subarray target track angle estimation value and the subarray steering vector to obtain the current subarray residual comprises:

[0027] The subarray target track angle estimation value of each of the subarrays is added to the initial subarray target track estimation value set corresponding to the subarray respectively to obtain the current subarray target track estimation value set, and the subarray steering vector corresponding to the subarray target track angle estimation value is determined to obtain the current subarray steering vector corresponding to the subarray;

[0028] Each initial subarray residual is orthogonally projected on the subspace spanned by the current subarray steering vector corresponding to the initial subarray residual to obtain the second orthogonal projection component corresponding to the initial subarray residual;

[0029] The second orthogonal projection component corresponding to the initial subarray residual is subtracted from the initial subarray residual to update the initial subarray residual to obtain the current subarray residual.

[0030] In one of the embodiments, the preset angle parameter comprises a preset angle measurement range, an angle interval, an angle index value range and an angle selection range, and the determination of the main array candidate angle position vector of the main array and the subarray candidate angle position vector of each of the subarrays according to the preset angle parameter in the joint angle measurement strategy of the main array and the multiple subarrays, the main array angle estimation value set and the subarray angle estimation value set comprises:

[0031] The main array candidate angle position vector and the subarray candidate angle position vector are initialized based on the preset angle measurement range and the angle interval to obtain the initial main array candidate angle position vector and the initial subarray candidate angle position vector corresponding to the main array candidate angle position vector and the subarray candidate angle position vector respectively; the angle position elements of the initial main array candidate angle position vector and the subarray candidate angle position vector have corresponding candidate angle values;

[0032] If there is a first target angle value equal to the main array angle estimation value set in the angle value corresponding to the angle position element of the initial main array candidate angle position vector, the angle position element corresponding to the first target angle value is set as a preset value to obtain the main array candidate angle position vector;

[0033] For each of the initial subarray candidate angle position vectors, if there is a second target angle value equal to the subarray angle estimation value set in the angle value corresponding to the angle position element of the initial subarray candidate angle position vector, the angle position element corresponding to the second target angle value is set as a preset value to obtain the subarray candidate angle position vector;

[0034] According to the angle selection range, the main array candidate angle position vector and each subarray candidate angle position vector are respectively subjected to information extension processing to obtain a target main array candidate angle position vector and a plurality of target subarray candidate angle position vectors.

[0035] In one of the embodiments, the information extension processing of the main array candidate angle position vector and each subarray candidate angle position vector according to the angle selection range to obtain the target main array candidate angle position vector and the plurality of target subarray candidate angle position vectors comprises:

[0036] The target main array candidate angle position vector is obtained by taking the angle position element in the main array candidate angle position vector that has been set to the preset value as the center and setting the angle position elements on the left and right sides within the angle selection range to the preset value.

[0037] The target subarray candidate angle position vector is obtained by taking the angle position element in the subarray candidate angle position vector that has been set to the preset value as the center and setting the angle position elements on the left and right sides within the angle selection range to the preset value.

[0038] In one of the embodiments, the weighted processing of the main array candidate angle position vector and each subarray candidate angle position vector to obtain the joint total candidate angle position vector, and the determination of the potential target angle set according to the amplitude values of the angle position elements in the joint total candidate angle position vector comprises:

[0039] The joint total candidate angle position vector is obtained by performing weighted processing on the main array candidate angle position vector and each subarray candidate angle position vector.

[0040] If there is an amplitude value of a candidate angle position element in the joint total candidate angle position vector that is greater than or equal to a preset value, the angle corresponding to the candidate angle position element is determined as a potential target angle to obtain the potential target angle set.

[0041] In a second aspect, the application further provides a target track identification device, comprising:

[0042] The signal processing module is configured to acquire a radial distance and radial relative velocity heat map generated based on a radar received signal, and determine, for each target track detected in the radial distance and radial relative velocity heat map, an echo signal corresponding to the target track detected in the heat map.

[0043] The signal extraction module is configured to determine a plurality of subarray echo signals from the echo signal if there are a plurality of target tracks in the echo signal.

[0044] An angle estimation value determination module is configured to determine a main array angle estimation value set corresponding to a main array of the echo signal and a subarray angle estimation value set corresponding to a subarray of each of the echo signals according to a preset main array and multi-subarray joint angle measurement strategy;

[0045] An angle position vector determination module is configured to determine a main array candidate angle position vector of the main array and a subarray candidate angle position vector of each of the subarrays according to a preset angle parameter in the main array and multi-subarray joint angle measurement strategy, the main array angle estimation value set, and the subarray angle estimation value set of each of the subarrays;

[0046] A target angle determination module is configured to perform weighted processing on the main array candidate angle position vector and the subarray candidate angle position vector of each of the subarrays to obtain a joint total candidate angle position vector, and obtain a potential target angle set according to each angle position in the joint total candidate angle position vector.

[0047] A track recognition module is configured to recognize each main array target track angle estimation value in the main array angle estimation value set according to the potential target angle set to obtain a corresponding recognition result.

[0048] In a third aspect, a computer device is provided, which includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of the method in any one of the preceding aspects are implemented.

[0049] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the steps of the method in any one of the preceding aspects are implemented.

[0050] In a fifth aspect, a computer program product is provided, which includes a computer program. When the computer program is executed by a processor, the steps of the method in any one of the preceding aspects are implemented.

[0051] The target track identification method, device, computer equipment, computer readable storage medium and computer program product determine the echo signal corresponding to the detected target track based on the heat map from the source of the target track, determine the multiple subarray echo signals from the echo signal in the case that multiple target tracks exist in the echo signal, introduce multiple subarrays, determine the main array angle estimation value set of the main array and the subarray angle estimation value set of each subarray echo signal according to the preset main array and multiple subarray joint angle measurement strategy, determine the main array candidate angle position vector of the main array and the subarray candidate angle position vector of each subarray on this basis, perform weighted processing on the main array candidate angle position vector and the subarray candidate angle position vector, determine the potential target angle set according to the amplitude values of each candidate angle position after the weighted processing, perform track identification on the main array angle estimation value set by using the potential target angle set, and then realize identification and suppression of the multipath target track, instead of relying on the judgment of the generated target track characteristics, and without modeling the multipath route, the problem that the model may not match the actual scene is avoided, the output track quality is improved, and the applicability is further improved, so that the complex multi-target track scene can be better adapted. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0053] Figure 1 An application environment diagram of the target track identification method in an embodiment;

[0054] Figure 2 A flowchart of the target track identification method in an embodiment;

[0055] Figure 3 A flowchart of the step 206 in an embodiment;

[0056] Figure 4 A flowchart of the method for determining the main array angle estimation value set and the subarray angle estimation value set in an embodiment;

[0057] Figure 5 A flowchart of the method for determining the main array candidate angle position vector and the subarray candidate angle position vector in an embodiment;

[0058] Figure 6 A flowchart of the target track identification method in another embodiment;

[0059] Figure 7 A diagram of the actual antenna positions of the MIMO radar in one embodiment;

[0060] Figure 8 A diagram of the candidate angle position vectors after the final main array information expansion in the first specific embodiment;

[0061] Figure 9 A diagram of the candidate angle position vectors after the final first subarray information expansion in the first specific embodiment;

[0062] Figure 10 A diagram of the candidate angle position vectors after the final second subarray information expansion in the first specific embodiment;

[0063] Figure 11 A diagram of the relationship between the angle index value and the amplitude value in the joint candidate angle position vectors in the first specific embodiment;

[0064] Figure 12 A diagram of the candidate angle position vectors after the final main array information expansion in the second specific embodiment;

[0065] Figure 13 A diagram of the candidate angle position vectors after the final first subarray information expansion in the second specific embodiment;

[0066] Figure 14 A diagram of the candidate angle position vectors after the final second subarray information expansion in the second specific embodiment;

[0067] Figure 15 A diagram of the relationship between the angle index value and the amplitude value in the joint candidate angle position vectors in the second specific embodiment;

[0068] Figure 16 A diagram of the candidate angle position vectors after the final main array information expansion in the third specific embodiment;

[0069] Figure 17 A diagram of the candidate angle position vectors after the final first subarray information expansion in the third specific embodiment;

[0070] Figure 18 A diagram of the candidate angle position vectors after the final second subarray information expansion in the third specific embodiment;

[0071] Figure 19 A diagram of the relationship between the angle index value and the amplitude value in the joint candidate angle position vectors in the third specific embodiment;

[0072] Figure 20Fig. 4 is a schematic diagram of the candidate angle position vector after the final main array information is expanded in the fourth embodiment;

[0073] Figure 21 Fig. 5 is a schematic diagram of the candidate angle position vector after the final first subarray information is expanded in the fourth embodiment;

[0074] Figure 22 Fig. 6 is a schematic diagram of the candidate angle position vector after the final second subarray information is expanded in the fourth embodiment;

[0075] Figure 23 Fig. 7 is a schematic diagram of the relationship between the angle index value and the amplitude value in the joint candidate angle position vector in the fourth embodiment;

[0076] Figure 24 Fig. 8 is a structural block diagram of a target track recognition device in an embodiment;

[0077] Figure 25 Fig. 9 is an internal structural diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0078] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0079] With the rapid development of intelligent driving technology, the functions of ADAS (Advanced Driver Assistance System) are increasingly rich, and the demand for vehicle-mounted millimeter wave radar performance is also constantly increasing. Multiple-Input Multiple-Output (MIMO) technology is widely used in modern vehicle-mounted millimeter wave radar systems. MIMO technology significantly improves the angle resolution by expanding the virtual aperture, and the number of virtual antennas is equal to the product of the number of transmitting antennas and the number of receiving antennas. Through reasonable array design and angle estimation algorithm, the angle measurement performance of vehicle-mounted radar can be further improved under the condition of hardware condition limitation (i.e. radar volume), which promotes the wide application of millimeter wave radar in the field of intelligent driving. The main task of vehicle-mounted millimeter wave radar is to accurately detect objects in the target area and accurately estimate key information such as distance, speed and angle.

[0080] The angle information estimation of the target track relies on the echo signal of the radar array. Multi-path scenarios are extremely common in daily life, typical multi-path scenarios include but are not limited to urban streets, tunnel environments, parking lots and highways. In a multi-path scenario, due to the reflection, refraction or scattering of the transmission signal of the radar array transmission antenna with the objects in the surrounding environment (such as fences, buildings, vehicles, etc.) during the propagation process, the echo signal of the target track reaches the radar array receiving antenna along multiple paths. Therefore, the phase information of the echo signal received by the radar array may be the superposition of the phase information of a single target track or multiple target tracks along different paths. If the superimposed phase information is directly used for angle estimation, angle measurement errors may occur, increasing the risk of false target generation and thus reducing the track quality.

[0081] To solve the above problems, in the related art, the following technologies are used:

[0082] Suppression technology based on scene recognition: by identifying the reflecting surfaces (such as fences, tunnels, etc.) in a specific scene, the multi-path targets outside these reflecting surfaces are filtered out. However, the applicability of this method is limited, and the accuracy depends on scene recognition: this technology relies on accurate judgment of the reflecting surface; if the reflecting surface in the scene (such as a partially obstructed fence) is not identified, it cannot be effectively applied.

[0083] Suppression technology based on target characteristics: using the position, speed, signal-to-noise ratio (SNR) and main sidelobe ratio of the target track, etc. features to identify multi-path targets. This method is mainly aimed at multi-path targets with obvious characteristics, such as low SNR and low main sidelobe ratio, i.e. limited recognition ability; if the judgment condition is expanded, the real target track may be misidentified as a multi-path target track, which seriously reduces the output of the track quality, i.e. there is a risk of misidentifying real targets.

[0084] Suppression technology based on transformation angle estimation algorithm model: this method improves the angle estimation algorithm based on a pre-set model determination threshold, selects the angle estimation model suitable for the current echo signal, including single target angle estimation model, double target angle estimation model and multi-path angle estimation model. Using the multi-path model for angle estimation can reduce the multi-path target misjudgment caused by the mismatch of the angle estimation algorithm model. This method has high computational complexity, the judgment accuracy depends on the pre-set model determination threshold and the modeling dependency is strong.

[0085] In view of the technical problem in the prior art that a target track cannot be effectively identified, a target track identification method is provided. This method starts from the source of target track generation, introduces multiple sub-arrays for angle estimation, adopts a main array and multiple sub-array joint angle measurement strategy, and uses weighted processing to screen multi-path target tracks, thereby avoiding the dependence on multi-path reflection surface identification or reflection path modeling, and using track angle information for screening. Compared with using main sidelobe ratio, SNR and other late-stage information, the information richness and accuracy are higher, and the identification capability is stronger, thereby reducing the risk of misidentification.

[0086] The target track identification method provided by the embodiments of the present application can be applied to an application environment as shown in Figure 1 A radar system is arranged on a mobile carrier. The mobile carrier can be a vehicle 100, a drone, a ship, an airplane, a helicopter, a mower, construction equipment, a robot, etc. The vehicle 100 can be a vehicle of different types, which is not particularly limited in the embodiments of the present application. A data storage system can store data required to be processed by the radar system. The data storage system can be integrated on the radar system, or placed on a cloud server or other network server.

[0087] The radar system obtains a heat map of radial distance and radial relative speed based on a radar received signal, and determines echo signals corresponding to a detected target track in the heat map. Echoes are extracted for each detected target track in the heat map of radial distance and radial relative speed. If multiple target tracks exist in the extracted echo signals, multiple sub-array echo signals are determined from the echo signals. According to a preset main array and multiple sub-array joint angle measurement strategy, a main array angle estimation value set corresponding to a main array of the echo signals and a sub-array angle estimation value set corresponding to a sub-array of each sub-array echo signal are determined. According to a preset angle parameter in the main array and multiple sub-array joint angle measurement strategy, the main array angle estimation value set, and the sub-array angle estimation value set, a main array candidate angle position vector of the main array and a sub-array candidate angle position vector of each sub-array are respectively determined. The main array candidate angle position vector and the sub-array candidate angle position vector are weighted processed to obtain a joint total candidate angle position vector. According to the amplitude values of each angle position element in the joint total candidate angle position vector, a potential target angle set is determined. According to the potential target angle set, each main array target track angle estimation value in the main array angle estimation value set is identified to obtain a corresponding identification result.

[0088] In an exemplary embodiment, as shown in Figure 2 A target track identification method is provided. Taking an application scenario in Figure 1 as an example for illustration, the method includes the following steps 202 to 212. Wherein:

[0089] At step 202, a radial distance and radial relative velocity heat map generated based on radar received signals is obtained, and echo signals corresponding to a detected target point track in the heat map are determined.

[0090] Exemplarily, radar signals received by a radar array are obtained, coherent and incoherent processing is performed on the radar signals, a radial distance and radial relative velocity heat map is generated, and for each detected target point track in the radial distance and radial relative velocity heat map, echo signals corresponding to the detected target point track in the heat map are determined. The radial distance and radial relative velocity heat map can also be referred to as a radial distance and radial relative velocity heat map.

[0091] The radar array includes a main array and a subarray. The radar signals received by the radar array can be radar signals reflected by target objects, ground reflection signals formed by radar transmission signals reflected by the ground, multipath reflection signals that can reach the receiving antenna after multiple reflections of radar transmission signals, or interference signals from other signal sources. The specific implementation of performing coherent and incoherent processing on the radar signals to generate the radial distance and radial relative velocity heat map can be achieved by existing methods, and thus will not be described here.

[0092] Optionally, the MIMO radar system includes M transmitting antennas and N receiving antennas. The system generates a radial distance and radial relative velocity heat map by performing coherent and incoherent processing on radar signals received by the radar array (i.e., radar received signals).

[0093] The method of determining echo signals corresponding to the detected target point track in the heat map can be achieved by applying a detection algorithm or related technology, determining the index value of the target point track in the radial distance and radial relative velocity, and obtaining the target point track echo signal at this position. Further, the echo signals are sorted according to the virtual antenna positions of the MIMO radar, and the sorted echo signals x are obtained. It should be noted that the detection algorithm can be freely selected according to specific requirements, and the specific implementation can be achieved by existing methods, and thus will not be described here.

[0094] It should be noted that the detected target point track is detected based on the two dimensions of distance and speed. On this basis, the number of target point tracks is determined from the angle dimension, for example, for each detected target point track in the radial distance and radial relative velocity heat map, the echo signal of the detected target point track can be extracted, and then the number of target point tracks in the echo signal can be determined from the angle dimension. That is, the number of target point tracks in the echo signal is determined from the angle dimension under the condition of the same distance and speed.

[0095] Step 204, if multiple target tracks exist in the echo signal, multiple subarray echo signals are determined from the echo signal.

[0096] It should be noted that the number of target tracks of the echo signal corresponding to the detected target track is multiple, and the multiple target tracks can be multiple target tracks under the same distance and the same speed. The determination of the actual number of target tracks in the echo signal can be determined by using a signal source number estimation algorithm. Alternatively, the signal source number estimation algorithm is used to determine the number of target tracks in the echo signal x sorted according to the virtual antenna in the position of the radial distance index value and the radial relative speed index value of the detected target, and the actual number of target tracks in the echo signal is obtained. Wherein, the signal source number estimation algorithm can be but not limited to using a smooth rank algorithm, or a characteristic decomposition signal source number estimation algorithm, and the selection of the signal source number estimation algorithm can be freely selected according to the actual application scene.

[0097] Exemplarily, the signal source number estimation algorithm is used to determine the number of target tracks in the echo signal x sorted according to the virtual antenna in the position of the radial distance index value and the radial relative speed index value of the detected target, if multiple target tracks exist in the echo signal, according to the subarray division, the first subarray echo signal and the second subarray echo signal are respectively extracted from the echo signal , wherein the superscripts and respectively represent the identification related to the first subarray and the second subarray. It can be understood that the present embodiment is described by taking the double subarray as an example. However, it should be emphasized that the present technical solution is not limited to only being applied to the double subarray, and the number of multiple subarrays can be designed according to the system requirements.

[0098] Step 206, according to the preset main array and multiple subarray joint angle measurement strategy, the main array angle estimation value set corresponding to the main array of the echo signal and the subarray angle estimation value set corresponding to the subarray of each subarray echo signal are determined.

[0099] The main array and the multiple sub-arrays joint angle measurement strategy includes: determining preset angle parameters of angle estimation, which can include a preset angle measurement range, an angle interval, an angle index value range, and a target track angle one-sided selection range; determining the steering vectors corresponding to different angles of the main array and each sub-array in the angle measurement range, to obtain the corresponding steering vectors; initializing the target track angle estimation related information of the main array and each sub-array, which includes the initial target track estimation value set and the initial residual error corresponding to the main array and each sub-array; performing a preset number of angle estimation processes on the echo signal and the echo signal of each sub-array to obtain a main array angle estimation value set and a sub-array angle estimation value set corresponding to the echo signal of each sub-array; on this basis, initializing the candidate angle position vectors of the main array and each sub-array, respectively, determining the final candidate angle position vectors of the main array and each sub-array according to the main array angle estimation value set and the sub-array angle estimation value set corresponding to the echo signal of each sub-array, determining a potential target angle set according to the final candidate angle position vectors of the main array and each sub-array, and identifying whether the main array target track angle estimation value is a non-multipath target track by judging whether the main array target track angle estimation value exists in the potential target angle set.

[0100] The angle estimation process can be to select the steering vector that best explains the current main array and each sub-array residual error in each iteration, and gradually approach the target signal, so as to estimate the target angle estimation value of the main array and each sub-array. The preset number of times can be a preset multiple.

[0101] It should be noted that the steering vectors corresponding to different angles of the main array and each sub-array in the angle measurement range, to obtain the corresponding steering vectors, can be determined offline in advance.

[0102] Step 208, according to the preset angle parameters in the main array and the multiple sub-arrays joint angle measurement strategy, the main array angle estimation value set and the sub-array angle estimation value set, respectively determine the main array candidate angle position vector of the main array, and the sub-array candidate angle position vector of each sub-array.

[0103] Each element in the main array candidate angle position vector and the sub-array candidate angle position vector has a corresponding angle index value and an amplitude.

[0104] Exemplarily, the preset angle range and the angle interval are determined from the preset angle parameters in the joint angle measurement strategy of the main array and the multiple sub-arrays, the initial main array candidate angle position vector is initialized according to the preset angle range and the angle interval and the main array angle estimation value set, and the initial sub-array candidate angle position vector is initialized according to the preset angle range and the angle interval and each corresponding sub-array angle estimation value set. According to the angle selection range in the preset angle parameters, the initial main array candidate angle position vector and each initial sub-array candidate angle position vector are respectively subjected to information expansion processing, and the main array candidate angle position vector of the main array and the sub-array candidate angle position vector of each sub-array are obtained.

[0105] In step 210, the main array candidate angle position vector and each sub-array candidate angle position vector are subjected to weighting processing to obtain a joint total candidate angle position vector, and the potential target angle set is determined according to the amplitude values of the angle position elements in the joint total candidate angle position vector.

[0106] The weighting processing can be to add the amplitudes corresponding to the same angle index value in the main array candidate angle position vector and each sub-array candidate angle position vector. For example, the joint total candidate angle position vector T can be represented as:

[0107] ; wherein s represents the main array candidate angle position vector, s (1) and s (2) represent two different sub-array candidate angle position vectors.

[0108] Exemplarily, the main array candidate angle position vector and each sub-array candidate angle position vector are subjected to weighting processing to obtain a joint total candidate angle position vector, and if there is an angle position element with an amplitude value greater than or equal to a preset amplitude value in the joint total candidate angle position vector, the angle corresponding to the amplitude value is determined as a potential target angle.

[0109] In step 212, each main array target track angle estimation value in the main array angle estimation value set is identified according to the potential target angle set to obtain a corresponding identification result.

[0110] Exemplarily, for each main array target track angle estimation value in the main array angle estimation value set, if there is a potential target angle in the potential target angle set that matches the main array target track angle estimation value, the main array target track angle estimation value is determined as a non-multipath target track, and the track information is retained. If there is no potential target angle that matches the main array target track angle estimation value, the main array target track angle estimation value is determined as a multipath target track, and the corresponding track information is deleted. The main array angle estimation value set can also be called the main array target track angle estimation value set.

[0111] In the aforementioned target trace recognition method, starting from the source of target trace generation, multiple subarrays are introduced. Based on a preset joint angle measurement strategy of the main array and multiple subarrays, the method first determines the main array angle estimation set of the main array and the subarray angle estimation set of each subarray echo signal. On this basis, the main array candidate angle position vector and the subarray candidate angle position vector of each subarray are determined. By weighting the main array candidate angle position vector and the subarray candidate angle position vector, the potential target angle set is determined based on the amplitude value of each candidate angle position after weighting. The potential target angle set is used to identify the target traces in the main array angle estimation set, thereby realizing the identification and suppression of multipath target traces, rather than relying on the judgment of the characteristics of the generated target traces. In addition, there is no need to model the multipath, avoiding the problem of possible model mismatch with the actual scene. While improving the quality of the output traces, it further improves the applicability and can better adapt to complex multi-target trace scenarios.

[0112] In one exemplary embodiment, such as Figure 3 As shown, step 206 includes steps 302 to 306. Wherein:

[0113] Step 302: Based on the preset joint angle measurement strategy of the main array and multiple subarrays, determine the guiding vectors corresponding to different angles of the main array and each subarray within the preset angle measurement range, and obtain the corresponding main array guiding vector and subarray guiding vector.

[0114] For example, the angle measurement range (FOV) and angle interval are determined according to a preset joint angle measurement strategy of the main array and multiple subarrays. And determine the range of angle index values. ,in The value is determined by the field of view (FOV) and the angular interval. The guiding vectors for the main array and each subarray at different angles within the preset angular measurement range are determined separately, resulting in the corresponding main array guiding vector and subarray guiding vector. For example, calculating the guiding vectors for different angles within the FOV... Corresponding main array steering vector Based on the first subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. The corresponding first subarray steering vector Based on the second subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. The corresponding second subarray steering vector .

[0115] Step 304: Determine the initial relevant information for the angle estimation of the target points in the main array corresponding to the main array, and the initial relevant information for the angle estimation of the target points in each subarray corresponding to the subarray.

[0116] The initial correlation information of the main array target track angle estimation includes an initial main array target track estimation value set and an initial main array residual, and the initial correlation information of each subarray target track angle estimation includes a corresponding initial subarray target track estimation value set and an initial subarray residual. The initial main array target track estimation value set and the initial subarray target track estimation value set are empty sets, the initial main array residual is an echo signal, and the initial subarray residual is a corresponding subarray echo signal. For example, taking a subarray including a first subarray and a second subarray as an example, the initial main array target track estimation value set is initialized as , the main array residual . The initial first subarray target track estimation value set is initialized as , the first subarray residual . The initial second subarray target track estimation value set is initialized as , the second subarray residual .

[0117] In step 306, the echo signal and the subarray echo signals are subjected to a preset number of angle estimation processes according to the main array steering vector, the subarray steering vectors, the initial correlation information of the main array target track angle estimation, and the initial correlation information of each subarray target track angle estimation, to determine a main array angle estimation value set corresponding to the main array of the echo signal and a subarray angle estimation value set corresponding to the subarray of each subarray echo signal.

[0118] The main array angle estimation value set includes a plurality of main array target track angle estimation values, and the subarray angle estimation value set includes a plurality of subarray target track angle estimation values. The determination principles of the main array target track angle estimation values and the subarray target track angle estimation values are the same, the main array target track angle estimation values are determined by maximizing the main array echo power spectrum, and the subarray target track angle estimation values are determined by maximizing the subarray echo power spectrum, that is, for each angle estimation process, the corresponding main array target track angle estimation value and the subarray target track angle estimation value can be obtained by maximizing the main array echo power spectrum or the subarray echo power spectrum.

[0119] It should be understood that in the first angle estimation process, the echo power spectrum of the main array and each subarray is calculated from the original echo signal (i.e., the main array and each subarray receive data), and the direction corresponding to the power spectrum peak value is selected as the current estimated target angle. Starting from the second angle estimation process, the calculation input signal of the power spectrum is changed to the residual signal obtained by updating in the last iteration, which is obtained by subtracting the fitting signal component corresponding to the selected direction from the input signal in the last iteration, so as to ensure that the subsequent iteration only depends on the signal component that has not been explained by the selected direction.

[0120] In the embodiment, the residual signal updated by the previous round of angle estimation processing is taken as the input signal of the current angle estimation processing, the echo power spectrum of the main array and the echo power spectrum of each sub-array are calculated respectively, and the direction corresponding to the power spectrum peak is selected as the current target track angle estimation value. The method can effectively eliminate the explained signal component, and improve the accuracy and precision of the target track angle estimation.

[0121] In one exemplary embodiment, as shown in Figure 4 a specific determination method of the main array angle estimation value set and the sub-array angle estimation value set is provided, including the following steps:

[0122] In step 402, in the first angle estimation processing, the echo power spectrum of the main array echo signal and the echo power spectrum of each sub-array echo signal are calculated respectively, the main array echo power spectrum and the sub-array echo power spectrum are obtained, for the main array echo power spectrum, the angle corresponding to the power spectrum peak is selected as the main array target track angle estimation value; for each sub-array echo power spectrum, the angle corresponding to the power spectrum peak is selected as the sub-array target track angle estimation value of the corresponding sub-array.

[0123] In step 404, the initial main array residual of the main array is updated according to the main array target track angle estimation value and the main array steering vector, and the current main array residual is obtained.

[0124] In the first angle estimation processing, the initial residual signal of the main array is the original echo signal of the main array. When updating the main array residual signal, the initial residual signal is orthogonally projected on the subspace formed by the steering vector generated by the currently determined main array target track angle estimation value, and the projection result is removed from the initial residual signal to obtain the updated main array residual signal. The current main array steering vector is calculated based on the currently determined main array target track angle estimation value.

[0125] Optionally, the initial main array residual of the main array is updated according to the main array target track angle estimation value and the main array steering vector, and the current main array residual is obtained, including:

[0126] The currently determined main array target track angle estimation value is added to the initial main array target track estimation value set, and the corresponding main array steering vector is generated based on the angle estimation value, and the current main array target track estimation value set and the current main array steering vector are obtained. The initial main array residual is orthogonally projected on the subspace formed by the current main array steering vector to obtain the first orthogonal projection component; the first orthogonal projection component is subtracted from the initial main array residual to update the initial main array residual and obtain the current main array residual. That is, the currently determined main array target track angle estimation value is added to the initial main array target track estimation value set to obtain the current main array target track estimation value set, and the current main array steering vector is determined based on the currently determined main array target track angle estimation value.

[0127] Step 406, updating the initial subarray residual of each subarray according to the subarray target track angle estimation value and the subarray steering vector to obtain the current subarray residual.

[0128] In the first angle estimation process, the initial residual signal of each subarray is the original echo signal of each subarray. When updating the residual signal of each subarray, the initial residual signal is orthogonally projected on the subspace spanned by the steering vector generated by the current determined target track angle estimation value of each subarray, and the projection result is removed from the initial residual signal to obtain the updated residual signal of each subarray. The current steering vector of each subarray is calculated based on the current determined target track angle estimation value of each subarray.

[0129] Optionally, updating the initial subarray residual of each subarray according to the subarray target track angle estimation value and the subarray steering vector to obtain the current subarray residual comprises:

[0130] The target track angle estimation value of each subarray is added to the initial subarray target track estimation value set corresponding to the subarray, respectively, and the corresponding subarray steering vector is generated based on the angle estimation value to obtain each current subarray target track estimation value set and each current subarray steering vector; the initial subarray residual is orthogonally projected on the subspace spanned by the corresponding current subarray steering vector to obtain the second orthogonal projection component corresponding to the initial subarray residual; and the second orthogonal projection component is subtracted from the initial subarray residual to update the initial subarray residual to obtain the current subarray residual.

[0131] Step 408, for each angle estimation process after the second time, the current main array residual is taken as the initial main array residual signal of this round, and each current subarray residual is taken as the initial subarray residual signal of this round, the echo power spectrum corresponding to the initial main array residual signal and each initial subarray residual signal of this round is calculated respectively, and the peak value of the power spectrum is used to determine the main array target track angle estimation value and each subarray target track angle estimation value of this round; when the number of angle estimation performed reaches a preset number of times, the angle estimation process is ended.

[0132] The preset number of times is determined according to the number of target tracks, for example, when the number of target tracks is 3, the preset number of times is 3, and when the number of target tracks is 4, the preset number of times is 4.

[0133] Exemplarily, in each angle estimation processing after the second time, the current main array residual is taken as the current main array echo signal, and each current sub-array residual is taken as the corresponding current sub-array echo signal; the echo power spectrum corresponding to the current main array echo signal and the echo power spectrum corresponding to each sub-array echo signal are calculated respectively to obtain the main array echo power spectrum and the sub-array echo power spectrum of the current angle estimation processing; the main array target track angle estimation value and the sub-array target track angle estimation value are determined based on the power spectrum peak value of the main array echo power spectrum and the sub-array echo power spectrum of the current estimation angle processing; when the number of executed angle estimations reaches the preset number of times, the angle estimation processing is ended.

[0134] In step 410, the main array angle estimation value set corresponding to the echo signal of the main array and the sub-array angle estimation value set corresponding to the echo signal of each sub-array are determined.

[0135] For example, in the first angle estimation processing, the main array target track angle estimation value is obtained by maximizing the main array echo power spectrum , and the angle estimation value is stored in the main array angle estimation value set , and the steering vector corresponding to the angle is stored in . .

[0136] In the first loop, the sub-array target track angle estimation value is obtained by maximizing the first sub-array echo power spectrum , and the sub-array angle estimation value is stored in the first sub-array angle estimation value set , and the steering vector corresponding to the angle is stored in . .

[0137] In the second loop, the sub-array target track angle estimation value is obtained by maximizing the second sub-array echo power spectrum , and the sub-array angle estimation value is stored in the second sub-array angle estimation value set , and the steering vector corresponding to the angle is stored in . .

[0138] The main array residual is calculated The orthogonal projection on the subspace generated by the steering vector containing the target track angle information is calculated

[0139] ;

[0140] The first sub-array residual is calculated The orthogonal projection on the subspace generated by the steering vector containing the target track angle information is calculated

[0141] ;

[0142] Computing the second subarray residual The steering vector containing the target track angle information Orthogonal projection on the generated subspace:

[0143] ;

[0144] Updating the residual of the main array: ;

[0145] Updating the residual of the first subarray: ;

[0146] Updating the residual of the second subarray: ;

[0147] Repeating the above steps until the number of iterations , respectively, to obtain the main array and each subarray angle estimation value set:

[0148] Obtaining the main array angle estimation value set: ;

[0149] Obtaining the first subarray angle estimation value set: ;

[0150] Obtaining the second subarray angle estimation value set: ;

[0151] In the above implementation, the main array and each subarray angle estimation value set is determined according to the residual of the echo signal and the echo signal of each subarray, which ensures the accuracy of the angle estimation value.

[0152] In an exemplary embodiment, as shown in Figure 5 , a determination method of a main array candidate angle position vector and a subarray candidate angle position vector is provided, including the following steps:

[0153] Step 502, based on a preset angle measurement range and an angle interval, initializing the main array candidate angle position vector and each subarray candidate angle position vector, to obtain the respective initial main array candidate angle position vector and initial subarray candidate angle position vector; the angle position elements of the initial main array candidate angle position vector and the initial subarray candidate angle position vector have corresponding candidate angle values.

[0154] Exemplarily, taking the subarray including the first subarray and the second subarray as an example, based on a preset angle measurement range FOV and an angle interval , the initial main array candidate angle position vector is a dimension zero vector. The initial main array candidate angle position vector There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. Initialize the candidate angle position vector of the first submatrix. for Zero-dimensional vector. Candidate angular position vector for the first initial subarray. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. Initialize the candidate angle position vector of the second subarray. for Zero-dimensional vector. Candidate angular position vector of the second initial subarray. There is a one-to-one correspondence between the elements in the array and the candidate angle values.

[0155] Step 504: If there is a first target angle value in the angle value corresponding to the angle position in the initial main array candidate angle position vector that is equal to the set of estimated main array angle values, then set the angle position element corresponding to the first target angle value to a preset value to obtain the main array candidate angle position vector.

[0156] The preset value can be, but is not limited to, 1.

[0157] Optionally, if and only if the estimated value of the main array angle is... There exists a first target angle value, which is related to the initial main array candidate angle position vector. Zhong Mou Each angle position When the corresponding angle values ​​are equal, let This yields the candidate angle position vectors for the main array.

[0158] Step 506: For each initial subarray candidate angle position vector, if there is a second target angle value in the angle value corresponding to the angle position in the initial subarray candidate angle position vector that is equal to the subarray angle estimation value set, then set the angle position element corresponding to the second target angle value to a preset value to obtain the subarray candidate angle position vector.

[0159] Optionally, if and only if the set of angle estimates for the first subarray... There exists a second target angle value, which is related to the candidate angle position vector of the first initial subarray. Zhong Mou Each angle position When the corresponding angle values ​​are equal, let This yields the candidate angle position vector for the first subarray.

[0160] If and only if the set of angle estimates of the second subarray There exists a second target angle value, and the second initial subarray candidate angle position vector. Zhong Mou Each angle position When the corresponding angle values ​​are equal, let , to obtain a second subarray candidate angle position vector.

[0161] In step 508, information extension processing is performed on the main array candidate angle position vector and each subarray candidate angle position vector according to the angle selection range, to obtain a target main array candidate angle position vector and a plurality of target subarray candidate angle position vectors.

[0162] The information extension processing refers to centering on an element that has been set to 1 in the initial main array candidate angle position vector, setting the corresponding elements on the left and right sides within the angle selection range to 1, and setting other elements to 0. The angle selection range is determined in advance according to actual requirements.

[0163] Optionally, the information extension processing performed on the main array candidate angle position vector and each subarray candidate angle position vector according to the angle selection range includes:

[0164] centering on an angle position element that has been set to a preset value in the main array candidate angle position vector, and setting the corresponding angle position elements on the left and right sides within the angle selection range to the preset value, to obtain a target main array candidate angle position vector; and for each subarray candidate angle position vector, centering on an angle position element that has been set to a preset value in the subarray candidate angle position vector, and setting the corresponding angle position elements on the left and right sides within the angle selection range to the preset value, to obtain a target subarray candidate angle position vector.

[0165] For example, centering on an element that has been set to 1 in the main array candidate angle position vector , and setting the corresponding elements on the left and right sides within the angle selection range to 1, a final main array information-extended candidate angle position vector , i.e., a target main array candidate angle position vector, is determined.

[0166] For example, centering on an element that has been set to 1 in the first subarray candidate angle position vector , and setting the corresponding elements on the left and right sides within the angle selection range to 1, a final first subarray information-extended candidate angle position vector , i.e., a first target subarray candidate angle position vector, is determined.

[0167] For example, centering on an element that has been set to 1 in the second subarray candidate angle position vector , and setting the corresponding elements on the left and right sides within the angle selection range to 1, a final second subarray information-extended candidate angle position vector , i.e., a second target subarray candidate angle position vector, is determined.

[0168] In this embodiment, the main array target point track angle estimation value and the sub-array target point track angle estimation value are determined by the preset main array and the multi-sub-array joint angle measurement strategy. On this basis, the main array / sub-array initial candidate angle position vector is respectively processed by information extension according to the determined two angle estimation values. Then, the final main array information extension candidate angle position vector and the final sub-array information extension candidate angle position vector are used to determine all potential target angles, which can reduce the estimation deviation of the real target angle caused by the angle measurement deviation introduced by the hardware related factors (such as antenna processing, antenna amplitude and phase inconsistency, etc.).

[0169] It can be understood that, in order to realize higher screening ability and flexibility of the target point track in a complex scene, a scoring system is used to relax the multi-path target point track judgment condition.

[0170] In an exemplary embodiment, the main array candidate angle position vector and the sub-array candidate angle position vector are weighted to obtain a joint total candidate angle position vector, and the potential target angle set is determined according to the amplitude value of each angle position element in the joint total candidate angle position vector, including: the main array candidate angle position vector and the sub-array candidate angle position vector are weighted to obtain a joint total candidate angle position vector; if the amplitude value of the candidate angle position element in the joint total candidate angle position vector is greater than or equal to a preset value, the angle corresponding to the candidate angle position element is determined as a potential target angle, and a potential target angle set is obtained.

[0171] Optionally, the final main array information extension candidate angle position vector , the final first sub-array information extension candidate angle position vector , and the final second sub-array information extension candidate angle position vector are used to determine a joint candidate angle position vector:

[0172] ;

[0173] The element amplitude value in the joint candidate angle position vector is not less than a preset value, which can be a component level. The selection of the preset value depends on the number of selected sub-arrays. In general, the component level of the preset value can be equal to the number of selected sub-arrays, that is, the component level The angles corresponding to the positions of the number of sub-arrays used, that is, the potential target angles, are defined as a potential target angle set In an exemplary embodiment, the component level can be but is not limited to 2.

[0174] In this way, by introducing multiple sub-arrays to participate in angle evaluation, the judgment condition of multi-path target track is relaxed in the case of multiple target tracks by adopting a scoring system, the strictness of intersection operation is relieved, the filtering capability and flexibility are higher in complex scenes, and the method can better adapt to complex multi-target track scenes.

[0175] In one exemplary embodiment, as shown in Figure 6 a multi-target track identification method is provided, which includes the following:

[0176] The radar signals received by the radar array are acquired, coherent and incoherent processing is performed on the radar signals, and a heat map of radial distance and radial relative velocity is generated. The echo signals corresponding to the detected target tracks in the heat map are determined. If there are multiple target tracks in the echo signals, the sub-array echo signals corresponding to each sub-array are extracted from the echo signals according to the sub-array division. The preset angle parameters for target track identification are determined, which include the preset angle measurement range, the angle interval, the angle index value range, and the target track angle unilateral selection range.

[0177] The sets of steering vectors corresponding to the main array and each sub-array are constructed in advance, and the sets of target track angle estimation values of the main array and each sub-array are initialized as empty, and the number of loops is initialized as 0. In each loop processing, the echo power spectrum corresponding to the main array residual and each sub-array residual is calculated, and the angle corresponding to the power spectrum peak of each is selected as the main array target track angle estimation value and each sub-array target track angle estimation value. The main array residual is orthogonally projected on the subspace spanned by the set of steering vectors generated by the selected target track angle estimation value of the main array, and the main array residual is updated according to the projection result. Each sub-array residual is orthogonally projected on the subspace spanned by the set of steering vectors generated by the selected target track angle estimation value of each sub-array, and the corresponding sub-array residual is updated according to the projection result. The number of loops is incremented by 1, and when the number of loops reaches the target track number J, the sets of target track angle estimation values of the main array and each sub-array are output respectively.

[0178] Based on the previous processing results, the candidate angle position vectors of the main array and each sub-array are initialized respectively, the final candidate angle position vectors of the main array and each sub-array are determined, and then the potential target angle set is determined through the scoring system. For each main array target track angle estimation value in the main array angle estimation value set, it is judged whether the main array target track angle estimation value is an element in the potential target angle set, and the identification result of the target track is obtained.

[0179] It should be noted that the specific implementation mode of the present example can be realized by the above defined mode, which will not be repeated here.

[0180] The following is an example of the application scenario based on the above method, which specifically includes:

[0181] Embodiment 1: Multi-target point traces are all multi-path target point traces, and there is a large difference between the radar-to-target transmission signal angle and the target-to-radar reception signal angle. The radar-to-target transmission signal angle and the target-to-radar reception signal angle corresponding to the target point trace 1 are and , the radar-to-target transmission signal angle and the target-to-radar reception signal angle corresponding to the target point trace 2 are and , and the radar-to-target transmission signal angle and the target-to-radar reception signal angle corresponding to the target point trace 3 are and .

[0182] S10. The MIMO radar system comprises root transmitting antennas and root receiving antennas. The virtual antenna positions of the MIMO radar are as shown in Figure 7 . For each target point trace detected in the radial distance-radial velocity heat map, the echo signals are sorted, and the sorted echo signals are denoted as .

[0183] S20. The eigenvalue decomposition signal source number estimation algorithm is used to determine the number of target point traces according to the echo signals .

[0184] S30. Since , the above target point trace identification technical solution is used, which specifically includes:

[0185] S301-Embodiment 1. Extract the echo signals of each subarray respectively:

[0186] According to the subarray division as shown in Figure 7 , the first subarray echo signal and the second subarray echo signal are extracted from the echo signals respectively, wherein the superscripts and represent the identification related to the first subarray and the second subarray respectively.

[0187] S302-Embodiment 1. Determine the parameters of the scheme:

[0188] Determine the angle measurement range FOV: , and the angle interval .

[0189] Determine the range of angle index values , wherein the value of is determined by the FOV and the angle interval: ​

[0190] ;

[0191] Determining target track angle unilateral selection range : When ; the rest of the angle .

[0192] S303-Embodiment 1. Calculate the steering vector corresponding to the main array and each sub-array respectively:

[0193] Calculate the steering vector corresponding to the main array and each sub-array respectively: .

[0194] According to the first sub-array division, calculate the steering vector corresponding to the first sub-array at different angles in the angle measurement range FOV . .

[0195] According to the second sub-array division, calculate the steering vector corresponding to the second sub-array at different angles in the angle measurement range FOV . .

[0196] S304-Embodiment 1. Initialize the target track angle estimation related information of the main array and each sub-array respectively:

[0197] Initialize the main array target track estimation value set , the main array residual .

[0198] Initialize the first sub-array target track estimation value set , the first sub-array residual .

[0199] Initialize the second sub-array target track estimation value set , the second sub-array residual .

[0200] S305-Embodiment 1. Obtain and record the corresponding angle information by maximizing the echo power spectrum of the main array and each sub-array:

[0201] In the first loop, the target track angle estimation value is obtained by maximizing the echo power spectrum of the main array , and the angle estimation value is stored in the main array angle estimation value set , and the steering vector corresponding to the angle is stored in .

[0202] In the first loop, the target track angle estimation value is obtained by maximizing the echo power spectrum of the first sub-array ​and the angle estimate is stored in the first subarray angle estimate set and the corresponding steering vector is stored in the first subarray steering vector set .

[0203] In the first loop, the corresponding target track angle estimate is obtained by maximizing the second subarray echo power spectrum and the angle estimate is stored in the second subarray angle estimate set and the corresponding steering vector is stored in the second subarray steering vector set .

[0204] S306-Embodiment 1. Calculate the orthogonal projection of the main array and each subarray residual on the subspace generated by the steering vector containing the target track angle information, respectively:

[0205] Calculate the orthogonal projection of the main array residual on the subspace generated by the steering vector containing the target track angle information: .

[0206] ;

[0207] Calculate the orthogonal projection of the first subarray residual on the subspace generated by the steering vector containing the target track angle information: .

[0208] ;

[0209] Calculate the orthogonal projection of the second subarray residual on the subspace generated by the steering vector containing the target track angle information: .

[0210] ;

[0211] S307-Embodiment 1. Update the residual of the main array and each subarray, respectively:

[0212] Update the residual of the main array:

[0213] ;

[0214] Update the residual of the first subarray:

[0215] ;

[0216] Update the residual of the second subarray:

[0217] ;

[0218] ​​​​S308-Embodiment 1. Repeat steps S305 to S307 until the number of cycles , respectively obtain the main array and each sub-array angle estimation value set:

[0219] Obtain the main array angle estimation value set: ;

[0220] Obtain the first sub-array angle estimation value set: ;

[0221] Obtain the second sub-array angle estimation value set: ;

[0222] S309-Embodiment 1. Initialize the main array and each sub-array candidate angle position vector, respectively:

[0223] Based on the preset angle measurement range FOV and the angle interval , initialize the main array candidate angle position vector to a zero vector of dimension . The elements in the main array candidate angle position vector have a one-to-one correspondence with the candidate angle values. Since the main array multi-target track estimation value , the first , and the rest .

[0224] Based on the preset angle measurement range FOV and the angle interval , initialize the first sub-array candidate angle position vector to a zero vector of dimension . The elements in the first sub-array candidate angle position vector have a one-to-one correspondence with the candidate angle values. Since the first candidate sub-array multi-target track angle estimation value , the first , and the rest .

[0225] Based on the preset angle measurement range FOV and the angle interval , initialize the second sub-array candidate angle position vector to a zero vector of dimension . The elements in the second sub-array candidate angle position vector have a one-to-one correspondence with the candidate angle values. Since the second candidate sub-array multi-target track angle estimation value , the first , and the rest .

[0226] 310-Embodiment 1. Determine the final main array and each sub-array candidate angle position vector, respectively:

[0227] Take the main array candidate angle position vector 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 8 The diagram shown is a schematic of the candidate angle position vector after the final main array information is expanded in the first specific embodiment.

[0228] Candidate angle position vector of the first 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 information of the final first subarray. ,like Figure 9 The diagram shown is a schematic diagram of the candidate angle position vector after the final first subarray information is expanded in the first specific embodiment.

[0229] Using the candidate angle position vector of the second 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 information of the final second subarray. ,like Figure 10 The diagram shown is a schematic of the candidate angle position vector after the final second subarray information is expanded in the first specific embodiment.

[0230] 311-Example 1. Determining the set of potential target angles using a scoring system:

[0231] Determine the total candidate angle position vector:

[0232] ;

[0233] Joint candidate angle position vector The relationship between the mid-angle index value and the amplitude value is as follows: Figure 11 The diagram shown illustrates the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the first specific embodiment. Based on the total candidate angle position vector... The amplitude value of the element in the score is not less than the order of magnitude of the score. The angle corresponding to the position is defined as the potential target angle set. .

[0234] S312 - Example 1. Determining the estimated angle of the main array target point. Is it a set of potential target angles? Elements in:

[0235] Since the main array target track angle estimation value Not belonging to the potential target angle set Determine that the main array multi-target track is a multi-path target track, and delete the multi-target track information.

[0236] S40. Traverse all target tracks detected in the radial distance radial relative velocity heat map to make the above judgments, and finally output the target track.

[0237] Scheme embodiment 2: The multi-target track is two multi-path target tracks and one non-multi-path target track. For multi-path target tracks, there is a phenomenon that the difference between the radar-to-target transmission signal angle and the target-to-radar reception signal angle is large, wherein the radar-to-target transmission signal angle and the target-to-radar reception signal angle corresponding to one target track are and The radar-to-target transmission signal angle and the target-to-radar reception signal angle corresponding to the other target track are and ; for the non-multi-path target track, the corresponding angle is .

[0238] S10. The MIMO radar system includes root transmitting antennas and root receiving antennas, the virtual antenna positions of the MIMO radar are as shown in Figure 7 For each target track detected in the radial distance radial relative velocity heat map, the echo signals are sorted, and the sorted echo signals are denoted as .

[0239] S20. The eigenvalue decomposition signal source number estimation algorithm is used to determine the number of target tracks according to the echo signals . .

[0240] S30. Since , the multi-target track technical scheme is adopted, which specifically includes:

[0241] S301-Embodiment 2. Extract the echo signals of each subarray respectively:

[0242] According to the subarray division as shown in Figure 7 , the first subarray echo signal and the second subarray echo signal are extracted from the echo signals respectively, wherein the upper indices and represent the identification related to the first subarray and the second subarray respectively.

[0243] S302-Embodiment 2. Determine scheme usage parameters:

[0244] Determine the angular range FOV: , the angular interval .

[0245] Determine the range of angle index values , where The values are determined by the FOV and the angular interval:

[0246] ;

[0247] Determine the target point trail angle unilateral selection range : when ; the rest of the angles .

[0248] S303-Embodiment 2. Calculate the steering vector corresponding to the main array and each sub-array respectively:

[0249] Calculate the main array steering vector corresponding to different angles in the angular range FOV .

[0250] According to the first sub-array division, calculate the first sub-array steering vector corresponding to different angles in the angular range FOV .

[0251] According to the second sub-array division, calculate the second sub-array steering vector corresponding to different angles in the angular range FOV .

[0252] S304-Embodiment 2. Initialize the main array and each sub-array target point trail angle estimation related information respectively:

[0253] Initialize the main array target point trail estimation value set , the main array residual .

[0254] Initialize the first sub-array target point trail estimation value set , the first sub-array residual .

[0255] Initialize the second sub-array target point trail estimation value set , the second sub-array residual .

[0256] S305-Embodiment 2. Obtain and record the corresponding angle information by maximizing the main array and each sub-array echo power spectrum:

[0257] In the first In the second loop, the corresponding target track angle estimate is obtained by maximizing the echo power spectrum of the main array , and the angle estimate is stored in the main array angle estimate set , and the steering vector corresponding to the angle is stored in .

[0258] In the first loop, the corresponding target track angle estimate is obtained by maximizing the echo power spectrum of the first sub-array , and the angle estimate is stored in the first sub-array angle estimate set , and the steering vector corresponding to the angle is stored in .

[0259] In the second loop, the corresponding target track angle estimate is obtained by maximizing the echo power spectrum of the second sub-array , and the angle estimate is stored in the second sub-array angle estimate set , and the steering vector corresponding to the angle is stored in .

[0260] S306-Example 2. Calculate the orthogonal projection of the main array and each sub-array residual on the subspace generated by the steering vector containing the target track angle information, respectively:

[0261] Calculate the orthogonal projection of the main array residual on the subspace generated by the steering vector containing the target track angle information:

[0262] ;

[0263] Calculate the orthogonal projection of the first sub-array residual on the subspace generated by the steering vector containing the target track angle information:

[0264] ;

[0265] Calculate the orthogonal projection of the second sub-array residual on the subspace generated by the steering vector containing the target track angle information:

[0266] ;

[0267] S307-Example 2. Update the residual of the main array and each sub-array, respectively:

[0268] Update the residual of the main array:

[0269] ;​​​​​​

[0270] Update the residual of the first sub-array:

[0271] ;

[0272] Update the residual of the second sub-array:

[0273] ;

[0274] S308-Embodiment 2. Repeat steps S305 to S307 until the number of cycles , respectively, to obtain the main array and each sub-array angle estimation value set:

[0275] Obtain the main array angle estimation value set: ;

[0276] Obtain the first sub-array angle estimation value set: ;

[0277] Obtain the second sub-array angle estimation value set: ;

[0278] S309-Embodiment 2. Initialize the main array and each sub-array candidate angle position vector, respectively:

[0279] Based on the preset angle measurement range FOV and the angle interval , the main array candidate angle position vector is initialized as a zero vector of dimension . The elements in the main array candidate angle position vector have a one-to-one correspondence with the candidate angle values. Since the main array multi-target track estimation value , the first , and the rest .

[0280] Based on the preset angle measurement range FOV and the angle interval , the first sub-array candidate angle position vector is initialized as a zero vector of dimension . The elements in the first sub-array candidate angle position vector have a one-to-one correspondence with the candidate angle values. Since the first candidate sub-array multi-target track angle estimation value , the first , and the rest .

[0281] Based on the preset angle measurement range FOV and the angle interval , the second sub-array candidate angle position vector is initialized as a zero vector of dimension . The elements in the second sub-array candidate angle position vector The elements in the vector have one-to-one correspondence with the candidate angle values. Since the second candidate sub-array multi-target track angle estimation value , , the rest .

[0282] 310-Embodiment 2. Determine the final main array and each sub-array candidate angle position vector, respectively:

[0283] Take the element in the main array candidate angle position vector which has been set to 1 as the center, and set the corresponding elements on the left and right sides within the angle selection range to 1, i.e. , to determine the final main array information expanded candidate angle position vector , as shown in Figure 12 , which is a schematic diagram of the final main array information expanded candidate angle position vector in the second specific embodiment.

[0284] Take the element in the first sub-array candidate angle position vector which has been set to 1 as the center, and set the corresponding elements on the left and right sides within the angle selection range to 1, i.e. , to determine the final first sub-array information expanded candidate angle position vector , as shown in Figure 13 , which is a schematic diagram of the final first sub-array information expanded candidate angle position vector in the second specific embodiment.

[0285] Take the element in the second sub-array candidate angle position vector which has been set to 1 as the center, and set the corresponding elements on the left and right sides within the angle selection range to 1, i.e. , to determine the final second sub-array information expanded candidate angle position vector , as shown in Figure 14 , which is a schematic diagram of the final second sub-array information expanded candidate angle position vector in the second specific embodiment.

[0286] 311-Embodiment 2. Determine the potential target angle set by scoring:

[0287] Determine the total candidate angle position vector:

[0288] ;

[0289] The angle index value and amplitude value relationship in the joint candidate angle position vector is shown in Figure 15 , which is a schematic diagram of the angle index value and amplitude value relationship in the joint candidate angle position vector in the second specific embodiment. According to the total candidate angle position vector The element amplitude value in the element is not less than the score component The angle corresponding to the position of the element is defined as a potential target angle set .

[0290] S312-Embodiment 2. Determine whether the main array target point track angle estimation value is a potential target angle set . The element in the element:

[0291] Since the main array multi-target point track estimation value , And Determine that it is a multi-path target point track, delete the corresponding point track information; Determine that it is a non-multipath target point track, retain the point track information.

[0292] S40. Traverse all the target point tracks detected in the radial distance-radial relative velocity heat map to perform the above determination, and finally output the target point track.

[0293] Scheme embodiment 3: The multi-target point track is one multi-path target point track and two non-multipath target point tracks. For the multi-path target point track, there is a phenomenon that the difference between the radar-to-target transmission signal angle and the target-to-radar reception signal angle is large, and the radar-to-target transmission signal angle and the target-to-radar reception signal angle corresponding to the target point track are And ; for the non-multipath target point track, one of the target point tracks corresponds to an angle , and the other target point track corresponds to an angle .

[0294] S10. The MIMO radar system includes Root transmitting antennas and Root receiving antennas, the virtual line position of the MIMO radar is shown in Figure 7 , and for each target point track detected in the radial distance-radial relative velocity heat map, the echo signal is sorted, and the sorted echo signal is marked as .

[0295] S20. Adopt the eigenvalue decomposition signal source number estimation algorithm to determine the number of target point tracks according to the echo signal . .

[0296] S30. Since , the multi-target point track technical scheme is adopted, which specifically includes:

[0297] S301-Embodiment 3. Extract each subarray echo signal respectively:

[0298] According toFigure 7 The subarray division is shown in FIG. 2, and the echo signals are extracted from the echo signal , respectively, to obtain the first subarray echo signal and the second subarray echo signal , respectively, where the superscripts and represent the identification related to the first subarray and the second subarray, respectively.

[0299] S302-Embodiment 3. Determine the scheme usage parameters:

[0300] Determine the angle measurement range FOV: , and the angle interval .

[0301] Determine the angle index value range , where the value is determined by the FOV and the angle interval:

[0302] ;

[0303] Determine the target point trajectory angle unilateral selection range : when ; the remaining angles .

[0304] S303-Embodiment 3. Calculate the corresponding steering vectors of the main array and each subarray, respectively:

[0305] Calculate the main array steering vector corresponding to different angles in the angle measurement range FOV. .

[0306] According to the first subarray division, calculate the first subarray steering vector corresponding to different angles in the angle measurement range FOV. .

[0307] According to the second subarray division, calculate the second subarray steering vector corresponding to different angles in the angle measurement range FOV. .

[0308] S304-Embodiment 3. Initialize the target point trajectory angle estimation related information of the main array and each subarray, respectively:

[0309] Initialize the main array target point trajectory estimation value set , and the main array residual error .

[0310] Initialize the first subarray target point trajectory estimation value set , and the first subarray residual error .

[0311] ​Initialize the second subarray target track angle estimate set , the second subarray residual .

[0312] S305-Embodiment 3. Obtain and record the corresponding angle information by maximizing the main array and each subarray echo power spectrum:

[0313] In the first loop, obtain the corresponding target track angle estimate by maximizing the main array echo power spectrum , and store the angle estimate in the main array angle estimate set , and store the corresponding steering vector in the main array steering vector set .

[0314] In the first loop, obtain the corresponding target track angle estimate by maximizing the first subarray echo power spectrum , and store the angle estimate in the first subarray angle estimate set , and store the corresponding steering vector in the first subarray steering vector set .

[0315] In the first loop, obtain the corresponding target track angle estimate by maximizing the second subarray echo power spectrum , and store the angle estimate in the second subarray angle estimate set , and store the corresponding steering vector in the second subarray steering vector set .

[0316] S306-Embodiment 3. Calculate the orthogonal projection of the main array and each subarray residual on the subspace generated by the steering vector containing the target track angle information, respectively:

[0317] Calculate the orthogonal projection of the main array residual on the subspace generated by the steering vector containing the target track angle information :

[0318] ;

[0319] Calculate the orthogonal projection of the first subarray residual on the subspace generated by the steering vector containing the target track angle information :

[0320] ;

[0321] Calculate the orthogonal projection of the second subarray residual on the subspace generated by the steering vector containing the target track angle information : ​​​​​​

[0322] ;

[0323] S307 - Example 3. Update the residuals of the main array and each subarray separately:

[0324] Update the initial residuals of the main formation:

[0325] ;

[0326] Update the initial residual of the first subarray:

[0327] ;

[0328] Update the initial residual of the second subarray:

[0329] ;

[0330] S308 - Example 3. Repeat steps S305 to S307 until the specified number of cycles is reached. Obtain the sets of angle estimates for the main array and each subarray respectively:

[0331] Obtain the set of main array angle estimates: ;

[0332] Obtain the set of angle estimates for the first subarray: ;

[0333] Obtain the set of angle estimates for the second subarray: ;

[0334] S309 - Example 3. Initialize the candidate angle position vectors of the main array and each subarray respectively:

[0335] 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 values ​​of the multi-target points in the main array... Therefore ,the remaining .

[0336] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the first subarray for Zero-dimensional vector. Candidate angular position vector of the first subarray. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the first candidate submatrix contains multi-target point trace angle estimates. Therefore the rest .

[0337] based on the preset angle range FOV and the angle interval , the second sub-array candidate angle position vector is initialized is a zero vector. The elements in the second sub-array candidate angle position vector have one-to-one correspondence with the candidate angle values. Since the second candidate sub-array multi-target track angle estimation value , therefore , the rest .

[0338] 310-Embodiment 3. Determine the final main array and each sub-array candidate angle position vector respectively:

[0339] with the elements in the main array candidate angle position vector that have been set to 1 as the center, and set the corresponding elements on the left and right sides within the angle selection range to 1, that is , determine the final main array information expanded candidate angle position vector , as shown in Figure 16 , it is the final main array information expanded candidate angle position vector in the third specific embodiment.

[0340] with the elements in the first sub-array candidate angle position vector that have been set to 1 as the center, and set the corresponding elements on the left and right sides within the angle selection range to 1, that is , determine the final first sub-array information expanded candidate angle position vector , as shown in Figure 17 , it is the final first sub-array information expanded candidate angle position vector in the third specific embodiment.

[0341] with the elements in the second sub-array candidate angle position vector that have been set to 1 as the center, and set the corresponding elements on the left and right sides within the angle selection range to 1, that is , determine the final second sub-array information expanded candidate angle position vector , as shown in Figure 18 , it is the final second sub-array information expanded candidate angle position vector in the third specific embodiment.

[0342] 311-Embodiment 3. Determine the potential target angle set by score:

[0343] determine the total candidate angle position vector: ​

[0344] ;

[0345] Joint candidate angle position vector The relationship between the angle index value and the amplitude value in the joint candidate angle position vector in the third specific embodiment is shown in FIG. 3C. The angle defined by the position corresponding to the amplitude value not less than the score level in the total candidate angle position vector is the potential target angle set. Figure 19 .

[0346] S312-Embodiment 3. Determine whether the main array target point track angle estimation value is an element in the potential target angle set

[0347] Since the main array multi-target point track estimation value , is determined as a multi-path target point track, the point track information is deleted; and is determined as a non-multi-path target point track, the corresponding point track information is retained.

[0348] S40. After traversing all target point tracks, the final target point track is output.

[0349] Embodiment 4 of the scheme: the multi-target point track is a non-multi-path target point track, and the corresponding angles are , and .

[0350] S10. The MIMO radar system includes root transmitting antennas and root receiving antennas. The virtual antenna positions of the MIMO radar are shown in FIG. 4A. For each target point track detected in the radial distance-radial relative velocity heat map, the echo signals are sorted, and the sorted echo signals are denoted as Figure 7 .

[0351] S20. The eigenvalue decomposition signal source number estimation algorithm is used to determine the number of target point tracks according to the echo signals .

[0352] S30. Since , the multi-target point track technical solution is adopted, which specifically includes:

[0353] S301-Embodiment 4. Extract each subarray echo signal:

[0354] According to FIG.​​​​​​​Figure 7 The subarray division is shown in FIG. 2, and the echo signals are extracted from the echo signal , respectively, to obtain the first subarray echo signal and the second subarray echo signal , respectively, where the superscripts and represent the identification related to the first subarray and the second subarray, respectively.

[0355] S302-Embodiment 4. Determine the scheme usage parameters:

[0356] Determine the angle measurement range FOV: , and the angle interval .

[0357] Determine the angle index value range , where the value is determined by the FOV and the angle interval:

[0358] ;

[0359] Determine the target track angle unilateral selection range : when ; the remaining angles .

[0360] S303-Embodiment 4. Calculate the corresponding steering vectors of the main array and each subarray, respectively:

[0361] Calculate the main array steering vector corresponding to different angles in the angle measurement range FOV.

[0362] According to the first subarray division, calculate the first subarray steering vector corresponding to different angles in the angle measurement range FOV.

[0363] According to the second subarray division, calculate the second subarray steering vector corresponding to different angles in the angle measurement range FOV.

[0364] S304-Embodiment 4. Initialize the target track angle estimation related information of the main array and each subarray, respectively:

[0365] Initialize the main array target track estimation value set , and the main array residual .

[0366] Initialize the first subarray target track estimation value set , and the first subarray residual .

[0367] ​Initialize the second subarray target track angle estimate set , the second subarray residual .

[0368] S305-Embodiment 4. Obtain and record the corresponding angle information by maximizing the main array and each subarray echo power spectrum:

[0369] In the first loop, obtain the corresponding target track angle estimate by maximizing the main array echo power spectrum , and store the angle estimate in the main array angle estimate set , and store the steering vector corresponding to the angle in the main array steering vector set .

[0370] In the first loop, obtain the corresponding target track angle estimate by maximizing the first subarray echo power spectrum , and store the angle estimate in the first subarray angle estimate set , and store the steering vector corresponding to the angle in the first subarray steering vector set .

[0371] In the first loop, obtain the corresponding target track angle estimate by maximizing the second subarray echo power spectrum , and store the angle estimate in the second subarray angle estimate set , and store the steering vector corresponding to the angle in the second subarray steering vector set .

[0372] S306-Embodiment 4. Calculate the orthogonal projection of the main array and each subarray residual on the subspace generated by the steering vector containing the target track angle information, respectively:

[0373] Calculate the orthogonal projection of the main array residual on the subspace generated by the steering vector containing the target track angle information :

[0374] ;

[0375] Calculate the orthogonal projection of the first subarray residual on the subspace generated by the steering vector containing the target track angle information :

[0376] ;

[0377] Calculate the orthogonal projection of the second subarray residual on the subspace generated by the steering vector containing the target track angle information : ​​​

[0378] ;

[0379] S307 - Embodiment 4. Update the residual of the main array and each sub-array respectively:

[0380] Update the residual of the main array:

[0381] ;

[0382] Update the residual of the first sub-array:

[0383] ;

[0384] Update the residual of the second sub-array:

[0385] ;

[0386] S308 - Embodiment 4. Repeat steps S305 to S307 until the number of cycles , respectively, obtain the main array and each sub-array angle estimation value set:

[0387] Obtain the main array angle estimation value set: ;

[0388] Obtain the first sub-array angle estimation value set: ;

[0389] Obtain the second sub-array angle estimation value set: ;

[0390] S309 - Embodiment 4. Initialize the main array and each sub-array candidate angle position vector respectively:

[0391] Based on the preset angle measurement range FOV and the angle interval , initialize the main array candidate angle position vector to a zero vector of dimension. The elements in the main array candidate angle position vector have a one-to-one correspondence with the candidate angle values. Since the main array multi-target track estimation value , the first , and the rest .

[0392] Based on the preset angle measurement range FOV and the angle interval , initialize the first sub-array candidate angle position vector to a zero vector of dimension. The elements in the first sub-array candidate angle position vector have a one-to-one correspondence with the candidate angle values. Since the first candidate sub-array multi-target track angle estimation value , the first , and the rest .

[0393] based on the preset angle range FOV and the angle interval , the second sub-array candidate angle position vector is initialized is a zero vector. The elements in the second sub-array candidate angle position vector have one-to-one correspondence with the candidate angle values. Since the second candidate sub-array multi-target track angle estimation value , the rest . . .

[0394] 310 - Example 4. Determine the final main array and each sub-array candidate angle position vector, respectively:

[0395] with the element in the main array candidate angle position vector which has been set to 1 as the center, and set the corresponding elements on the left and right sides within the angle selection range to 1, that is , determine the final main array information expanded candidate angle position vector , as shown in Figure 20 , is a schematic diagram of the final main array information expanded candidate angle position vector in the fourth specific embodiment.

[0396] with the element in the first sub-array candidate angle position vector which has been set to 1 as the center, and set the corresponding elements on the left and right sides within the angle selection range to 1, that is , determine the final first sub-array information expanded candidate angle position vector , as shown in Figure 21 , is a schematic diagram of the final first sub-array information expanded candidate angle position vector in the fourth specific embodiment.

[0397] with the element in the second sub-array candidate angle position vector which has been set to 1 as the center, and set the corresponding elements on the left and right sides within the angle selection range to 1, that is , determine the final second sub-array information expanded candidate angle position vector , as shown in Figure 22 , is a schematic diagram of the final second sub-array information expanded candidate angle position vector in the fourth specific embodiment.

[0398] 311 - Example 4. Determine the potential target angle set by score:

[0399] determine the total candidate angle position vector:

[0400] ;

[0401] Joint candidate angle position vector The relationship between the mid-angle index value and the amplitude value is as follows: Figure 23 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. Based on the total candidate angle position vector... The amplitude value of the element in the score is not less than the order of magnitude of the score. The angle corresponding to the position is defined as the potential target angle set. .

[0402] S312 - Example 4. Determining the estimated angle of the main array target point. Is it a set of potential target angles? Elements in:

[0403] Due to the estimation value of multiple target points in the main array The angle estimate for each target point is... The elements in, i.e. , and Therefore, the corresponding target point is determined to be a non-multipath target point, and the corresponding point information is retained.

[0404] 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.

[0405] The aforementioned target point recognition methods, starting from the source of target point generation, all employ a joint angle measurement strategy using a main array and multiple subarrays, along with a scoring-based judgment method, to filter 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. This effectively adapts to both simple and complex scenarios, further expanding the scope of application. Simultaneously, the implementation of these methods does not require modeling of multipath routes, avoiding potential mismatches between the model and the actual scene. This improves both the quality of the output points and the applicability.

[0406] It should be understood that although the steps in the flowcharts involved in the embodiments described above are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other sequences. Moreover, at least some of the steps in the flowcharts involved in the embodiments described above can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of the steps or stages is not necessarily sequential, but can be alternately executed with at least part of other steps or steps or stages in other steps.

[0407] Based on the same inventive concept, the embodiments of the present application also provide a target track identification device for implementing the target track identification method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more target track identification device embodiments provided below can refer to the limitations of the target track identification method described above, which will not be repeated here.

[0408] In an exemplary embodiment, as shown in Figure 24 A target track identification device is provided, comprising: a signal processing module 2402, a signal extraction module 2406, an angle estimate value determination module 2408, an angle position vector determination module 2410, a target angle determination module 2412, and a track identification module 2414, wherein:

[0409] The signal processing module 2402 is configured to obtain a heat map of radial distance and radial relative velocity generated based on a radar received signal, and determine, for each target track detected in the heat map of radial distance and radial relative velocity, an echo signal corresponding to the target track detected in the heat map.

[0410] The signal extraction module 2406 is configured to determine a plurality of subarray echo signals from the echo signal if there are a plurality of target tracks in the echo signal.

[0411] The angle estimate value determination module 2408 is configured to determine, according to a preset main array and multiple subarray joint angle measurement strategy, a main array angle estimate value set of a main array corresponding to the echo signal and a subarray angle estimate value set of each subarray corresponding to each subarray echo signal.

[0412] The angle position vector determination module 2410 is configured to determine, according to a preset angle parameter in the main array and multiple subarray joint angle measurement strategy, the main array angle estimate value set, and the subarray angle estimate value set of each subarray, a main array candidate angle position vector of the main array, and a subarray candidate angle position vector of each subarray, respectively.

[0413] The target angle determination module 2412 is configured to perform weighting processing on the main array candidate angle position vector and the sub-array candidate angle position vectors to obtain a joint total candidate angle position vector, and obtain a potential target angle set according to each angle position in the joint total candidate angle position vector.

[0414] The track recognition module 2414 is configured to recognize each main array target track angle estimate in the main array angle estimate set according to the potential target angle set to obtain a corresponding recognition result.

[0415] In the above target track recognition device, starting from the source of the target track, the main array and the multiple sub-arrays joint angle measurement processing strategy and the score determination method are used to screen the multipath target track, that is, even if the characteristics of the multipath target track do not meet the traditional judgment condition, the recognition and suppression of the multipath target track can still be realized, which can effectively adapt to simple and complex scenes and further expand the application range. At the same time, the implementation of the above method does not need to model the multipath route, avoiding the problem that the model may not match the actual scene, improving the output track quality and further improving the applicability.

[0416] In an exemplary embodiment, the angle estimate determination module 2408 is configured to determine the steering vector corresponding to different angles in the preset angle measurement range of the main array and each sub-array respectively according to the preset main array and multiple sub-arrays joint angle measurement strategy, to obtain the corresponding main array steering vector and sub-array steering vector;

[0417] determine the main array target track angle estimate initial related information corresponding to the main array and the sub-array target track angle estimate initial related information corresponding to each sub-array;

[0418] perform preset number of times of angle estimation processing on the echo signal and the sub-array echo signals according to the main array steering vector, the sub-array steering vector, the main array target track angle estimate initial related information and the sub-array target track angle estimate initial related information, to determine the main array angle estimate set of the main array corresponding to the echo signal and the sub-array angle estimate set of the sub-array corresponding to each sub-array echo signal.

[0419] In an exemplary embodiment, the angle estimate determination module 2408 is configured to calculate the echo power spectrum of the main array echo signal and the echo power spectrum of each sub-array echo signal respectively in the first angle estimation processing, to obtain the main array echo power spectrum and the sub-array echo power spectrum; select the angle corresponding to the power spectrum peak value as the main array target track angle estimate for the main array echo power spectrum; and select the angle corresponding to the power spectrum peak value as the sub-array target track angle estimate of the corresponding sub-array for each sub-array echo power spectrum.

[0420] According to the main array target track angle estimation value and the main array steering vector, an initial main array residual of the main array is updated to obtain a current main array residual;

[0421] According to the subarray target track angle estimation value and the subarray steering vector, an initial subarray residual of the subarray is updated to obtain a current subarray residual;

[0422] In each angle estimation process after the second time, the current main array residual is taken as an initial main array residual signal of the current round, and each current subarray residual is taken as an initial subarray residual signal of the current round; the echo power spectrum corresponding to the initial main array residual signal and the initial subarray residual signal of the current round is calculated respectively, and the main array target track angle estimation value and the subarray target track angle estimation value are determined according to the power spectrum peak value; when the number of executed angle estimation reaches a preset number of times, the angle estimation process is ended;

[0423] The main array angle estimation value set corresponding to the echo signal of the main array and the subarray angle estimation value set corresponding to the echo signal of each subarray are determined.

[0424] In an exemplary embodiment, the angle estimation value determination module 2408 is configured to add the current determined main array target track angle estimation value to the initial main array target track estimation value set, and generate a corresponding main array steering vector based on the main array target track angle estimation value to obtain the current main array target track estimation value set and the current main array steering vector;

[0425] The initial main array residual is orthogonally projected on a subspace spanned by the current main array steering vector to obtain a first orthogonal projection component;

[0426] The first orthogonal projection component is subtracted from the initial main array residual to update the initial main array residual and obtain the current main array residual.

[0427] In an exemplary embodiment, the angle estimation value determination module 2408 is configured to add the subarray target track angle estimation value of each subarray to the initial subarray target track estimation value set corresponding thereto respectively to obtain the current subarray target track estimation value set corresponding thereto, and determine a corresponding subarray steering vector based on the subarray target track angle estimation value to obtain the current subarray steering vector corresponding thereto;

[0428] Each initial subarray residual is orthogonally projected on a subspace spanned by the corresponding current subarray steering vector to obtain a corresponding second orthogonal projection component;

[0429] The corresponding second orthogonal projection component is subtracted from each initial subarray residual to update the initial subarray residual and obtain the current subarray residual.

[0430] In an exemplary embodiment, the angle position vector determination module 2410 is configured to initialize the main array candidate angle position vector and each sub-array candidate angle position vector based on a preset angle measurement range and an angle interval, to obtain a respective initial main array candidate angle position vector and an initial sub-array candidate angle position vector; and the angle position elements of the initial main array candidate angle position vector and the initial sub-array candidate angle position vector have corresponding candidate angle values.

[0431] If there is a first target angle value equal to the main array angle estimation value set in the angle values corresponding to the angle positions in the initial main array candidate angle position vector, the angle position element corresponding to the first target angle value is set as a preset value to obtain the main array candidate angle position vector.

[0432] For each initial sub-array candidate angle position vector, if there is a second target angle value equal to the sub-array angle estimation value set in the angle values corresponding to the angle positions in the initial sub-array candidate angle position vector, the angle position element corresponding to the second target angle value is set as a preset value to obtain the sub-array candidate angle position vector.

[0433] The main array candidate angle position vector and each sub-array candidate angle position vector are subjected to information extension processing according to the angle selection range to obtain a target main array candidate angle position vector and a plurality of target sub-array candidate angle position vectors.

[0434] In an exemplary embodiment, the angle position vector determination module 2410 is configured to take the angle position element in the main array candidate angle position vector that has been set as a preset value as a center, and set the angle position elements on the left and right sides within the angle selection range as preset values to obtain the target main array candidate angle position vector.

[0435] For each sub-array candidate angle position vector, the angle position element in the sub-array candidate angle position vector that has been set as a preset value is taken as a center, and the angle position elements on the left and right sides within the angle selection range are set as preset values to obtain the target sub-array candidate angle position vector.

[0436] In an exemplary embodiment, the target angle determination module 2412 is configured to perform weighted processing on the main array candidate angle position vector and each sub-array candidate angle position vector to obtain a joint total candidate angle position vector.

[0437] If there is a candidate angle position element with an amplitude value greater than or equal to a preset value in the joint total candidate angle position vector, the angle corresponding to the candidate angle position element is determined as a potential target angle to obtain a potential target angle set.

[0438] The modules in the target trajectory identification device can be implemented by software, hardware, or a combination thereof. The modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in the computer device in software form, so that the processor can call and execute the operations corresponding to the modules.

[0439] In an example embodiment, a computer device, which can be a terminal, has an internal structure as shown in Figure 25 The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to perform wired or wireless communication with external terminals. The wireless communication can be achieved through WIFI, mobile cellular network, Near Field Communication (NFC), or other technologies. The computer program is executed by the processor to implement a target trajectory identification method. The display unit of the computer device is configured to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball, or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0440] Those skilled in the art can understand that Figure 25 The structure shown in the above

[0441] In an example embodiment, a chip is also provided, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0442] In an embodiment, a computer device is also provided, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steps in the above method embodiments when executing the computer program.

[0443] In an embodiment, a computer readable storage medium is provided, storing a computer program, and the computer program implementing the steps in the above method embodiments when executed by a processor.

[0444] In an embodiment, a computer program product is provided, comprising a computer program, and the computer program implementing the steps in the above method embodiments when executed by a processor.

[0445] 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 for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0446] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0447] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0448] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A method for recognizing target points, characterized in that, The method includes: A heat map of radial distance and radial relative velocity generated based on radar received signals is obtained. For each target point detected in the heat map of radial distance and radial relative velocity, the echo signal corresponding to the detected target point in the heat map is determined. If there are multiple target points in the echo signal, multiple subarray echo signals are determined from the echo signal; Based on the preset joint angle measurement strategy of main array and multiple subarrays, determine the set of estimated main array angles of the main array corresponding to the echo signal and the set of estimated subarray angles of the subarray corresponding to the echo signal of each subarray. Based on the preset angle parameters in the joint angle measurement strategy of the main array and multiple subarrays, the set of angle estimates of the main array and the set of angle estimates of each subarray, the candidate angle position vector of the main array and the candidate angle position vector of each subarray are determined respectively. The candidate angle position vectors of the main array and each candidate angle position vector of the subarray are weighted to obtain a joint total candidate angle position vector. Based on the amplitude value of each angle position element in the joint total candidate angle position vector, the set of potential target angles is determined. Based on the potential target angle set, the angle estimates of each main array target point in the main array angle estimate set are identified to obtain their respective identification results.

2. The method according to claim 1, characterized in that, The preset angle parameters include a preset angle measurement range, angle interval, and angle index value range. The step of determining the set of estimated main array angles for the main array corresponding to the echo signal and the set of estimated subarray angles for each subarray echo signal, based on a preset main array and multi-subarray joint angle measurement strategy, includes: According to the preset joint angle measurement strategy of main array and multiple subarrays, the guiding vectors corresponding to different angles of the main array and each subarray within the preset angle measurement range are determined respectively, and the corresponding main array guiding vector and subarray guiding vector are obtained. Determine the initial relevant information for the angle estimation of the target points of the main array corresponding to the main array, and the initial relevant information for the angle estimation of the target points of each subarray corresponding to the subarray. Based on the main array steering vector, the steering vectors of each subarray, the initial related information of the main array target point angle estimation, and the initial related information of the subarray target point angle estimation, the echo signal and the echo signal of each subarray are subjected to a preset number of angle estimation processes to determine the set of main array angle estimation values ​​corresponding to the main array of the echo signal and the set of subarray angle estimation values ​​corresponding to the subarray of the echo signal.

3. The method according to claim 2, characterized in that, The initial relevant information for the angle estimation of the target points in the main array includes the initial set of estimated values ​​for the target points in the main array and the initial residual of the main array. The initial relevant information for the angle estimation of the target points in each subarray includes the corresponding initial set of estimated values ​​for the target points in the subarray and the initial residual of the subarray. The step of performing angle estimation processing on the echo signal and the echo signals of each subarray a preset number of times based on the main array steering vector, the steering vectors of each subarray, the initial relevant information for the angle estimation of the target point trace of the main array, and the initial relevant information for the angle estimation of the target point trace of each subarray, to determine the set of main array angle estimates corresponding to the echo signal and the set of subarray angle estimates corresponding to the subarray echo signals, includes: In the first angle estimation process, the echo power spectrum of the main array echo signal and the echo power spectrum of each subarray echo signal are calculated respectively to obtain the main array echo power spectrum and the echo power spectrum of each subarray. For the main array echo power spectrum, the angle corresponding to the peak value of the power spectrum is selected as the estimated angle value of the target point of the main array. For each subarray echo power spectrum, the angle corresponding to the peak value of the power spectrum is selected as the estimated angle value of the target point of the corresponding subarray. Based on the estimated angle of the target point in the main array and the main array steering vector, update the initial main array residual to obtain the current main array residual; Based on the estimated angle of the target point in the subarray and the subarray steering vector, update the initial subarray residual to obtain the current subarray residual; For each angle estimation process after the second one, the current main array residual is used as the initial main array residual signal for this round, and the current subarray residual is used as the initial subarray residual signal for this round. The echo power spectrum corresponding to the initial main array residual signal and the initial subarray residual signal is calculated respectively to obtain the corresponding main array echo power spectrum and the echo power spectrum of each subarray. Based on the peak value of the power spectrum, the angle estimate of the target point in the main array and the angle estimate of the target point in each subarray are determined. The angle estimation process ends when the number of angle estimation processes is greater than the preset number of times. Determine the set of main array angle estimates corresponding to the main array of the echo signal and the set of subarray angle estimates corresponding to the subarray echo signal of each subarray.

4. The method according to claim 3, characterized in that, The step of updating the initial main array residual of the main array based on the estimated angle of the main array target point and the main array steering vector to obtain the current main array residual includes: adding the currently determined estimated angle of the main array target point to the initial set of estimated main array target point values, and generating the corresponding main array steering vector based on the estimated angle of the main array target point, to obtain the current set of estimated main array target point values ​​and the current main array steering vector; The initial main array residual is orthogonally projected onto the subspace spanned by the current main array guide vector to obtain the first orthogonal projection component; The first orthogonal projection component is subtracted from the initial main array residual to update the initial main array residual, thus obtaining the current main array residual.

5. The method according to claim 3, characterized in that, The step of updating the initial subarray residual of the subarray based on the estimated angle of the target point trace and the subarray steering vector to obtain the current subarray residual includes: The subarray target point trace angle estimation values ​​of each subarray are added to their respective initial subarray target point trace estimation value sets to obtain each current subarray target point trace estimation value set. Based on the subarray target point trace angle estimation values, the corresponding subarray steering vector is determined to obtain the corresponding current subarray steering vector. Each initial subarray residual is orthogonally projected onto the subspace spanned by the corresponding current subarray guide vector to obtain the corresponding second orthogonal projection component; Subtract the corresponding second orthogonal projection component from each of the initial subarray residuals to update the initial subarray residuals, and obtain the current subarray residuals.

6. The method according to claim 1, characterized in that, The preset angle parameters include a preset angle measurement range, angle interval, angle index value range, and angle selection range. The step of determining the main array candidate angle position vector and the subarray candidate angle position vectors of the main array and each subarray, based on the preset angle parameters in the main array and multi-subarray joint angle measurement strategy, the main array angle estimation value set, and the subarray angle estimation value sets, respectively, includes: Based on the preset angle measurement range and the angle interval, the candidate angle position vectors of the main array and each candidate angle position vector of the subarray are initialized to obtain their respective initial candidate angle position vectors of the main array and initial candidate angle position vectors of the subarray; the angle position elements of the initial candidate angle position vectors of the main array and the candidate angle position vectors of the subarray have corresponding candidate angle values. If there is a first target angle value in the angle value corresponding to the angle position in the initial main array candidate angle position vector that is equal to the set of main array angle estimates, then the angle position element corresponding to the first target angle value is set as a preset value to obtain the main array candidate angle position vector; For each of the initial subarray candidate angle position vectors, if there is a second target angle value in the angle value corresponding to the angle position in the initial subarray candidate angle position vector that is equal to the subarray angle estimation value set, then the angle position element corresponding to the second target angle value is set as a preset value to obtain the subarray candidate angle position vector; Based on the angle selection range, the candidate angle position vectors of the main array and each candidate angle position vector of the subarray are subjected to information expansion processing to obtain the candidate angle position vectors of the target main array and multiple candidate angle position vectors of the target subarray.

7. The method according to claim 6, characterized in that, The step of performing information expansion processing on the candidate angle position vectors of the main array and each of the candidate angle position vectors of the subarrays according to the angle selection range, to obtain the candidate angle position vectors of the target main array and multiple candidate angle position vectors of the target subarrays, includes: Using the angle position element in the candidate angle position vector of the main array that has been set to a preset value as the center, and at the same time setting the angle position elements on the left and right sides that are located within the angle selection range to the preset value, the target main array candidate angle position vector is obtained. For each candidate angle position vector of the subarray, take the angle position element in the candidate angle position vector of the subarray that has been set to a preset value as the center, and at the same time set the angle position elements on the left and right sides that are located in the angle selection range to the preset value, so as to obtain the candidate angle position vector of the target subarray.

8. The method according to claim 1, characterized in that, The step of weighting the candidate angle position vectors of the main array and each of the candidate angle position vectors of the subarrays to obtain a joint total candidate angle position vector, and determining the set of potential target angles based on the amplitude values ​​of each angle position element in the joint total candidate angle position vector, includes: The candidate angle position vectors of the main array and each candidate angle position vector of the subarray are weighted to obtain the joint total candidate angle position vector. If, in the joint total candidate angle position vector, there exists a candidate angle position element whose amplitude value is greater than or equal to a preset value, then the angle corresponding to the candidate angle position element is determined as a potential target angle, thus obtaining a set of potential target angles.

9. A target dot recognition device, characterized in that, The device includes: The signal processing module is used to acquire a heat map of radial distance and radial relative velocity generated based on radar received signals, and for each target point detected in the heat map of radial distance and radial relative velocity, determine the echo signal corresponding to the detected target point in the heat map. The signal extraction module is used to determine multiple subarray echo signals from the echo signal if multiple target points exist in the echo signal; Angle estimation value determination module is used to determine the set of main array angle estimation values ​​corresponding to the main array of the echo signal and the set of subarray angle estimation values ​​corresponding to each subarray echo signal, according to a preset main array and multi-subarray joint angle measurement strategy. An angle position vector determination module is used to determine the main array candidate angle position vector of the main array and the subarray candidate angle position vector of each subarray based on the preset angle parameters in the joint angle measurement strategy of the main array and multiple subarrays, the set of angle estimates of the main array and the set of angle estimates of each subarray. The target angle determination module is used to perform weighted processing on the candidate angle position vector of the main array and the candidate angle position vector of each of the subarrays to obtain a joint total candidate angle position vector, and to obtain a set of potential target angles based on the angle positions of each angle position in the joint total candidate angle position vector. The dot recognition module is used to identify the angle estimates of each main array target dot in the main array angle estimation value set according to the potential target angle set, and obtain the corresponding recognition results.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

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