Radar-based target detection method and device, vehicle, medium and product

Abstract

The invention discloses a radar-based target detection method, electronic equipment, a vehicle, a computer readable storage medium and a computer program product. The method comprises the steps that a radiation pattern is determined according to radar data, and the radiation pattern is used for indicating the mapping relation between the radiation angle and the radiation power; and according to the radiation angle and / or radiation power of the lobes in the radiation pattern, a target detection result is determined, and the target detection result comprises the number of the detection targets. Thus, the target detection result is determined according to the radiation angle or the radiation power of the lobes in the radiation pattern obtained based on the radar data, and the accuracy of judgment of the number of detected targets can be improved. Moreover, compared with a mode of judging single and double targets based on machine learning, the target detection result can be determined according to the radiation angle or the radiation power of the lobes in the radiation pattern, so that the calculation amount and the complexity are reduced to a certain extent, and the calculation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a radar-based target detection method, electronic equipment, vehicle, computer-readable storage medium, and computer program product. Background Technology

[0002] In related technologies, when radar performs Direction of Arrival (DOA) estimation, it needs to determine whether there is one target or two targets with different angles in a certain range and velocity cell by using a single-target / double-target decision method, in order to determine the number of angles output by the angle resolution. However, the decision-making complexity of single-target / double-target based on machine learning is high, the amount of computation is large, and it is easy to misjudge due to improper parameter settings, which in turn leads to false alarms and missed detections. Summary of the Invention

[0003] This application provides a radar-based target detection method, electronic device, vehicle, computer-readable storage medium, and computer program product.

[0004] This application provides a radar-based target detection method, the method comprising:

[0005] Based on radar data, a radiation pattern is determined, wherein the radiation pattern is used to indicate the mapping relationship between radiation angle and radiation power;

[0006] The target detection result is determined based on the radiation angle and / or radiation power of the lobe in the radiation pattern, wherein the target detection result includes the number of detected targets.

[0007] Thus, in this embodiment, acquiring the radiation pattern based on radar data makes the single / double target determination results more reliable. The target detection result is determined by the radiation angle or radiation power of the lobes in the radiation pattern, thereby improving the accuracy of the target quantity determination and avoiding false alarms and missed detections. Furthermore, compared to methods based on machine learning for determining single / double targets, this embodiment can determine the target detection result based on the radiation angle or radiation power of the lobes in the radiation pattern, which to some extent reduces the computational load and complexity and improves computational efficiency.

[0008] In some embodiments, the radiation pattern includes a first main lobe, and determining the target detection result based on the radiation angle and / or radiation power of the lobe in the radiation pattern includes:

[0009] The beamwidth of the first main lobe is determined based on the difference between the first radiation angle and the second radiation angle of the first main lobe, wherein the difference between the first radiation power corresponding to the first radiation angle and the second radiation power corresponding to the second radiation angle is a preset value.

[0010] The target detection result is determined based on the beamwidth.

[0011] Thus, the beamwidth of the first main lobe is determined based on the difference between the first radiation angle and the second radiation angle, where the difference between the first radiation power corresponding to the first radiation angle and the second radiation power corresponding to the second radiation angle is a preset value; the target detection result is then determined based on the beamwidth. In this way, the beamwidth can be determined based on the difference between the first and second radiation angles of the first main lobe, providing a basis for single / dual target judgment, thereby improving the accuracy of target quantity determination by determining the target detection result based on the beamwidth.

[0012] In some implementations, determining the target detection result based on the beamwidth includes:

[0013] If the beamwidth is greater than a first preset threshold, the number of the detected targets is determined to be two.

[0014] Thus, when the beamwidth is greater than the first preset threshold, the number of detected targets is determined to be two. In this way, by determining whether the beamwidth exceeds the first preset threshold, the detected targets can be quickly identified as dual targets when the beamwidth is greater than the first preset threshold. Compared to methods based on machine learning to determine single or dual targets, this can reduce computational load and complexity to a certain extent, thereby improving the efficiency of single or dual target determination.

[0015] In some embodiments, the radiation pattern includes a second main lobe and a first side lobe corresponding to the second main lobe, and determining the target detection result based on the radiation angle and / or radiation power of the side lobes in the radiation pattern includes:

[0016] The radiation power ratio is determined based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first sidelobe.

[0017] The target detection result is determined based on the radiation power ratio.

[0018] Thus, the radiation power ratio is determined based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first sidelobe; the target detection result is then determined based on the radiation power ratio. In this way, the radiation power ratio can be determined based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first sidelobe, providing a basis for single / dual target judgment, thereby improving the accuracy of target quantity determination.

[0019] In some embodiments, the radiation pattern includes a plurality of first sidelobes, and determining the radiation power ratio based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first sidelobes includes:

[0020] The radiation power ratio is determined based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the second sidelobe, wherein the second sidelobe is the first sidelobe with the highest radiation power among the plurality of first sidelobes.

[0021] Thus, the radiation power ratio is determined based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the second sidelobe, where the second sidelobe is the first sidelobe with the highest radiation power among multiple first sidelobes. This ratio provides a basis for single / dual target determination, allowing for the assessment of target detection results and improving the accuracy of target quantity determination.

[0022] In some embodiments, determining the target detection result based on the radiation power ratio includes:

[0023] If the radiation power ratio is greater than a second preset threshold, the number of the detected targets is determined to be one.

[0024] Thus, if the radiation power ratio is greater than the second preset threshold, the number of detected targets is determined to be one. In this way, by judging whether the radiation power ratio exceeds the second preset threshold, a single target can be quickly determined when the radiation power ratio is greater than the second preset threshold. Compared with machine learning-based methods for determining single and dual targets, this can reduce computational load and complexity to a certain extent, thereby improving the efficiency of single and dual target determination.

[0025] In some embodiments, the radiation pattern includes a third main lobe and a third side lobe corresponding to the third main lobe, and determining the target detection result based on the radiation angle and / or radiation power of the side lobes in the radiation pattern includes:

[0026] Based on the third radiation angle of the third main lobe, the fourth radiation angle of the desired side lobe is determined, wherein the desired side lobe is the side lobe corresponding to the main lobe when the radiation angle of the main lobe is the third radiation angle and the number of the detected targets is one.

[0027] The target detection result is determined based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe.

[0028] Thus, based on the third radiation angle of the third main lobe, the fourth radiation angle of the desired sidelobe is determined. The desired sidelobe is the sidelobe corresponding to the main lobe when the main lobe's radiation angle is the third radiation angle and the number of detected targets is one. The target detection result is determined based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe. In this way, the fourth radiation angle of the desired sidelobe can be determined based on the third radiation angle of the third main lobe. Compared to using only power to distinguish between single and dual targets, the target detection result can be determined by comparing the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe, thereby improving the accuracy of determining the number of detected targets.

[0029] In some implementations, determining the desired fourth radiation angle of the sidelobe based on the third radiation angle of the third main lobe includes:

[0030] Based on the third radiation angle and the predetermined main lobe radiation angle-side lobe radiation angle mapping data, the desired sidelobe and the fourth radiation angle corresponding to the third radiation angle are determined, wherein the main lobe radiation angle-side lobe radiation angle mapping data is used to indicate the mapping relationship between the radiation angle of the main lobe and the radiation angle of the side lobe when the number of detected targets is one.

[0031] Thus, based on the third radiation angle and the pre-determined main lobe radiation angle-side lobe radiation angle mapping data, the expected sidelobe and fourth radiation angle corresponding to the third radiation angle are determined. The main lobe radiation angle-side lobe radiation angle mapping data indicates the mapping relationship between the radiation angles of the main lobe and the side lobe when the number of detected targets is one. In this way, based on the third radiation angle, the expected sidelobe and fourth radiation angle corresponding to the third radiation angle can be obtained by looking up a table in the pre-determined main lobe radiation angle-side lobe radiation angle mapping data. This provides a basis for subsequently determining the target detection results, avoiding complex calculations and thus reducing the computational load and complexity to a certain extent, thereby improving computational efficiency.

[0032] In some implementations, determining the target detection result based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe includes:

[0033] The angular deviation between the desired sidelobe and the third sidelobe is determined based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe.

[0034] The target detection result is determined based on the angle deviation.

[0035] Thus, based on the fourth radiation angle of the expected sidelobe and the fifth radiation angle of the third sidelobe, the angular deviation between the expected and third sidelobes is determined; based on the angular deviation, the target detection result is determined. In this way, the angular deviation between the expected and third sidelobes can be determined using the fourth and fifth radiation angles of the expected and third sidelobes, providing a basis for single / double target judgment. Compared to using only power to distinguish between single and double targets, obtaining the angular deviation through the fourth and fifth radiation angles of the expected and third sidelobes allows for determining the target detection result, thereby improving the accuracy of target quantity determination.

[0036] In some implementations, determining the target detection result based on the angular deviation includes:

[0037] If the angular deviation is less than the third threshold, the number of detected targets is determined to be one; and / or,

[0038] If the angular deviation is greater than or equal to the third threshold, the number of the detected targets is determined to be two.

[0039] Thus, if the angle deviation is less than the third preset threshold, the number of detected targets is determined to be one; and / or, if the angle deviation is greater than or equal to the third preset threshold, the number of detected targets is determined to be two. In this way, by judging the angle deviation against the third preset threshold, a single target can be quickly determined when the angle deviation is less than the third preset threshold, and a dual target can be quickly determined when the angle deviation is greater than or equal to the third preset threshold. Compared to machine learning-based methods for determining single or dual targets, this approach can reduce computational load and complexity to some extent, thereby improving the efficiency of single / dual target determination.

[0040] In some embodiments, the radiation pattern includes a plurality of third sidelobes, and determining the angular deviation between the desired sidelobe and the third sidelobe based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe includes:

[0041] The angular deviation is determined based on the fourth radiation angle of the fourth sidelobe and the fifth radiation angle of the fifth sidelobe, wherein the fourth sidelobe is one of the desired sidelobes with the highest radiation power, and the desired sidelobes include multiple sidelobes; the fifth sidelobe is one of the desired sidelobes with the highest radiation power, and the third sidelobe includes multiple sidelobes.

[0042] Thus, the angular deviation is determined based on the fourth radiation angle of the fourth sidelobe and the fifth radiation angle of the fifth sidelobe. The fourth sidelobe comprises multiple desired sidelobes with high radiant power, and the fifth sidelobe comprises multiple desired sidelobes with high radiant power. In this way, the angular deviation is determined based on the fourth radiation angle corresponding to the fourth sidelobe and the fifth radiation angle corresponding to the fifth sidelobe. The angle and power characteristics of multiple fourth and fifth sidelobes with high radiant power are significantly affected by the detection signal itself, providing a basis for target detection results, eliminating noise interference, making single / double target decision results more reliable, and thus improving the accuracy and stability of target quantity determination.

[0043] In some embodiments, determining the angular deviation based on the fourth radiation angle of the fourth sidelobe and the fifth radiation angle of the fifth sidelobe includes:

[0044] Based on any two of the fourth radiation angles of the fourth sidelobe, construct multiple first angle groups;

[0045] Construct multiple second angle groups based on any two of the fifth radiation angles of the fifth sidelobe;

[0046] The angle deviation is determined based on the angle difference between each of the second angle groups and each of the first angle groups.

[0047] Thus, multiple first angle groups are constructed based on any two of the fourth radiation angles of multiple fourth sidelobes; multiple second angle groups are constructed based on any two of the fifth radiation angles of multiple fifth sidelobes; and the angle deviation is determined based on the angle difference between each second angle group and each first angle group. In this way, based on the constructed multiple first and second angle groups, the degree of agreement between the angular characteristics of the actual sidelobe (i.e., the fifth sidelobe) and the angular characteristics of the theoretical sidelobe (i.e., the fourth sidelobe) of a single target can be quantified by calculating their angle differences, providing a precise basis for single-target and dual-target decision-making.

[0048] This application provides an electronic device, including a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements the steps of the above-described method.

[0049] This application provides a vehicle that includes the above-described electronic equipment and implements the steps of the above-described method.

[0050] This application provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the steps of the above-described method.

[0051] This application provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the above-described method.

[0052] The electronic device, vehicle, computer-readable storage medium, and computer program product provided in this application determine a radiation pattern based on radar data. The radiation pattern indicates the mapping relationship between radiation angle and radiation power. Target detection results are determined based on the radiation angle and / or radiation power of the lobes in the radiation pattern, including the number of detected targets. Thus, obtaining the radiation pattern based on radar data makes single / double target determination more reliable. Determining the target detection result by the radiation angle or radiation power of the lobes in the radiation pattern improves the accuracy of determining the number of detected targets, avoiding false alarms and missed detections. Furthermore, compared to methods based on machine learning for determining single / double targets, this application's embodiment determines the target detection result based on the radiation angle or radiation power of the lobes in the radiation pattern, reducing computational load and complexity to a certain extent and improving computational efficiency.

[0053] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0054] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0055] Figure 1 This is one of the flowcharts of a radar-based target detection method according to certain embodiments of this application;

[0056] Figure 2 This is a schematic diagram of a radar-based target detection device according to certain embodiments of this application;

[0057] Figure 3 This is a schematic diagram of an electronic device according to certain embodiments of this application;

[0058] Figure 4 This is a second schematic flowchart of a radar-based target detection method according to certain embodiments of this application;

[0059] Figure 5 This is one of the schematic diagrams of the radiation pattern of certain embodiments of this application;

[0060] Figure 6 This is the third flowchart of a radar-based target detection method according to certain embodiments of this application;

[0061] Figure 7This is the fourth flowchart of a radar-based target detection method according to certain embodiments of this application;

[0062] Figure 8 This is the fifth flowchart illustrating a radar-based target detection method according to certain embodiments of this application;

[0063] Figure 9 This is a schematic flowchart of a radar-based target detection method according to certain embodiments of this application;

[0064] Figure 10 This is a schematic diagram of the theoretical curves of the sidelobe angle in some embodiments of this application;

[0065] Figure 11 This is the seventh flowchart of a radar-based target detection method according to certain embodiments of this application;

[0066] Figure 12 This is a second schematic diagram of the radiation pattern of certain embodiments of this application;

[0067] Figure 13 This is the eighth flowchart of a radar-based target detection method according to certain embodiments of this application;

[0068] Figure 14(a) is a schematic diagram of a single-target anechoic chamber test scenario according to some embodiments of this application;

[0069] Figure 14(b) is a schematic diagram of a dual-target anechoic chamber test scenario according to certain embodiments of this application. Detailed Implementation

[0070] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0071] During radar direction-of-arrival estimation, there may be two targets with different angles under the same range and velocity cell. By using single-target / dual-target decision-making, it can be determined whether there is one target or two targets with different angles under a certain range and velocity cell, and thus determine the specific spatial location of the target.

[0072] However, the relevant technologies are usually based on machine learning for single and dual-objective decision-making, which involves a large amount of computation and high complexity. If the parameters are not set properly, the accuracy of the decision results may be reduced.

[0073] Furthermore, when two targets are close in angle, their range and velocity units may overlap, making it difficult to distinguish them based on power characteristics alone. For example, a dual target may be misclassified as a single target, leading to a missed detection of the real target. On the other hand, when a single target has strong reflection sidelobes, it may be misclassified as a dual target due to power characteristics, resulting in a false alarm.

[0074] Based on the above issues, please refer to Figure 1 This application provides a radar-based target detection method, the method comprising:

[0075] 01: Based on radar data, determine the radiation pattern, which is used to indicate the mapping relationship between radiation angle and radiation power;

[0076] 02: Determine the target detection result based on the radiation angle and / or radiation power of the lobe in the radiation pattern, wherein the target detection result includes the number of detected targets.

[0077] Please see Figure 2 This application provides a radar-based target detection device. The radar-based target detection method of this application can be implemented by the radar-based target detection device of this application. Specifically, the radar-based target detection device includes an information acquisition module, a calculation module, and a decision module. The information acquisition module is used to acquire radar data. The calculation module is used to determine a radiation pattern based on the radar data, wherein the radiation pattern indicates the mapping relationship between radiation angle and radiation power. The decision module is used to determine the target detection result based on the radiation angle and / or radiation power of the lobes in the radiation pattern, wherein the target detection result includes the number of detected targets.

[0078] Please see Figure 3 This application also provides an electronic device, which includes a memory and a processor. The radar-based target detection method of this application can be implemented by the electronic device of this application. Specifically, the memory stores a computer program, and the processor is used to determine a radiation pattern based on radar data, wherein the radiation pattern is used to indicate the mapping relationship between radiation angle and radiation power. The processor is also used to determine a target detection result based on the radiation angle and / or radiation power of the lobes in the radiation pattern, wherein the target detection result includes the number of detected targets.

[0079] Specifically, radar data is the electromagnetic wave signal reflected by the detected target. During the target detection process, radar data can be acquired based on the radar to determine the radiation pattern.

[0080] In one example, the radiation pattern can be obtained using conventional beamforming (CBF) with DOA estimation.

[0081] Specifically, for a radar system with one transmitter and multiple receivers, the steering vector of each array element is w = [w1w2…w...]. M ] T This is to perform phase compensation on the signals received by different array elements, so that the signals in a specific direction are superimposed and enhanced when the array is output, while the signals in other directions are attenuated due to phase mismatch.

[0082] The array output signal is:

[0083]

[0084] Where x(n) = [x1x2...x M [ ] represents the received signals, i.e., radar data, of each array element;

[0085] Array output power:

[0086] P(w)=E{|y(n| 2}=w H E{x(n)x H (n)}w=w H Rw

[0087] Wherein, the autocorrelation matrix of the array received signal is R = E{x(n)x H (n)} reflects the degree of correlation between the received signals of different array elements in a statistical sense.

[0088] In practice, the theoretical autocorrelation matrix R cannot be obtained directly. Therefore, the maximum likelihood estimation can be used to approximate the theoretical autocorrelation matrix.

[0089]

[0090] Where x(n), n=1,2,...,N are spatial snapshots.

[0091] By traversing the range of angle measurements Calculate the corresponding guide vector w = a(θ) for each angle θ, and substitute each angle θ into P(θ) = a H Ra(θ) yields the output power in that direction.

[0092] At this point, if θ is the actual direction of arrival of the target wave, the phase difference between the array elements is perfectly compensated by a(θ), and the power P(θ) reaches its maximum value after signal superposition, forming the main lobe in the radiation pattern; other directions have lower power due to phase mismatch, forming the side lobes in the radiation pattern.

[0093] Will Using the horizontal axis as the horizontal axis and the corresponding output power P as the vertical axis, a two-dimensional radiation pattern can be obtained, which can then intuitively display the signal strength distribution at different angles.

[0094] In a radiation pattern, the lobe consists of a main lobe and side lobes. The main lobe is the most powerful lobe, and all other lobes are side lobes.

[0095] Radiation angle is the angular characteristic of a lobe, such as the main lobe angle and the angles of the first three major side lobes.

[0096] Radiated power is the power characteristic of a lobe, such as the power of the main lobe and the power of the first three side lobes.

[0097] Based on the radiation angle and / or radiation power of the lobes in the radiation pattern, the target detection result can be determined by combining the angular and power characteristics.

[0098] In one example, if the main lobe beamwidth is greater than a threshold, the number of detected targets can be directly determined to be two, i.e., dual targets; if the main lobe power divided by the power of the first largest sidelobe is greater than a threshold, the number of detected targets can be determined to be one, i.e., single targets; otherwise, the number of detected targets can be determined by comparing the minimum deviation between the angles of the first three largest sidelobes and the theoretical sidelobe angles with a threshold.

[0099] Compared to machine learning-based methods for determining single or double targets, determining target detection results based on the radiation angle and power of lobes in the radiation pattern reduces computational load and complexity to some extent, improves computational efficiency, and by fusing the angle and power features of the radiation pattern, the inherent patterns of lobes in the pattern can be utilized to improve the accuracy of target number determination, making single or double target determination results more reliable, thereby avoiding false alarms and missed detections.

[0100] In summary, in this embodiment, acquiring radiation patterns based on radar data makes single / double target determination results more reliable. Target detection results are determined by the radiation angle or radiation power of the lobes in the radiation pattern, thereby improving the accuracy of target quantity determination and avoiding false alarms and missed detections. Furthermore, compared to machine learning-based methods for determining single / double targets, this embodiment can determine target detection results based on the radiation angle or radiation power of the lobes in the radiation pattern, which reduces computational load and complexity to a certain extent and improves computational efficiency.

[0101] Please see Figure 4 In some embodiments, the radiation pattern includes a first main lobe. Step 02 (determining the target detection result based on the radiation angle and / or radiation power of the lobe in the radiation pattern) includes:

[0102] 021: Determine the beamwidth of the first main lobe based on the difference between the first radiation angle and the second radiation angle of the first main lobe, wherein the difference between the first radiation power corresponding to the first radiation angle and the second radiation power corresponding to the second radiation angle is a preset value.

[0103] 022: Determine the target detection result based on the beamwidth.

[0104] In some embodiments, the calculation module is further configured to determine the beamwidth of the first main lobe based on the difference between the first radiation angle and the second radiation angle of the first main lobe, wherein the difference between the first radiation power corresponding to the first radiation angle and the second radiation power corresponding to the second radiation angle is a preset value. The calculation module is also configured to determine the target detection result based on the beamwidth.

[0105] In some embodiments, the processor is further configured to determine the beamwidth of the first main lobe based on the difference between a first radiation angle and a second radiation angle, wherein the difference between the first radiation power corresponding to the first radiation angle and the second radiation power corresponding to the second radiation angle is a preset value. The processor is further configured to determine the target detection result based on the beamwidth.

[0106] Specifically, the first main lobe refers to the peak region with the highest power in the radiation pattern, corresponding to the direction in which the target signal is strongest, i.e., the angle of arrival of the electromagnetic wave signal reflected by the target. The peak power of the first main lobe is the first radiated power, which corresponds to the first radiation angle.

[0107] The second radiated power is the power of the first main lobe peak value, which is the power after the first radiated power is reduced by a preset value, and corresponds to the second radiated angle. The preset value is a predetermined, fixed attenuation value, such as 3 dB.

[0108] Understandably, based on the inherent differences in radiation patterns between single and dual targets, within the same distance and velocity cell, the main lobe of the radiation pattern of dual targets with similar angles will be broadened due to signal superposition.

[0109] In the radiation patterns of dual targets and single targets with similar angles, under the same radiation power (i.e., the same power beamwidth), the beamwidth of the main lobe of the dual target will be greater than that of the main lobe of the single target.

[0110] like Figure 5 The radiation pattern shown is illustrated, where the solid line represents a single target at 0°; the dashed lines represent dual targets at 0° and 2°; the straight -3dB line is the reference line for a 3dB drop in the main lobe peak value, i.e., power attenuation to 50% of the peak value. The intersection of the -3dB line with the main lobes of the single and dual targets corresponds to their angular range, i.e., the 3dB beamwidth. It can be seen that the 3dB beamwidth for a single target is 3.2°, while the 3dB beamwidth for a dual target is 4.73°. At the same power, the beamwidth for a dual target is greater than that for a single target.

[0111] Therefore, the characteristic differences of the detected target in the width of the first main lobe can be quantified by the first radiation power, the second radiation power and the preset value, so as to determine the beam width of the first main lobe according to the difference between the first radiation angle and the second radiation angle of the first main lobe, and provide a basis for the number of detected targets, i.e., the judgment of single and double targets.

[0112] Thus, the beamwidth of the first main lobe is determined based on the difference between the first radiation angle and the second radiation angle, where the difference between the first radiation power corresponding to the first radiation angle and the second radiation power corresponding to the second radiation angle is a preset value; the target detection result is then determined based on the beamwidth. In this way, the beamwidth can be determined based on the difference between the first and second radiation angles of the first main lobe, providing a basis for single / dual target judgment, thereby improving the accuracy of target quantity determination by determining the target detection result based on the beamwidth.

[0113] In some implementations, step 022 (determining the target detection result based on the beamwidth) includes:

[0114] 0221: When the beamwidth is greater than the first preset threshold, the number of detected targets is determined to be two.

[0115] In some implementations, the decision module is also used to determine that the number of detected targets is two when the beamwidth is greater than a first preset threshold.

[0116] In some implementations, the processor is also configured to determine that the number of detected targets is two when the beamwidth is greater than a first preset threshold.

[0117] Specifically, the first preset threshold is used to determine the number of detected targets. It is the maximum angle value of the beamwidth of a single target obtained through actual testing. For example, the first preset threshold for a 3dB beamwidth can be 4°.

[0118] Based on the characteristic that the main lobe will inevitably broaden when two targets have similar angles, if the beamwidth is greater than a first preset threshold, it can be assumed that there are two targets with similar angles, resulting in their first main lobes overlapping and a larger beamwidth. By determining that the number of detected targets is two through a beamwidth greater than the first preset threshold, complex subsequent calculations are avoided, thus improving the efficiency of single-target / dual-target decision-making to a certain extent.

[0119] In one example, such as Figure 5 The single-target 3dB beamwidth shown is 3.2°, and the dual-target 3dB beamwidth is 4.73°, therefore the threshold Γ 3dB It can be set to 4°, which can distinguish between dual targets and single targets with angles close to 0° and 2°.

[0120] It should be noted that the first preset threshold in the embodiments of this application is only illustrative and should not be construed as a limitation on its value. In other examples, the first preset threshold may also be 2°, 3.5°, and 5°, etc., which are not limited here. It needs to be determined based on the specific antenna design and a large amount of measured data, such as the antenna array type, the number of array elements, etc., to ensure the accuracy of the initial determination of single and dual targets.

[0121] Thus, when the beamwidth is greater than the first preset threshold, the number of detected targets is determined to be two. In this way, by determining whether the beamwidth exceeds the first preset threshold, the detected targets can be quickly identified as dual targets when the beamwidth is greater than the first preset threshold. Compared to methods based on machine learning to determine single or dual targets, this can reduce computational load and complexity to a certain extent, thereby improving the efficiency of single or dual target determination.

[0122] Please see Figure 6 In some embodiments, the radiation pattern includes a second main lobe and a first sidelobe corresponding to the second main lobe. Step 02 (determining the target detection result based on the radiation angle and / or radiation power of the sidelobe in the radiation pattern) includes:

[0123] 023: Determine the radiation power ratio based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first sidelobe;

[0124] 024: Determine the target detection result based on the radiation power ratio.

[0125] In some implementations, the calculation module is further configured to determine a radiation power ratio based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first sidelobe. The calculation module is also configured to determine the target detection result based on the radiation power ratio.

[0126] In some implementations, the processor is further configured to determine a radiation power ratio based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first sidelobe. The processor is also configured to determine a target detection result based on the radiation power ratio.

[0127] Specifically, if the beamwidth is less than or equal to the first preset threshold, the number of detected targets cannot be determined. The number of targets must be determined again by the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first sidelobe, i.e., the radiation power ratio.

[0128] The second main lobe is the region with the highest power in the radiation pattern, corresponding to the direction in which the target signal is strongest. The peak power of the second main lobe is the third radiated power.

[0129] The first sidelobe is the region of peak power in the radiation pattern other than the second main lobe. It includes multiple sidelobes, among which the highest power sidelobe is the fourth radiation power, which is the peak power other than the main lobe.

[0130] The peak to side lobe ratio (PSLR), i.e., the radiation power ratio, can be determined based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first side lobe. This provides a basis for judging the number of detected targets, thereby improving the accuracy of the target quantity determination by determining the target detection result based on the radiation power ratio.

[0131] Thus, the radiation power ratio is determined based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first sidelobe; the target detection result is then determined based on the radiation power ratio. In this way, the radiation power ratio can be determined based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first sidelobe, providing a basis for single / dual target judgment, thereby improving the accuracy of target quantity determination.

[0132] In some embodiments, the radiation pattern includes multiple first sidelobes, and step 023 (determining the radiation power ratio based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first sidelobes) includes:

[0133] 0231: Determine the radiation power ratio based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the second sidelobe, wherein the second sidelobe is the first sidelobe with the highest radiation power among multiple first sidelobes.

[0134] In some implementations, the calculation module is further configured to determine the radiation power ratio based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the second sidelobe, wherein the second sidelobe is the first sidelobe with the highest radiation power among a plurality of first sidelobes.

[0135] In some implementations, the processor is further configured to determine a radiation power ratio based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the second sidelobe, wherein the second sidelobe is the first sidelobe with the highest radiation power among a plurality of first sidelobes.

[0136] Specifically, the first sidelobe can be divided into multiple sidelobes according to their power from high to low. Among them, the one with the highest power is the first major sidelobe, which is also the second sidelobe, followed by the second major sidelobe, the third major sidelobe, and so on. The first major sidelobe is the second sidelobe, whose power is lower than that of the main lobe but higher than that of the other sidelobes.

[0137] The second sidelobe is the sidelobe with the highest power in the radiation pattern besides the main lobe, that is, the sidelobe with the strongest energy among all sidelobes. The peak power of the second sidelobe is the fourth radiation power.

[0138] The radiation power ratio is determined based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the second sidelobe:

[0139]

[0140] Among them, P s The power value at the peak of the main lobe is the third radiated power, P. m This is the power value at the peak of the maximum sidelobe, i.e., the fourth radiated power.

[0141] Understandably, based on the inherent differences between single and dual target radiation patterns, in a single target radiation pattern, energy is mainly concentrated in the main lobe, and the power of the side lobes is significantly lower than that of the main lobe, i.e., the PSLR is larger. In a dual target radiation pattern, due to the difference in the angles of the two targets, the signal of one of the targets may form a pseudo sidelobe, which appears as the first large sidelobe, i.e., the second sidelobe, thus resulting in its power being relatively higher than that of the main lobe, i.e., the PSLR is smaller.

[0142] Therefore, the radiation power ratio can be determined based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the second side lobe. This ratio can be used to distinguish the radiation pattern characteristics of single targets and dual targets, and thus determine the number of targets to be detected.

[0143] Thus, the radiation power ratio is determined based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the second sidelobe, where the second sidelobe is the first sidelobe with the highest radiation power among multiple first sidelobes. This ratio provides a basis for single / dual target determination, allowing for the assessment of target detection results and improving the accuracy of target quantity determination.

[0144] In some implementations, step 024 (determining the target detection result based on the radiation power ratio) includes:

[0145] 0241: If the radiation power ratio is greater than the second preset threshold, the number of detection targets is determined to be one.

[0146] In some implementations, the decision module is also used to determine that the number of detected targets is one if the radiation power ratio is greater than a second preset threshold.

[0147] In some implementations, the processor is also configured to determine that the number of detected targets is one if the radiation power ratio is greater than a second preset threshold.

[0148] Specifically, the second preset threshold is the minimum PSLR of a single target obtained through actual testing, which is used to determine the number of targets to be detected.

[0149] When the radiation power ratio is greater than the second preset threshold, based on the characteristic that the sidelobe power of a single target is usually much lower than that of the main lobe, it can be assumed that there is only one target being detected, which leads to the energy of the second main lobe being more concentrated and the energy of the second sidelobe being weak. Therefore, it can be directly determined as a single target, avoiding subsequent complex calculations and improving the efficiency of single and dual target decision to a certain extent.

[0150] In one example, the second preset threshold Γ PSLR It can be 1.5, if PSLR>Γ PSLR If the first large sidelobe has a lower power than the second main lobe, it is directly classified as a single target; if PSLR≤Γ PSLR If the first sidelobe has a higher power than the second main lobe, it is considered that it may be a dual target, and further judgment is needed.

[0151] It should be noted that the second preset threshold in the embodiments of this application is only illustrative and should not be construed as a limitation on its value. In other examples, the first preset threshold can also be 0.7, 1, and 2, etc., which are not limited here. It needs to be determined based on the specific antenna design and a large amount of measured data, such as the antenna array type, the number of array elements, and a large amount of single-target and dual-target radiation patterns. The distribution range of PSLR of single and dual targets is calculated and analyzed, and a critical value that can distinguish the two types of targets is selected as the second preset threshold to ensure the accuracy of the preliminary single and dual target judgment.

[0152] Thus, if the radiation power ratio is greater than the second preset threshold, the number of detected targets is determined to be one. In this way, by judging whether the radiation power ratio exceeds the second preset threshold, a single target can be quickly determined when the radiation power ratio is greater than the second preset threshold. Compared with machine learning-based methods for determining single and dual targets, this can reduce computational load and complexity to a certain extent, thereby improving the efficiency of single and dual target determination.

[0153] Please see Figure 7 In some embodiments, the radiation pattern includes a third main lobe and a third side lobe corresponding to the third main lobe. Step 02 (determining the target detection result based on the radiation angle and / or radiation power of the side lobes in the radiation pattern) includes:

[0154] 025: Based on the third radiation angle of the third main lobe, determine the fourth radiation angle of the desired side lobe, where the desired side lobe is the side lobe corresponding to the main lobe when the radiation angle of the main lobe is the third radiation angle and the number of detected targets is one.

[0155] 026: Determine the target detection result based on the fourth radiation angle of the expected sidelobe and the fifth radiation angle of the third sidelobe.

[0156] In some implementations, the calculation module is further configured to determine a fourth radiation angle of the desired sidelobe based on the third radiation angle of the third main lobe, wherein the desired sidelobe is the sidelobe corresponding to the main lobe when the radiation angle of the main lobe is the third radiation angle and the number of detected targets is one. The calculation module is further configured to determine the target detection result based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe.

[0157] In some embodiments, the processor is further configured to determine a fourth radiation angle of a desired sidelobe based on a third radiation angle of the third main lobe, wherein the desired sidelobe is the sidelobe corresponding to the main lobe when the main lobe's radiation angle is the third radiation angle and the number of detected targets is one. The processor is further configured to determine a target detection result based on the fourth radiation angle of the desired sidelobe and a fifth radiation angle of the third sidelobe.

[0158] Specifically, when the radiation power ratio is less than or equal to the second preset threshold, the power of the second sidelobe of the first large sidelobe stage is relatively higher than that of the second main lobe. It may be a pseudo sidelobe formed by the signal of the other target in the dual-target scenario. It cannot be directly determined as a single target and needs to be judged again by the fourth radiation angle of the expected sidelobe and the fifth radiation angle of the third sidelobe.

[0159] The third main lobe is the peak region with the highest power in the radiation pattern, corresponding to the direction in which the target signal is strongest. The angle corresponding to the peak power of the third main lobe is the third radiation angle.

[0160] By using theoretical simulations with the third radiation angle as the main lobe and the number of detected targets being one, the side lobe corresponding to the main lobe can be obtained. This side lobe is the desired side lobe, and the angle corresponding to the peak power of the desired side lobe is the fourth radiation angle.

[0161] The third sidelobe is the region of peak power in the radiation pattern other than the third main lobe, and includes multiple sidelobes. The angle corresponding to the peak power of the third sidelobe is the fifth radiation angle.

[0162] Understandably, the expected sidelobes are the theoretical sidelobes that should exist on both sides of the third main lobe at the third radiation angle in a single-target scene, and the fourth radiation angle is the theoretical sidelobe angle that should exist on both sides of the third main lobe at the third radiation angle in a single-target scene.

[0163] The third side lobe is the actual side lobe of the third main lobe at the third radiation angle, and the fifth radiation angle is the actual side lobe angle of the third main lobe at the third radiation angle.

[0164] Based on the inherent laws of sidelobe angles of a single target, the distribution law of sidelobes in the radiation pattern can be predicted when the number of detected targets is one, i.e., a single target. That is, when the main lobe has a certain fixed radiation angle, the theoretical angular positions of the sidelobes on both sides are also fixed.

[0165] Therefore, the expected sidelobe and its fourth radiation angle, determined based on the third radiation angle of the third main lobe, can provide a benchmark for single-target and dual-target discrimination. For example, if the radiation angle of the actual sidelobe at the third radiation angle of the third main lobe is close to the radiation angle of the theoretical sidelobe of a single target, i.e., the fourth radiation angle, then the currently detected target can be considered a single target.

[0166] Based on the fourth radiation angle of the expected sidelobe and the fifth radiation angle of the third sidelobe, the theoretical radiation angle of the third sidelobe at the third radiation angle can be compared with the actual radiation angle of the sidelobe. The target detection result, i.e. the number of detected targets, can be determined based on the deviation between the actual sidelobe angle and the theoretical sidelobe angle.

[0167] Thus, based on the third radiation angle of the third main lobe, the fourth radiation angle of the desired sidelobe is determined. The desired sidelobe is the sidelobe corresponding to the main lobe when the main lobe's radiation angle is the third radiation angle and the number of detected targets is one. The target detection result is determined based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe. In this way, the fourth radiation angle of the desired sidelobe can be determined based on the third radiation angle of the third main lobe. Compared to using only power to distinguish between single and dual targets, the target detection result can be determined by comparing the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe, thereby improving the accuracy of determining the number of detected targets.

[0168] Please see Figure 8 In some implementations, step 025 (determining the desired fourth radiation angle of the sidelobe based on the third radiation angle of the third main lobe) includes:

[0169] 0251: Based on the third radiation angle and the predetermined main lobe radiation angle-side lobe radiation angle mapping data, determine the expected sidelobe and the fourth radiation angle corresponding to the third radiation angle. The main lobe radiation angle-side lobe radiation angle mapping data is used to indicate the mapping relationship between the radiation angle of the main lobe and the radiation angle of the side lobe when the number of detected targets is one.

[0170] In some implementations, the calculation module is further configured to determine the desired sidelobe and fourth radiation angle corresponding to the third radiation angle based on the third radiation angle and the predetermined main lobe radiation angle-side lobe radiation angle mapping data, wherein the main lobe radiation angle-side lobe radiation angle mapping data is used to indicate the mapping relationship between the radiation angle of the main lobe and the radiation angle of the side lobe when the number of detected targets is one.

[0171] In some implementations, the processor is further configured to determine the desired sidelobe and a fourth radiation angle corresponding to the third radiation angle based on the third radiation angle and predetermined main lobe radiation angle-side lobe radiation angle mapping data, wherein the main lobe radiation angle-side lobe radiation angle mapping data is used to indicate the mapping relationship between the radiation angle of the main lobe and the radiation angle of the side lobe when the number of detected targets is one.

[0172] Specifically, the main lobe radiation angle-side lobe radiation angle mapping data is a mapping table for main lobe radiation angles and side lobe radiation angles under single-target conditions. It is used to indicate the mapping relationship between the radiation angles of the main lobe and the side lobe when the number of detected targets is one. Furthermore, the main lobe radiation angle-side lobe radiation angle mapping data is obtained in advance through actual measurements, covering the entire scanning range of the radar, and can flexibly match the side lobe radiation angles under different main lobe radiation angles.

[0173] It should be noted that the single-target angle step in the mapping table needs to be set according to the memory situation. If there is enough memory, a smaller angle step can be set to accurately reflect the changes in the sidelobe angle under different single-target angles, such as 0.33°, which can improve the accuracy of single and dual-target judgment. If memory is tight, a larger angle step can be set to reduce the memory space occupied by the mapping table.

[0174] Based on the third radiation angle, a table can be directly looked up in the pre-determined main lobe radiation angle-side lobe radiation angle mapping data. By finding the single target angle that is closest to the third radiation angle, the corresponding theoretical side lobe angle, i.e. the expected side lobe and the fourth radiation angle, can be obtained. This provides a benchmark for determining the target detection results, thereby avoiding complex calculations, reducing the amount and complexity of calculations to a certain extent, and improving the calculation efficiency.

[0175] Thus, based on the third radiation angle and the pre-determined main lobe radiation angle-side lobe radiation angle mapping data, the expected sidelobe and fourth radiation angle corresponding to the third radiation angle are determined. The main lobe radiation angle-side lobe radiation angle mapping data indicates the mapping relationship between the radiation angles of the main lobe and the side lobe when the number of detected targets is one. In this way, based on the third radiation angle, the expected sidelobe and fourth radiation angle corresponding to the third radiation angle can be obtained by looking up a table in the pre-determined main lobe radiation angle-side lobe radiation angle mapping data. This provides a basis for subsequently determining the target detection results, avoiding complex calculations and thus reducing the computational load and complexity to a certain extent, thereby improving computational efficiency.

[0176] Please see Figure 9 In some implementations, step 026 (determining the target detection result based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe) includes:

[0177] 0261: Determine the angular deviation between the desired sidelobe and the third sidelobe based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe;

[0178] 0262: Determine the target detection result based on the angular deviation.

[0179] In some implementations, the calculation module is further configured to determine the angular deviation between the desired sidelobe and the third sidelobe based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe. The decision module is further configured to determine the target detection result based on the angular deviation.

[0180] In some implementations, the processor is further configured to determine the angular deviation between the desired sidelobe and the third sidelobe based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe. The processor is also configured to determine the target detection result based on the angular deviation.

[0181] Specifically, the angle deviation is the difference between the fourth radiation angle of the expected sidelobe and the fifth radiation angle of the third sidelobe. It is used to quantify the degree of deviation between the theoretical sidelobe angle and the actual sidelobe angle of a single target, and to provide data for determining the number of targets to be detected.

[0182] Understandably, based on the inherent laws of sidelobe angles of single targets and the distortion differences of sidelobe angles of dual targets, the sidelobe angles in the radiation pattern of a single target have inherent laws and can be predicted, such as the sidelobes on both sides of the main lobe exhibiting a symmetrical distribution.

[0183] In a dual-target radiation pattern, since there are two targets at different angles, their sidelobe angles do not conform to the theoretical sidelobe angles of a single target.

[0184] Therefore, based on the fourth radiation angle of the expected sidelobe and the fifth radiation angle of the third sidelobe, the angle deviation can be determined, and the degree of deviation between the theoretical sidelobe angle and the actual sidelobe angle of a single target can be obtained, so as to determine the target detection result based on the angle deviation.

[0185] Compared to using power alone to distinguish between single and dual targets, by obtaining the angular deviation by the fourth radiation angle of the expected sidelobe and the fifth radiation angle of the third sidelobe, the target detection result can be determined based on the angular deviation, making the target detection result more reliable and thus improving the accuracy of the determination of the number of detected targets.

[0186] Thus, based on the fourth radiation angle of the expected sidelobe and the fifth radiation angle of the third sidelobe, the angular deviation between the expected and third sidelobes is determined; based on the angular deviation, the target detection result is determined. In this way, the angular deviation between the expected and third sidelobes can be determined using the fourth and fifth radiation angles of the expected and third sidelobes, providing a basis for single / double target judgment. Compared to using only power to distinguish between single and double targets, obtaining the angular deviation through the fourth and fifth radiation angles of the expected and third sidelobes allows for determining the target detection result, thereby improving the accuracy of target quantity determination.

[0187] Please see Figure 10 In some implementations, step 0262 (determining the target detection result based on the angular deviation) includes:

[0188] 02621: If the angular deviation is less than the third preset threshold, determine the number of detected targets as one; and / or,

[0189] 02622: If the angular deviation is greater than or equal to the third preset threshold, the number of detection targets is determined to be two.

[0190] In some implementations, the decision module is further configured to determine the number of detected targets as one if the angle deviation is less than a third preset threshold. The decision module is also configured to determine the number of detected targets as two if the angle deviation is greater than or equal to the third preset threshold.

[0191] In some embodiments, the processor is further configured to determine that the number of detected targets is one if the angular deviation is less than a third preset threshold. The processor is further configured to determine that the number of detected targets is two if the angular deviation is greater than or equal to the third preset threshold.

[0192] Specifically, the third preset threshold is a pre-set critical value for the angle difference between the desired sidelobe and the third sidelobe, used to compare with the angle deviation to determine the number of detected targets. For example, the third preset threshold Γ δ It can be 3.5.

[0193] Based on the inherent laws of single-target sidelobe angles and the distortion differences of dual-target sidelobe angles, if the angle deviation is less than the third preset threshold, it can be considered that the deviation between the fourth radiation angle of the expected sidelobe and the fifth radiation angle of the third sidelobe is too large. The actual sidelobe angle may be distorted due to the superposition of the radiation pattern sidelobes of the two targets. It can be determined that there are two targets with similar angles in the current detection target, that is, the number of detection targets is two.

[0194] If the angle deviation is less than the third preset threshold, it can be considered that the deviation between the fourth radiation angle of the expected sidelobe and the fifth radiation angle of the third sidelobe is within the normal range. Since the sidelobe angle has natural fluctuations, it can be determined that there is only one target currently being detected, that is, the number of targets being detected is one.

[0195] It should be noted that the third preset threshold in the embodiments of this application is only illustrative and should not be construed as a limitation on its value. In other examples, the third preset threshold may also be 1°, 2.5°, and 4°, etc., which are not limited here. It needs to be determined based on the specific antenna design and a large amount of measured data, such as the antenna array type, the number of array elements, etc., to ensure the accuracy of the preliminary determination of single and dual targets.

[0196] Compared to machine learning-based methods for determining odd or even targets, the implementation method in this application only requires table lookup and simple threshold comparison to determine odd or even targets, which reduces the amount of computation and complexity and improves computational efficiency to a certain extent.

[0197] Thus, if the angle deviation is less than the third preset threshold, the number of detected targets is determined to be one; if the angle deviation is greater than or equal to the third preset threshold, the number of detected targets is determined to be two. In this way, by judging the angle deviation against the third preset threshold, a single target can be quickly determined when the angle deviation is less than the third preset threshold, and a dual target can be quickly determined when the angle deviation is greater than or equal to the third preset threshold. Compared to machine learning-based methods for determining single or dual targets, this approach can reduce computational load and complexity to some extent, thereby improving the efficiency of single / dual target determination.

[0198] In some embodiments, the radiation pattern includes multiple third sidelobes. Step 0261 (determining the angular deviation between the desired sidelobe and the third sidelobe based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe) includes:

[0199] 02611: Determine the angle deviation based on the fourth radiation angle of the fourth sidelobe and the fifth radiation angle of the fifth sidelobe. The fourth sidelobe consists of multiple sidelobes with the highest radiation power in the desired sidelobe, and the fifth sidelobe consists of multiple sidelobes with the highest radiation power in the third sidelobe.

[0200] In some implementations, the calculation module is further configured to determine the angular deviation based on the fourth radiation angle of the fourth sidelobe and the fifth radiation angle of the fifth sidelobe, wherein the fourth sidelobe is one of the desired sidelobes with the highest radiated power, and the desired sidelobe includes multiple sidelobes; the fifth sidelobe is one of the desired sidelobes with the highest radiated power, and the third sidelobe includes multiple sidelobes.

[0201] In some embodiments, the processor is further configured to determine an angular deviation based on the fourth radiation angle of the fourth sidelobe and the fifth radiation angle of the fifth sidelobe, wherein the fourth sidelobe is a plurality of desired sidelobes with leading radiated power, and the desired sidelobes include a plurality of such sidelobes; the fifth sidelobe is a plurality of desired sidelobes with leading radiated power, and the third sidelobe includes a plurality of such sidelobes.

[0202] Specifically, the fourth sidelobe is the sidelobe with the larger radiated power among the desired sidelobes. That is, under the same main lobe radiation angle, the peak power of the fourth sidelobe corresponds to the angle of the larger sidelobes on both sides of the main lobe, which is the fourth radiation angle.

[0203] Understandably, a single-target antenna pattern typically has approximately symmetrical, higher sidelobes on either side of the main lobe. The number of sidelobes varies depending on the main lobe angle, and the symmetry changes with the main lobe angle. For example, when the main lobe angle is located in the symmetry center region of the antenna array... Figure 10 The theoretical diagram of the sidelobe angle shown shows that the beam symmetry is good near 0°. Four obvious and larger sidelobes may be formed on both sides of the main lobe. That is, the left sidelobe is the first larger sidelobe to the left of the main lobe, and the right sidelobe, left sidelobe, and right sidelobe are similar. These four sidelobes are symmetrical.

[0204] When the main lobe angle deviates far from the center of symmetry, the beam symmetry is broken, and the energy of some side lobes may exceed the range due to the weakening of the array phase compensation characteristics and no longer belong to the larger side lobes. At this time, the number of larger side lobes may be reduced to 2 or 3.

[0205] The fifth sidelobe is the sidelobe with the highest radiated power among the multiple third sidelobes, such as the first, second, and third largest sidelobes, which have the highest power. The peak power of the fifth sidelobe corresponds to the fifth radiation angle.

[0206] The angle and power characteristics of the leading fourth and fifth sidelobes are most affected by the detection signal itself and are relatively less affected by noise interference. They can stably reflect the spatial distribution characteristics of the target. Therefore, by determining the angle deviation based on the corresponding fourth and fifth radiation angles, an accurate basis can be provided for the target detection results, eliminating noise interference and making the single and double target judgment results more reliable, thereby improving the accuracy and stability of the number of detected targets.

[0207] Thus, the angular deviation is determined based on the fourth radiation angle of the fourth sidelobe and the fifth radiation angle of the fifth sidelobe. The fourth sidelobe comprises multiple desired sidelobes with high radiant power, and the fifth sidelobe comprises multiple desired sidelobes with high radiant power. In this way, the angular deviation is determined based on the fourth radiation angle corresponding to the fourth sidelobe and the fifth radiation angle corresponding to the fifth sidelobe. The angle and power characteristics of multiple fourth and fifth sidelobes with high radiant power are significantly affected by the detection signal itself, providing a basis for target detection results, eliminating noise interference, making single / double target decision results more reliable, and thus improving the accuracy and stability of target quantity determination.

[0208] Please see Figure 11 In some embodiments, step 02611 (determining the angular deviation based on the fourth radiation angle of the fourth sidelobe and the fifth radiation angle of the fifth sidelobe) includes:

[0209] 026111: Construct multiple sets of first angles based on any two of the fourth radiation angles of the fourth sidelobe;

[0210] 026112: Construct multiple sets of second angles based on any two of the fifth radiation angles of the fifth sidelobe;

[0211] 026113: Determine the angle deviation based on the angle difference between each second angle group and each first angle group.

[0212] In some implementations, the calculation module is further configured to construct a plurality of first angle groups based on any two of the fourth radiation angles of the fourth sidelobe. The calculation module is also configured to construct a plurality of second angle groups based on any two of the fifth radiation angles of the fifth sidelobe. The calculation module is further configured to determine the angle deviation amount based on the angle difference between each second angle group and each first angle group.

[0213] In some implementations, the processor is further configured to construct a plurality of first angle groups based on any two of the fourth radiation angles of the fourth sidelobe. The processor is further configured to construct a plurality of second angle groups based on any two of the fifth radiation angles of the fifth sidelobe. The processor is further configured to determine an angle deviation amount based on the angle difference between each second angle group and each first angle group.

[0214] Specifically, based on any two of the fourth radiation angles of the fourth sidelobe, multiple first angle groups can be constructed, where the first angle group is the theoretical angle pair on both sides of the main lobe.

[0215] Because the angle of the third main lobe is different, the number of first angle groups formed by the fourth side lobes may also be different. For example, the first angle group is... After pairing up, if there are 2 fourth radiation angles, there is 1 pair; if there are 3 fourth radiation angles, there are 3 pairs; if there are 4 fourth radiation angles, there are 6 pairs.

[0216] Multiple sets of second angles can be constructed based on any two of the fifth radiation angles of the fifth sidelobe.

[0217] The angular deviation can be determined by the angular difference between each second angular group and each first angular group.

[0218] Understandably, such as Figure 12 In the single-target radiation pattern shown, the solid line is the theoretical simulation curve, and the dashed line is the curve actually measured in the anechoic chamber; the two almost overlap.

[0219] In the simulated single-target radiation pattern, four approximately symmetrical sidelobes with high normalized levels can be observed on both sides of the main lobe. These are the left sidelobe closest to the main lobe on the left, the second left sidelobe closest to the main lobe, and the right sidelobe closest to the main lobe on the right, the second right sidelobe closest to the main lobe. Among these four sidelobes, two of the three sidelobes with the highest normalized levels in the entire radiation pattern (the first, second, and third largest sidelobes indicated by the solid arrows) are included. Specifically, the left sidelobe is the first largest sidelobe, and the right sidelobe is the second largest sidelobe.

[0220] In the single-target pattern measured in the darkroom, it can be seen that the side lobes on both sides of the main lobe are similar to those in the simulation. Furthermore, two of the three largest side lobes (the first, second, and third largest side lobes indicated by the dashed arrows) are the second largest side lobe among the four larger side lobes on both sides of the main lobe, i.e., the left side lobe is the second largest side lobe, and the right side lobe is the third largest side lobe.

[0221] Therefore, it can be considered that if two of the three largest sidelobes of the measured radiation pattern have angles very close to the two peak points of the four larger sidelobes on both sides of the main lobe of the theoretical radiation pattern, the radiation pattern characteristics are consistent with the characteristics of a single target radiation pattern, and it can be determined as a single target; otherwise, it is considered as a dual target.

[0222] By pairing the fourth radiation angle of the fourth sidelobe with the fifth radiation angle of the fifth sidelobe, all possible combinations of two measured sidelobe angles and theoretical sidelobe angles can be obtained. Then, by calculating the angle difference between each second angle group and each first angle group, the accurate angle deviation can be determined, and single or double target decision can be made based on the angle deviation.

[0223] In one example, the calculation process for the angle deviation is as follows:

[0224] Taking obtaining a fourth radiation angle by looking up a table as an example, the first angle group can be obtained by pairing up two groups. The fourth radiation angle is:

[0225] Taking the actual acquisition of the first three fifth radiation angles as an example, the second angle group obtained by pairing up the two angles is Θ, where the fifth radiation angle pair is (θ). i ,θ j ), θ i ∈Θ,θ j ∈Θ, i≠j.

[0226] Then the second angle group Θ = {(θ1,θ2), (θ2,θ3), (θ1,θ3)}, and the first angle group By calculating the angle difference between each second angle group and each first angle group one by one, such as:

[0227]

[0228] The angle deviation can be obtained:

[0229] δ=min{A1,A2,A3}

[0230] By quantifying the deviation between the theoretical sidelobe angle and the actual sidelobe angle of a single target, data can be provided to determine the number of targets to be detected by comparing with a third preset threshold.

[0231] Thus, multiple first angle groups are constructed based on any two of the fourth radiation angles of multiple fourth sidelobes; multiple second angle groups are constructed based on any two of the fifth radiation angles of multiple fifth sidelobes; and the angle deviation is determined based on the angle difference between each second angle group and each first angle group. In this way, based on the constructed multiple first and second angle groups, the degree of agreement between the angular characteristics of the actual sidelobe (i.e., the fifth sidelobe) and the angular characteristics of the theoretical sidelobe (i.e., the fourth sidelobe) of a single target can be quantified by calculating their angle differences, providing a precise basis for single-target and dual-target decision-making.

[0232] The following is Figure 13 Taking an example, the radar-based target detection method of this application will be explained:

[0233] First, calculate the theoretical values ​​of the larger sidelobe angles on both sides of the main lobe in advance, i.e., the mapping data of the main lobe radiation angle and the sidelobe radiation angle;

[0234] Then, based on the 16-channel received signal, i.e. radar data, a radiation pattern is drawn, and the angles and power values ​​of the main lobe and the first three major side lobes in the radiation pattern, as well as the 3dB beamwidth of the main lobe, are obtained.

[0235] Next, it is determined whether the 3dB beamwidth is greater than the threshold, i.e., the first preset threshold. If the 3dB beamwidth is greater than the first preset threshold, the detection target can be directly determined to be a double target, i.e., the number of detection targets is two.

[0236] Next, if the 3dB beamwidth is less than or equal to the first preset threshold, it is determined whether the main lobe ratio, i.e. the radiation power ratio, is greater than the threshold, i.e. the second preset threshold. If the radiation power ratio is greater than the second preset threshold, it can be directly determined that the detected target is a single target, i.e. the number of detected targets is one.

[0237] Then, when the radiation power ratio is less than or equal to the second preset threshold, the first three sidelobe angles, that is, the fifth radiation angle of the fifth sidelobe, are paired up and recorded as the first three sidelobe angle pairs, that is, the second angle group.

[0238] Then, by looking up the table, we can find the larger side lobes on both sides of the main lobe at the corresponding angle, which are the fourth side lobes.

[0239] Then, calculate the absolute value of the difference between the first three side lobe angle pairs and the theoretical angle pairs on both sides of the main lobe. That is, take the minimum value based on the angle difference between each second angle group and each first angle group, and record it as the minimum deviation, i.e. the angle deviation amount.

[0240] Finally, it is determined whether the minimum deviation is less than the threshold, i.e., the third preset threshold. If the minimum deviation is less than the third preset threshold, the detected target can be determined to be a single target; if the minimum deviation is greater than or equal to the third preset threshold, the detected target can be determined to be a single target.

[0241] The following is Figure 14(a) and 14(b) For example, the effectiveness of the radar-based target detection method in the embodiments of this application will be explained:

[0242] Figure 14(a) shows the single-target anechoic chamber test scenario. As shown on the left side of Figure 14(a), the test scenario is a single-angle reflection in a microwave anechoic chamber environment. The reflection support and other objects that may cause reflection are covered with absorbing material. The right side of Figure 14(a) shows the corresponding point cloud diagram of the host computer. It can be seen that the radar-based target detection method of this application correctly identifies the single-angle reflection as a single target, represented by a hollow triangle pattern. The original point ID is 0, the measured distance is 1.9m, the measured velocity is 0m / s, and the measured angle is -0.68°, all of which are consistent with the actual situation.

[0243] Figure 14(b) shows a dual-target anechoic chamber test scenario. Two double-angled reflectors are set up in the scenario. These two reflectors are at the same distance from the radar, but their angles relative to the radar's normal direction are different. In the point cloud diagram of the upper computer on the right side of Figure 14(b), it can be seen that the radar-based target detection method of this application correctly identifies the double-angled reflectors as two targets. The two targets are represented by solid triangles, with original point IDs of 0 and 1 respectively. The measured distances are both 2m, the measured velocities are both 0m / s, and the measured angles are -16.88° and 24.95° respectively, all consistent with the actual values.

[0244] This application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it implements the steps of the radar-based target detection method described above.

[0245] It is understood that a computer program includes computer program code. Computer program code can be in the form of source code, object code, executable files, or some intermediate form. Computer-readable storage media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, external hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc.

[0246] In this specification, the terms "specifically," "furthermore," "particularly," "understandably," etc., refer to specific features, structures, materials, or characteristics described in connection with embodiments or examples that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0247] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of executable request code comprising one or more steps for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0248] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A radar-based target detection method, characterized in that, include: Based on radar data, a radiation pattern is determined, wherein the radiation pattern is used to indicate the mapping relationship between radiation angle and radiation power; The target detection result is determined based on the radiation angle and / or radiation power of the lobe in the radiation pattern, wherein the target detection result includes the number of detected targets.

2. The method according to claim 1, characterized in that, The radiation pattern includes a first main lobe. Determining the target detection result based on the radiation angle and / or radiation power of the lobe in the radiation pattern includes: The beamwidth of the first main lobe is determined based on the difference between the first radiation angle and the second radiation angle of the first main lobe, wherein the difference between the first radiation power corresponding to the first radiation angle and the second radiation power corresponding to the second radiation angle is a preset value. The target detection result is determined based on the beamwidth.

3. The method according to claim 2, characterized in that, Determining the target detection result based on the beamwidth includes: If the beamwidth is greater than a first preset threshold, the number of the detected targets is determined to be two.

4. The method according to claim 1, characterized in that, The radiation pattern includes a second main lobe and a first side lobe corresponding to the second main lobe. Determining the target detection result based on the radiation angle and / or radiation power of the side lobes in the radiation pattern includes: The radiation power ratio is determined based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first sidelobe. The target detection result is determined based on the radiation power ratio.

5. The method according to claim 4, characterized in that, The radiation pattern includes multiple first sidelobes, and determining the radiation power ratio based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the first sidelobes includes: The radiation power ratio is determined based on the ratio of the third radiation power of the second main lobe to the fourth radiation power of the second sidelobe, wherein the second sidelobe is the first sidelobe with the highest radiation power among the plurality of first sidelobes.

6. The method according to claim 4, characterized in that, Determining the target detection result based on the radiation power ratio includes: If the radiation power ratio is greater than a second preset threshold, the number of the detected targets is determined to be one.

7. The method according to claim 1, characterized in that, The radiation pattern includes a third main lobe and a third side lobe corresponding to the third main lobe. Determining the target detection result based on the radiation angle and / or radiation power of the side lobes in the radiation pattern includes: Based on the third radiation angle of the third main lobe, the fourth radiation angle of the desired side lobe is determined, wherein the desired side lobe is the side lobe corresponding to the main lobe when the radiation angle of the main lobe is the third radiation angle and the number of the detected targets is one. The target detection result is determined based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe.

8. The method according to claim 7, characterized in that, Determining the desired fourth radiation angle of the sidelobe based on the third radiation angle of the third main lobe includes: Based on the third radiation angle and the predetermined main lobe radiation angle-side lobe radiation angle mapping data, the desired sidelobe and the fourth radiation angle corresponding to the third radiation angle are determined, wherein the main lobe radiation angle-side lobe radiation angle mapping data is used to indicate the mapping relationship between the radiation angle of the main lobe and the radiation angle of the side lobe when the number of detected targets is one.

9. The method according to claim 7, characterized in that, Determining the target detection result based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe includes: The angular deviation between the desired sidelobe and the third sidelobe is determined based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe. The target detection result is determined based on the angle deviation.

10. The method according to claim 9, characterized in that, Determining the target detection result based on the angle deviation includes: If the angular deviation is less than the third threshold, the number of detected targets is determined to be one; and / or, If the angular deviation is greater than or equal to the third threshold, the number of the detected targets is determined to be two.

11. The method according to claim 9, characterized in that, The radiation pattern includes multiple third sidelobes. Determining the angular deviation between the desired sidelobe and the third sidelobe based on the fourth radiation angle of the desired sidelobe and the fifth radiation angle of the third sidelobe includes: The angular deviation is determined based on the fourth radiation angle of the fourth sidelobe and the fifth radiation angle of the fifth sidelobe, wherein the fourth sidelobe is one of the desired sidelobes with the highest radiation power, and the desired sidelobes include multiple sidelobes; the fifth sidelobe is one of the desired sidelobes with the highest radiation power, and the third sidelobe includes multiple sidelobes.

12. The method according to claim 11, characterized in that, Determining the angular deviation based on the fourth radiation angle of the fourth sidelobe and the fifth radiation angle of the fifth sidelobe includes: Based on any two of the fourth radiation angles of the fourth sidelobe, construct multiple first angle groups; Construct multiple second angle groups based on any two of the fifth radiation angles of the fifth sidelobe; The angle deviation is determined based on the angle difference between each of the second angle groups and each of the first angle groups.

13. An electronic device, characterized in that, The method includes a memory and a processor, wherein the memory stores a computer program, which, when executed by the processor, implements the method according to any one of claims 1-12.

14. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 13.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by one or more processors, implements the method according to any one of claims 1-12.

16. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the method described in any one of claims 1-12.

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