CN110196423A - A kind of car radar angle super-resolution method - Google Patents
A kind of car radar angle super-resolution method Download PDFInfo
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- CN110196423A CN110196423A CN201910536843.6A CN201910536843A CN110196423A CN 110196423 A CN110196423 A CN 110196423A CN 201910536843 A CN201910536843 A CN 201910536843A CN 110196423 A CN110196423 A CN 110196423A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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Abstract
The present invention provides a kind of car radar angle super-resolution methods, comprising: each receiving antenna is carried out mixing about the reception signal of object and obtains intermediate-freuqncy signal；Distance-Doppler Fourier transformation is carried out to each intermediate-freuqncy signal；Discrete Fourier transform is carried out to the result after each distance-Doppler Fourier transformation；The frequency domain estimated value under the maximum a posteriori criterion of broad sense Cauchy distribution is established according to the result after each discrete Fourier transform；The parameter m for selecting suitable broad sense Cauchy distribution, carries out recursive operation for the frequency domain estimated value；The amplitude spectrum of Fourier transformation is determined according to the result of recursive operation；Determine the angle of the object corresponding with the peak value of the amplitude spectrum.Car radar angle super-resolution method of the invention can not traverse spatial spectrum, realize the determination of motor vehicle environment object angle, and calculation amount is small, and realize high estimated accuracy and reduce cost.
Description
Technical field
The present invention relates to car radar technical field more particularly to a kind of car radar angle super-resolution methods.
Background technique
Automobile Millimeter Wave Radar is the microwave radar sensor for being exclusively used in motor vehicle driving auxiliary system, and auxiliary machine motor-car is complete
At evading for barrier.Automobile Millimeter Wave Radar has stable detection performance and good environmental suitability, can not only survey
Target range is measured, also can measure the parameters such as relative velocity and the azimuth of target object.And structure is simple, and transmission power is low,
Resolution ratio and high sensitivity, antenna element size are small.
Since the receiving channel of current Automobile Millimeter Wave Radar is limited, under long range mode, radar can not effective district
Same distance is separated, multiple targets of identical speed decline so as to cause the angular resolution of radar.Particularly, when this lane
When without other vehicles, two same distances in left and right, the target of identical speed can occur in the same distance-speed unit of radar
" Phase Stacking effect ", causes radar that the target of two adjacent lanes is mistaken for the target in this lane, causes automobile controller
Maloperation.Traditional settling mode be using multiple signal classification super-resolution angle estimation algorithm, it is computationally intensive.Moreover, being
Optimization multiple signal classification super-resolution angle estimation algorithm is solved by promoting hardware performance and reducing calculation amount, is but increased
Radar system cost and computational accuracy is caused to lose.
Specifically, Fig. 1 is the flow diagram of existing multiple signal classification super-resolution angle estimating method.Such as Fig. 1 institute
It states, multiple signal classification super-resolution angle estimating method includes the following steps:
The estimated value of covariance matrix is obtained according to the signal phasor X (n) that N number of receiving antenna is constituted first:
The estimated value of covariance matrix is obtained according to following formula:
Then Eigenvalues Decomposition is carried out to covariance matrix, obtains R=U Σ UH；
Wherein, U is characterized vector matrix, ∑ be by eigenvalue cluster at diagonal matrix.
Then characteristic value takes temperature the characteristic value equal with signal number K and corresponding Characteristic Vectors according to size order
Make signal subspace, remaining M-K characteristic value and characteristic vector regarded as noise subspace:
R=UsΣsUs H+UNΣNUN H；
Wherein, UsIt is the subspace by big characteristic value corresponding characteristic vector namely signal subspace, and UNIt is by small
The subspace of the corresponding characteristic vector of characteristic value namely noise subspace.
Finally traverse all space angles, according to following formula carry out the calculating of MUSIC spectral function, by demand peaks come
Obtain the estimated value of direction of arrival:
Summary of the invention
It, can be in the case where calculation amount be small it is an object of the invention to propose a kind of car radar angle super-resolution method
It determines the angle of object, and realizes high estimated accuracy and reduce cost.
To achieve this purpose, the present invention adopts the following technical scheme:
The present invention provides a kind of car radar angle super-resolution methods, comprising:
Each receiving antenna is subjected to mixing about the reception signal of object and obtains intermediate-freuqncy signal；
Distance-Doppler Fourier transformation is carried out to each intermediate-freuqncy signal；
Discrete Fourier transform is carried out to the result after each distance-Doppler Fourier transformation；
The frequency domain under the maximum a posteriori criterion of broad sense Cauchy distribution is established according to the result after each discrete Fourier transform
Estimated value；
The parameter m for selecting suitable broad sense Cauchy distribution, carries out recursive operation for the frequency domain estimated value；
The amplitude spectrum of Fourier transformation is determined according to the result of recursive operation；
Determine the angle of the object corresponding with the peak value of the amplitude spectrum.
Further, the intermediate-freuqncy signal are as follows:
Wherein, TRPIFor the recurrence interval of the intermediate-freuqncy signal, L is the quantity of the intermediate-freuqncy signal, fcFor linear frequency modulation letter
Number initial frequency, R is distance, and v is speed, and c is the light velocity, and l is first of intermediate-freuqncy signal, and B is frequency modulated continuous wave radar
Bandwidth of operation, T are the frequency modulation period of the frequency modulated continuous wave radar, and Tc is the duration of each intermediate-freuqncy signal.
Further, described to include: to each intermediate-freuqncy signal progress distance-Doppler Fourier transformation
To each intermediate-freuqncy signal according to fA=1/TAThe distance-Doppler Fourier transformation is carried out after sampling；
The result of the distance-Doppler Fourier transformation are as follows:
Wherein, k is the intermediate-freuqncy signal apart from peak value, and p is Doppler's peak value of the intermediate-freuqncy signal, fAIn described
The sample frequency of frequency signal, TAFor the sampling time of the intermediate-freuqncy signal, NzAnd LzFor matrix S2DSize.
Further, it is described distance-Doppler Fourier transformation carried out to each intermediate-freuqncy signal after, further includes:
It is determined according to the result of the distance-Doppler Fourier transformation described apart from peak value k and Doppler's peak value
P:
Further, result after the Fourier transformation according to distance-Doppler carries out discrete Fourier transform and includes:
It is converted according to following formula:
Wherein, xn=[S2D,1(k,p),S2D,2(k,p),L S2D,N(k, p)], N is the quantity of the receiving antenna.
Further, the result according to after each discrete Fourier transform establishes the maximum a posteriori of broad sense Cauchy distribution
Frequency domain estimated value under criterion are as follows:
Wherein, G is M*M diagonal matrix,X is data sample, and X is frequency
Domain sample,For jam-to-signal, m is the parameter of broad sense Cauchy distribution.
Further, the frequency domain estimated value is subjected to recursive operation are as follows:
Recursive operation is carried out according to the following formula:
Wherein, μ indicates the number of iteration.
Further, the amplitude spectrum are as follows:
Wherein, Hadamard product is indicated.
Further, the angle of the determination object corresponding with the peak value of the amplitude spectrum are as follows:
Angle calculation is carried out according to the following formula:
Further, m is the real number greater than 0.5.
The invention has the benefit that
The present invention is based on the maximum a posteriori criterion of broad sense Cauchy distribution, whole without traversing in the case where keeping angular resolution
A spatial spectrum realizes the determination of motor vehicle environment object angle, reduces calculation amount, especially occurs being located at same distance and same
In the case where the object of one speed, the angular resolution of radar will not be reduced, maintains high computational accuracy.Meanwhile without
Hardware performance is promoted, the system cost of radar is reduced.
Detailed description of the invention
Fig. 1 is the flow diagram of existing multiple signal classification super-resolution angle estimating method.
Fig. 2 is the flow diagram for the car radar angle super-resolution method that the embodiment of the present invention one provides.
Fig. 3 is the flow diagram of car radar angle super-resolution method provided by Embodiment 2 of the present invention.
Fig. 4 is analogous diagram of two targets in angle for [- 11 °, 11 °] in the embodiment of the present invention two.
Fig. 5 is analogous diagram of two targets in angle for [- 8 °, 8 °] in the embodiment of the present invention two.
Fig. 6 is analogous diagram of two targets in angle for [- 5 °, 5 °] in the embodiment of the present invention two.
Fig. 7 is analogous diagram of two targets in angle for [- 3 °, 3 °] in the embodiment of the present invention two.
Fig. 8 is analogous diagram of two targets in angle for [- 2 °, 2 °] in the embodiment of the present invention two.
Fig. 9 is analogous diagram of two targets in angle for [- 1 °, 1 °] in the embodiment of the present invention two.
Specific embodiment
To keep the technical problems solved, the adopted technical scheme and the technical effect achieved by the invention clearer, below
It will the technical scheme of the embodiment of the invention will be described in further detail in conjunction with attached drawing, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.
Embodiment one
A kind of car radar angle super-resolution method is present embodiments provided, it can be in the feelings for keeping high radar angular resolution
Progress spatial spectrum scanning is not needed under condition can be obtained sparsity spatial spectrum, and obtain the position of object, while calculation amount is small.
This method is executed by vehicle radar system, which is made of software and/or hardware, can assist driving.
Fig. 2 is the flow diagram for the car radar angle super-resolution method that the embodiment of the present invention one provides.Such as Fig. 2 institute
Show, this method comprises the following steps:
Each receiving antenna is carried out mixing about the reception signal of object and obtains intermediate-freuqncy signal by S11.
Radar obtains the state parameters such as distance, direction, the speed in relation to object for detecting objects.Specifically
, radar transmitter generates enough electromagnetic energies, these electromagnetic energies are radiated in atmosphere by transmission antenna, are concentrated on
Some very narrow side is upwardly formed wave beam and propagates forward, will be along each side after electromagnetic wave encounters the object in wave beam
To reflection is generated, a part of electromagnetic energy therein is reflected back the direction of radar, is obtained by the receiving antenna of radar.Receiving antenna
The energy of acquisition forms the reception signal of radar.
Phase information can be retained by obtaining intermediate-freuqncy signal by mixing.
In the present embodiment, receiving antenna and transmission antenna are different antennae, and receiving antenna is that array is arranged, but not with
This is limited.
S12 carries out distance-Doppler Fourier transformation to each intermediate-freuqncy signal.
It is realized by distance-Doppler Fourier transformation and extracts radar target object information, Neng Gouyou from noise and interference
Effect ground minimizes the influence of unwanted signal.Specifically, got by distance-Doppler Fourier transformation apart from peak value k and
Doppler's peak value p.
S13 carries out discrete Fourier transform to the result after each distance-Doppler Fourier transformation.
S14 is established according to the result after each discrete Fourier transform under the maximum a posteriori criterion of broad sense Cauchy distribution
Frequency domain estimated value.
Domain samples are obtained to the data sample processing of discrete series, the prior probability of domain samples is broadened, and combines
The characteristic of broad sense Cauchy distribution establishes frequency estimation, which can be improved resolution ratio and variance performance.
S15 selects the parameter m of suitable broad sense Cauchy distribution, the frequency domain estimated value is carried out recursive operation.
Wherein, parameter m is greater than 0.5 real number.Suitable parameter m can be selected according to specific circumstances.
S16 determines the amplitude spectrum of Fourier transformation according to the result of recursive operation.
Amplitude spectrum is obtained by the way that the result of recursive operation is carried out Hadamard product operation.
S17 determines the angle of the object corresponding with the peak value of the amplitude spectrum.
Specifically, obtaining the Mutual coupling DOA angle of incoming signal when determining the peak value of amplitude spectrum.
The present embodiment keeps being not necessarily to traverse entire spatial spectrum in the case where angular resolution, realizes motor vehicle environment object angle
Determination, reduce calculation amount, especially occur in the case where being located at the object of same distance and same speed, will not drop
The angular resolution of low radar maintains high computational accuracy.Meanwhile without hardware performance is increased, reduce the system of radar at
This.
Embodiment two
The present embodiment on the basis of the above embodiments, has refined the calculation method of each step.Fig. 3 is implementation of the present invention
The flow diagram for the car radar angle super-resolution method that example two provides.As shown in figure 3, method includes the following steps:
Each receiving antenna is carried out mixing about the reception signal of object and obtains intermediate-freuqncy signal by S21.
In the present embodiment, receiving antenna is array arrangement.
Preferably, the quantity for increasing bay, can be improved angular resolution.
Specifically, the intermediate-freuqncy signal are as follows:
Wherein, TRPIFor the recurrence interval of the intermediate-freuqncy signal, L is the quantity of the intermediate-freuqncy signal, fcFor linear frequency modulation letter
Number initial frequency, R is distance, and v is speed, and c is the light velocity, and l is first of intermediate-freuqncy signal, and B is frequency modulated continuous wave radar
Bandwidth of operation, T are the frequency modulation period of the frequency modulated continuous wave radar, and Tc is the duration of each intermediate-freuqncy signal.
In other embodiments, intermediate-freuqncy signal can also indicate are as follows:
S22 carries out distance-Doppler Fourier transformation to each intermediate-freuqncy signal.
Specifically, to each intermediate-freuqncy signal according to fA=1/TAThe distance-Doppler Fourier is carried out after sampling to become
It changes.
Distance-Doppler Fourier transformation is recorded in frequency of the Wang Lu .SAR signal in range-Dopler domain and two-dimensional frequency
Spectrum analysis " external electronic measurement technique ", the 5th phase volume 36 in 2017, The Ministry of Information Industry of the People's Republic of China, MOII supervisor and north
Capital general plan Information technology Co., Ltd sponsors.
The result of the distance-Doppler Fourier transformation are as follows:
Wherein, k is the intermediate-freuqncy signal apart from peak value, and p is Doppler's peak value of the intermediate-freuqncy signal, fAIn described
The sample frequency of frequency signal, TAFor the sampling time of the intermediate-freuqncy signal, NzAnd LzFor matrix S2DSize.
In other embodiments, above formula can indicate again are as follows:
S23 is determined described apart from peak value k and the Doppler according to the result of the distance-Doppler Fourier transformation
Peak value p:
S24 carries out discrete Fourier transform to the result after each distance-Doppler Fourier transformation.
It is converted according to following formula:
Wherein, xn=[S2D,1(k,p),S2D,2(k,p),L S2D,N(k, p)], N is the quantity of the receiving antenna.
S25 is established according to the result after each discrete Fourier transform under the maximum a posteriori criterion of broad sense Cauchy distribution
Frequency domain estimated value；
Specifically, frequency domain estimated value are as follows:
Wherein, G is M*M diagonal matrix,X is data sample, and X is frequency
Domain sample,For jam-to-signal, m is the parameter of broad sense Cauchy distribution.
S26 selects the parameter m of suitable broad sense Cauchy distribution, the frequency domain estimated value is carried out recursive operation；
Recursive operation is carried out according to the following formula:
Wherein, parameter m is greater than 0.5 real number.Suitable parameter m can be selected according to specific circumstances.μ indicates iteration
Generally result is can be obtained after the iteration less than 10 times in number.
S27 determines the amplitude spectrum of Fourier transformation according to the result of recursive operation.
Specifically, the amplitude spectrum are as follows:
Wherein, Hadamard product is indicated.
S28 determines the angle of the object corresponding with the peak value of the amplitude spectrum.I.e. when the peak value for determining amplitude spectrum
When obtain incoming signal Mutual coupling DOA angle.
Angle calculation is carried out according to the following formula:
Further, in conjunction with attached drawing 4 illustrate, Fig. 4 be in the embodiment of the present invention two two targets angle be [- 11 °, 11 °]
Analogous diagram.Specifically, first object is located at -11 ° and the second target is located at 11 ° and uses this reality respectively in the case where number of snapshots are 200
Apply the method for example and the estimated accuracy comparing result figure of existing method.
As shown in figure 4, what starting point and destination node be located at [- 30, -40] section db is estimated using the method for the present embodiment
Meter uses this implementation as a result, what starting point and destination node be located at [- 10, -20] section db is estimated result using existing method
The estimated result of the method for example is than using the estimated result of existing method higher.
Further, in conjunction with attached drawing 5 illustrate, Fig. 5 be in the embodiment of the present invention two two targets angle be [- 8 °, 8 °]
Analogous diagram.Specifically, first object is located at -8 ° and the second target is located at 8 ° and uses the present embodiment respectively in the case where number of snapshots are 200
Method and existing method estimated accuracy comparing result figure.
As shown in figure 5, what starting point and destination node be located at [- 30, -40] section db is estimated using the method for the present embodiment
Meter uses this implementation as a result, what starting point and destination node be located at [- 20, -30] section db is estimated result using existing method
The estimated result of the method for example is than using the estimated result of existing method higher.
Further, in conjunction with attached drawing 6 illustrate, Fig. 6 be in the embodiment of the present invention two two targets angle be [- 5 °, 5 °]
Analogous diagram.Specifically, first object is located at -5 ° and the second target is located at 5 ° and uses the present embodiment respectively in the case where number of snapshots are 200
Method and existing method estimated accuracy comparing result figure.
As shown in fig. 6, what starting point and destination node be located at [- 40, -50] section db is estimated using the method for the present embodiment
Meter is existing in use as a result, what starting point and destination node be located at [- 20, -30] section db is estimated result using existing method
Distinguish less obvious between two targets in the estimated result of method, but using in the estimated result of the method for the present embodiment
Two targets still can be distinguished obviously and can clear respective positions.
Further, in conjunction with attached drawing 7 illustrate, Fig. 7 be in the embodiment of the present invention two two targets angle be [- 3 °, 3 °]
Analogous diagram.Specifically, first object is located at -3 ° and the second target is located at 3 ° and uses the present embodiment respectively in the case where number of snapshots are 200
Method and existing method estimated accuracy comparing result figure.
As shown in fig. 7, what starting point and destination node be located at [- 40, -50] section db is estimated using the method for the present embodiment
Meter is existing in use as a result, what starting point and destination node be located at [- 20, -30] section db is estimated result using existing method
It has distinguished unobvious between two targets in the estimated result of method, has started to merge, but used the method for the present embodiment
Estimated result in two targets still can obviously distinguish and can clear respective positions.
Further, in conjunction with attached drawing 8 illustrate, Fig. 8 be in the embodiment of the present invention two two targets angle be [- 2 °, 2 °]
Analogous diagram.Specifically, first object is located at -2 ° and the second target is located at 2 ° and uses the present embodiment respectively in the case where number of snapshots are 200
Method and existing method estimated accuracy comparing result figure.
As shown in figure 8, what starting point and destination node be located at [- 40, -50] section db is estimated using the method for the present embodiment
Meter is existing in use as a result, what starting point and destination node be located at [- 20, -30] section db is estimated result using existing method
Two targets are estimated as a target in the estimated result of method, erroneous judgement, but estimating using the method for the present embodiment occur
Two targets still can be distinguished in meter result and the clear respective positions of energy, precision are higher.
Further, in conjunction with attached drawing 9 illustrate, Fig. 9 be in the embodiment of the present invention two two targets angle be [- 1 °, 1 °]
Analogous diagram.Specifically, first object is located at -1 ° and the second target is located at 1 ° and uses the present embodiment respectively in the case where number of snapshots are 200
Method and existing method estimated accuracy comparing result figure.
As shown in figure 9, starting point and destination node be located at -50db be using the present embodiment method estimated result, rise
What initial point and destination node were located at [- 20, -30] section db is the estimated result using existing method, in estimating using existing method
Two targets are significantly more estimated a target in meter result, erroneous judgement, but estimating using the method for the present embodiment occur
Two targets still can distinguish respective positions in meter result, and precision is higher.
The present embodiment obtains angle by the way that signal is carried out frequency domain processing with the maximum a posteriori criterion for combining broad sense Cauchy to be distributed
Ultra-resolution method is spent, the spatial spectrum of sparsity can be obtained without carrying out spatial spectrum traversal, reduce calculation amount.Occur it is same away from
From and the object of speed in the case where, the angular resolution of radar will not be reduced.Meanwhile under the conditions of less number of snapshots,
It can be realized high estimated accuracy.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field
Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of car radar angle super-resolution method characterized by comprising
Each receiving antenna is subjected to mixing about the reception signal of object and obtains intermediate-freuqncy signal；
Distance-Doppler Fourier transformation is carried out to each intermediate-freuqncy signal；
Discrete Fourier transform is carried out to the result after each distance-Doppler Fourier transformation；
The frequency domain estimation under the maximum a posteriori criterion of broad sense Cauchy distribution is established according to the result after each discrete Fourier transform
Value；
The parameter m for selecting suitable broad sense Cauchy distribution, carries out recursive operation for the frequency domain estimated value；
The amplitude spectrum of Fourier transformation is determined according to the result of recursive operation；
Determine the angle of the object corresponding with the peak value of the amplitude spectrum.
2. car radar angle super-resolution method according to claim 1, which is characterized in that the intermediate-freuqncy signal are as follows:
Wherein, TRPIFor the recurrence interval of the intermediate-freuqncy signal, L is the quantity of the intermediate-freuqncy signal, fcFor linear FM signal
Initial frequency, R are distance, and v is speed, and c is the light velocity, and l is first of intermediate-freuqncy signal, and B is the work of frequency modulated continuous wave radar
Bandwidth, T are the frequency modulation period of the frequency modulated continuous wave radar, and Tc is the duration of each intermediate-freuqncy signal.
3. car radar angle super-resolution method according to claim 2, which is characterized in that described to each intermediate frequency
Signal carries out distance-Doppler Fourier transformation
To each intermediate-freuqncy signal according to fA=1/TAThe distance-Doppler Fourier transformation is carried out after sampling；
The result of the distance-Doppler Fourier transformation are as follows:
Wherein, k is the intermediate-freuqncy signal apart from peak value, and p is Doppler's peak value of the intermediate-freuqncy signal, fAFor intermediate frequency letter
Number sample frequency, TAFor the sampling time of the intermediate-freuqncy signal, NzAnd LzFor matrix S2DSize.
4. car radar angle super-resolution method according to claim 3, which is characterized in that described to each intermediate frequency
Signal carries out after distance-Doppler Fourier transformation, further includes:
It is determined according to the result of the distance-Doppler Fourier transformation described apart from peak value k and Doppler's peak value p:
5. car radar angle super-resolution method according to claim 4, which is characterized in that described how general according to distance-
Result after strangling Fourier transformation carries out discrete Fourier transform
It is converted according to following formula:
Wherein, xn=[S2D,1(k,p),S2D,2(k,p),L S2D,N(k, p)], N is the quantity of the receiving antenna.
6. car radar angle super-resolution method according to claim 5, which is characterized in that described according to each discrete Fu
In result after leaf transformation establish the frequency domain estimated value under the maximum a posteriori criterion of broad sense Cauchy distribution are as follows:
Wherein, G is M*M diagonal matrix,X is data sample, and X is frequency domain sample
This,For jam-to-signal, m is the parameter of broad sense Cauchy distribution.
7. car radar angle super-resolution method according to claim 6, which is characterized in that by the frequency domain estimated value into
Row recursive operation are as follows:
Recursive operation is carried out according to the following formula:
Wherein, μ indicates the number of iteration.
8. car radar angle super-resolution method according to claim 7, which is characterized in that the amplitude spectrum are as follows:
Wherein, Hadamard product is indicated.
9. car radar angle super-resolution method according to claim 8, which is characterized in that the determination and the amplitude
The angle of the corresponding object of the peak value of spectrum are as follows:
Angle calculation is carried out according to the following formula:
10. car radar angle super-resolution method according to claim 1, it is characterised in that: m is the real number greater than 0.5.
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