CN114879138B - Millimeter wave radar two-dimensional angle calculation method and device and related equipment - Google Patents
Millimeter wave radar two-dimensional angle calculation method and device and related equipment Download PDFInfo
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Abstract
The application discloses a millimeter wave radar two-dimensional angle calculation method, a millimeter wave radar two-dimensional angle calculation device and related equipment, wherein the method comprises the following steps: selecting a plurality of virtual array elements from a target virtual array to form three groups of target array elements; determining an angle set of each target in the corresponding direction based on an echo data matrix of each virtual array element in each group of target array elements to obtain a first angle set of each target in the horizontal direction, a second angle set of each target in the vertical direction and a third angle set of each target in the oblique direction; and finally, determining the angle of each target based on a preset calculation formula of the echo signal, the first angle set, the second angle set and the third angle set. According to the method and the device, only part of virtual array elements are adopted for calculation, calculation of unnecessary information is reduced to a great extent, the calculated amount cannot be increased due to the increase of the number of the array elements in the target virtual array, the calculation process is simple, and two-dimensional angle estimation of the target angle can be completed efficiently.
Description
Technical Field
The application relates to the technical field of millimeter wave radars, in particular to a millimeter wave radar two-dimensional angle calculation method, a millimeter wave radar two-dimensional angle calculation device and related equipment.
Background
The automobile industry is developing towards a more intelligent direction, and from an Advanced Driver Assistance System (ADAS) to a higher-level fully automatic driving, the implementation of these functions is not necessary to provide various sensors for sensing surrounding environment information for a decision-making System. The millimeter wave radar has the advantages of long detection distance, capability of measuring speed, capability of working all day long and all weather, low cost and the like, and becomes one of the most core sensors of the automobile.
The traditional millimeter wave radar sensor only has the angle measuring function of horizontal dimension, the requirement on the sensor is higher due to the improvement of the automatic driving level, and then the 4D millimeter wave radar is promoted. The target object which can be perceived by the 4D radar comprises information of four dimensions of distance, speed, horizontal angle and vertical angle. Compared with the traditional vehicle-mounted millimeter wave radar, the 4D radar uses a two-dimensional area array, has the capability of vertically measuring the angle, and has higher angle measurement resolution of two dimensions.
The problem to be solved by two-dimensional angle measurement is angle matching of the same target in the horizontal and vertical directions, and the traditional 2D-DOA (2-division Direction of Arrival) method is to perform 2D-FFT (2-division Fast Fourier Transform) or beam forming on all row elements and array elements of a planar array and then obtain a target angle by methods such as finding an extremum and the like so as to avoid the problem of angle matching. This method requires a large amount of computation, not only needs to perform FFT or beamforming on all rows and columns, but also finds extreme values in the whole matrix, and the amount of computation increases linearly as the number of array elements increases.
Disclosure of Invention
In view of this, the present application provides a millimeter wave radar two-dimensional angle calculation method, device and related equipment, so as to efficiently implement calculation of a target angle.
In order to achieve the above object, a first aspect of the present application provides a millimeter wave radar two-dimensional angle calculation method, including:
selecting a plurality of virtual array elements from a target virtual array to form three groups of target array elements, wherein the target virtual array is uniformly distributed in the horizontal direction and the vertical direction respectively, the first group of target array elements comprises at least two virtual array elements in the same horizontal direction, the second group of target array elements comprises at least two virtual array elements in the same vertical direction, and the third group of target array elements comprises at least two virtual array elements which are not in the same horizontal direction and not in the same vertical direction;
determining a first angle set of each target in the horizontal direction based on an echo data matrix of each virtual array element in the first group of target array elements, determining a second angle set of each target in the vertical direction based on an echo data matrix of each virtual array element in the second group of target array elements, and determining a third angle set of each target in the oblique direction based on an echo data matrix of each virtual array element in the third group of target array elements, wherein the first angle set, the second angle set and the third angle set contain equal number of elements and are the number of targets;
determining the angle of each target based on the calculation formula of the echo signal, the first angle set, the second angle set and the third angle set.
Preferably, the process of determining the angle of each target based on the calculation formula of the echo signal, the first angle set, the second angle set and the third angle set includes:
matching a first angle in the first angle set and a second angle in the second angle set according to the following equation to obtain a matched angle combination:
determining each angle combination as an angle of a target, wherein each angle combination comprises a first angle and a second angle;
wherein,
the distance of adjacent target array elements in the third set of target array elements in the horizontal direction,
is the third set of targetsThe distance of the adjacent target array elements in the vertical direction,
for a first angle in the first set of angles,
for a second angle in the second set of angles,
is a third angle in the third set of angles.
Preferably, the process of matching a first angle in the first angle set and a second angle in the second angle set according to the following equation includes:
construction matrix
Each element in the matrix is calculated by the following equation:
constructing a list of vectors
The vector list is calculated by the following equation
Each vector of (a):
for each
Determining the same as
Target with the closest value of
And target the object
In (1)
And
determining the angle combinations matched with each other;
wherein,
as to the number of the objects in question,
for a first angle in the first set of angles,
for a second angle in the second set of angles,
is a third angle in the third set of angles;
Preferably, the process of determining the first set of angles of the target in the horizontal direction based on the echo data matrix of each virtual array element in the first group of target array elements includes:
performing two-dimensional fast Fourier transform (2D-FFT) on each echo data matrix of each virtual array element in the first group of target array elements to obtain a distance-Doppler spectrum matrix;
performing non-correlation accumulation processing on the distance-Doppler spectrum matrix to obtain a distance-Doppler spectrum matrix after accumulation;
performing constant false alarm CFAR detection on the accumulated distance-Doppler spectrum matrix to obtain a distance and a speed index of a target;
a first set of angles of the target is determined based on the range-doppler spectrum matrix and the range and velocity indices of the target.
Preferably, the target virtual array is a rectangular array, and the process of selecting a plurality of virtual array elements from the target virtual array to form three groups of target array elements includes:
forming a first group of target array elements by all virtual array elements in any row in the target virtual array;
forming a second group of target array elements by each virtual array element in any column in the target virtual array;
and forming a third group of target array elements by each virtual array element on the diagonal line or the sub diagonal line in the target virtual array.
Preferably, the target virtual array is a non-rectangular array, and the process of selecting a plurality of virtual array elements from the target virtual array to form three groups of target array elements includes:
determining a row with the maximum number of virtual array elements from a target virtual array, and forming a first group of target array elements by all the virtual array elements in the row;
determining a column with the maximum number of virtual array elements from a target virtual array, and forming a second group of target array elements by all the virtual array elements in the column;
determining a plurality of virtual array elements which are not in the same row and are not in the same column from the target virtual array, wherein the centers of the plurality of virtual array elements are connected into a line, the intervals of the adjacent array elements in the plurality of virtual array elements in the horizontal direction are consistent, and the intervals of the adjacent array elements in the plurality of virtual array elements in the vertical direction are consistent.
Preferably, the distance between adjacent target array elements in the target virtual array in the horizontal direction
Satisfying the following equation:
wherein,
being the wavelength of the millimeter wave used,
the angle measurement range is a preset maximum non-fuzzy angle measurement range.
The second aspect of the present application provides a millimeter wave radar two-dimensional angle calculation apparatus, including:
the target array element selecting unit is used for selecting a plurality of virtual array elements from a target virtual array to form three groups of target array elements, wherein the target virtual array elements are uniformly distributed in the horizontal direction and the vertical direction respectively, the first group of target array elements comprises at least two virtual array elements in the same horizontal direction, the second group of target array elements comprises at least two virtual array elements in the same vertical direction, and the third group of target array elements comprises at least two virtual array elements which are not in the same horizontal direction and not in the same vertical direction;
a single angle determining unit, configured to determine a first angle set of each target in a horizontal direction based on an echo data matrix of each virtual array element in the first group of target array elements, determine a second angle set of each target in a vertical direction based on an echo data matrix of each virtual array element in the second group of target array elements, and determine a third angle set of each target in an oblique direction based on an echo data matrix of each virtual array element in the third group of target array elements, where the numbers of elements included in the first angle set, the second angle set, and the third angle set are equal and are the numbers of targets;
an angle matching calculation unit, configured to determine an angle of each target based on a calculation formula of an echo signal, the first angle set, the second angle set, and the third angle set.
The third aspect of the present application provides a millimeter wave radar two-dimensional angle calculation device, including: a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program, and implement each step of the millimeter wave radar two-dimensional angle calculation method.
A fourth aspect of the present application provides a storage medium having a computer program stored thereon, where the computer program, when executed by a processor, implements the steps of the millimeter wave radar two-dimensional angle calculation method as described above.
According to the technical scheme, firstly, a plurality of virtual array elements are selected from the target virtual array to form three groups of target array elements. The target virtual arrays are uniformly distributed in the horizontal direction and the vertical direction respectively, that is, the intervals of the virtual array elements of the target virtual arrays in the same horizontal direction are consistent, and the intervals of the virtual array elements of the target virtual arrays in the same vertical direction are consistent. Then, based on the echo data matrix of each virtual array element in the first group of target array elements, determining a first angle set of the target in the horizontal direction; determining a second angle set of the target in the vertical direction based on the echo data matrix of each virtual array element in the second group of target array elements; and determining a third angle set of the target in the oblique direction based on the echo data matrix of each virtual array element in the third group of target array elements. The number of elements contained in the first angle set, the second angle set and the third angle set is equal to the number of the target elements. Because the first group of target array elements comprises at least two virtual array elements in the same horizontal direction, the second group of target array elements comprises at least two virtual array elements in the same vertical direction, and the third group of target array elements comprises at least two virtual array elements which are not in the same horizontal direction and not in the same vertical direction, therefore, each first angle in the first angle set embodies the angle information of the target in the horizontal direction, each second angle in the second angle set embodies the angle information of the target in the vertical direction, and each third angle in the third angle set embodies the associated information of the target in the horizontal direction and the vertical direction. And finally, determining the angle of each target based on a preset calculation formula of the echo signal, the first angle set, the second angle set and the third angle set. According to the method and the device, only part of virtual array elements are adopted for calculation, calculation of unnecessary information is reduced to a great extent, the calculated amount cannot be increased due to the increase of the number of the array elements in the target virtual array, the calculation process is simple, and the two-dimensional angle estimation of the target angle can be completed efficiently.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 illustrates a schematic diagram of a transmit receive array and a virtual array as disclosed in embodiments of the present application;
fig. 2 is a schematic diagram of a two-dimensional angle calculation method for a millimeter wave radar disclosed in the embodiment of the present application;
FIG. 3 illustrates a selection method for each group of target array elements disclosed in the embodiments of the present application;
FIG. 4 illustrates another selection method for each group of target array elements disclosed in the embodiments of the present application;
FIG. 5 illustrates various groups of target array elements in a non-rectangular array as disclosed in embodiments of the present application;
fig. 6 is a schematic diagram of a two-dimensional angle calculation apparatus for a millimeter wave radar disclosed in an embodiment of the present application;
fig. 7 is a schematic diagram of a millimeter wave radar two-dimensional angle calculation device disclosed in the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For convenience of understanding, the following first describes an antenna array used in the millimeter wave radar two-dimensional angle calculation method provided in the present application. Referring to the left part of fig. 1, the antenna array (actual transceiving array) provided in the embodiment of the present application adopts a uniform area array design, which includes 5 transmitting antennas (Tx 1-Tx 5) uniformly arranged in the vertical direction and 5 receiving antennas (Rx 1-Rx 5) uniformly arranged in the horizontal direction, and is applied to a millimeter wave radar system in a Multiple-Input Multiple-Output (MIMO) mode. The multiple-sending and multiple-receiving method is characterized in that the antenna panel of the radar uses a plurality of transmitting antennas and a plurality of receiving antennas which are arranged according to a certain design to complete the transmission and the reception of electromagnetic wave signals, and the method can realize higher resolution in a mode of generating a virtual aperture so as to expand the aperture of the antenna.
Referring to the right part of fig. 1, 5 transmitting antennas and 5 receiving antennas in the antenna array can generate 25 virtual array elements, assuming that the distance between adjacent receiving antennas in the horizontal direction is
With adjacent transmitting antennas at a vertical distance of
Then, the maximum unambiguous angle measurement in the horizontal direction
Can be calculated from the following equation:
maximum unambiguous angle measurement in the vertical direction
Can be calculated from the following equation:
wherein,
is the wavelength of the millimeter wave employed. Suppose that
Value of 0.5
Then the corresponding maximum unambiguous angle measurement in the horizontal direction
In the range of
。
The two-dimensional angle calculation method for the millimeter wave radar provided by the embodiment of the application is described below. Referring to fig. 2, a method for calculating a two-dimensional angle of a millimeter wave radar according to an embodiment of the present application may include the following steps:
step S101, selecting a plurality of virtual array elements from a target virtual array to form three groups of target array elements.
The target virtual arrays are evenly distributed in the horizontal direction and the vertical direction respectively, the first group of target array elements comprises at least two virtual array elements in the same horizontal direction, the second group of target array elements comprises at least two virtual array elements in the same vertical direction, and the third group of target array elements comprises at least two virtual array elements which are not in the same horizontal direction and are not in the same vertical direction. Illustratively, based on the target virtual array shown in fig. 1, a target array element may be selected as shown in fig. 3 or fig. 4. It is understood that the antenna array provided by the embodiments of the present application is merely exemplary, and in fact, the target virtual array generated by the antenna array only satisfies the following condition: the millimeter wave radar two-dimensional angle calculation method can be applied to the millimeter wave radar two-dimensional angle calculation method provided by the embodiment of the application.
Step S102, based on the echo data matrix of each virtual array element in each group of target array elements, determining an angle set of each target in the direction corresponding to the group of target array elements.
Specifically, a first angle set of each target in the horizontal direction is determined based on an echo data matrix of each virtual array element in a first group of target array elements; determining a second angle set of each target in the vertical direction based on the echo data matrix of each virtual array element in the second group of target array elements; and determining a third angle set of each target in the oblique direction based on the echo data matrix of each virtual array element in the third group of target array elements. It is understood that the first angle set, the second angle set and the third angle set contain equal number of elements, and all are the number of targets.
The vehicle-mounted millimeter wave radar generally uses a chirp continuous wave (chirp), for original echo data of the radar, how many virtual array elements are, how many echo data matrixes are corresponding to the original echo data, for example, the corresponding virtual array elements in fig. 1, 25 radar echo data matrixes can be obtained under radar single-frame observation, and the size of each radar echo data matrix is equal to that of the corresponding virtual array element
Wherein
for the number of sampling points of the ADC (analog to digital conversion) in each receiving antenna for a single chirp signal,
the number of chirp transmitted by a single antenna under a single frame (generally, a transmitting antenna may transmit a number of chirps consecutively at a certain period, such as M chirps, which constitute a frame).
Because the first group of target array elements are virtual array elements in the target virtual array in the same horizontal direction, the echo data matrix of each virtual array element in the first group of target array elements contains angle information in the horizontal direction, namely the first angle is the angle of the target in the horizontal direction; similarly, since the second group of target array elements are virtual array elements in the target virtual array in the same vertical direction, the echo data matrix of each virtual array element in the second group of target array elements includes angle information in the vertical direction, that is, the second angle is an angle of the target in the vertical direction; because the third group of target array elements are virtual array elements which are not in the same horizontal direction and not in the same vertical direction in the target virtual array, the echo data matrix of each virtual array element in the third group of target array elements contains joint information in the horizontal direction and the vertical direction, that is, the third angle is the angle of the target in the direction of the straight line formed by connecting each virtual array element in the third group of target array elements. Based on this, by combining the echo data matrix of each virtual array element in each group of target array elements, the angle set of each target in the direction corresponding to the group of target array elements can be calculated by using an FFT or beam forming method.
Step S103, determining the angle of each target based on the calculation formula of the echo signal, the first angle set, the second angle set and the third angle set.
Because the third angle set combines the information of each target in the horizontal direction and the vertical direction, the first angle set and the second angle set respectively represent the angle information of each target in the horizontal direction and the vertical direction, so that the echo signals of the third group of target array elements are described by using the first angle and the second angle, the angle matching condition of the first angle and the second angle can be determined, and the angle of the target can be determined according to the well matched first angle and second angle.
The method comprises the steps of firstly selecting a plurality of virtual array elements from a target virtual array to form three groups of target array elements. The target virtual arrays are respectively and uniformly arranged in the horizontal direction and the vertical direction, namely, the intervals of all virtual array elements of the target virtual arrays in the same horizontal direction are consistent, and the intervals of all virtual array elements of the target virtual arrays in the same vertical direction are consistent. Then, based on the echo data matrix of each virtual array element in the first group of target array elements, determining a first angle set of the target in the horizontal direction; determining a second angle set of the target in the vertical direction based on the echo data matrix of each virtual array element in the second group of target array elements; and determining a third angle set of the target in the oblique direction based on the echo data matrix of each virtual array element in the third group of target array elements. The number of elements contained in the first angle set, the second angle set and the third angle set is equal to the number of the target elements. Because the first group of target array elements comprises at least two virtual array elements in the same horizontal direction, the second group of target array elements comprises at least two virtual array elements in the same vertical direction, and the third group of target array elements comprises at least two virtual array elements which are not in the same horizontal direction and not in the same vertical direction, therefore, each first angle in the first angle set embodies the angle information of the target in the horizontal direction, each second angle in the second angle set embodies the angle information of the target in the vertical direction, and each third angle in the third angle set embodies the associated information of the target in the horizontal direction and the vertical direction. And finally, determining the angle of each target based on a preset calculation formula of the echo signal, the first angle set, the second angle set and the third angle set. According to the method and the device, only part of virtual array elements are adopted for calculation, calculation of unnecessary information is reduced to a great extent, the calculated amount cannot be increased due to the increase of the number of the array elements in the target virtual array, the calculation process is simple, and the two-dimensional angle estimation of the target angle can be completed efficiently.
In some embodiments of the present application, the target virtual array is a rectangular array, and the step S101 of selecting a plurality of virtual array elements from the target virtual array to form three groups of target array elements may include:
s1, a first group of target array elements is formed by each virtual array element in any row of the target virtual array.
S2, a second group of target array elements is formed by each virtual array element in any column of the target virtual array.
And S3, forming a third group of target array elements by each virtual array element on the diagonal line or the sub diagonal line in the target virtual array.
In order to utilize the virtual array elements in the antenna array to the maximum, the virtual array elements can be taken as many as possible in the same horizontal direction, the same vertical direction and the diagonal line or the secondary diagonal line respectively, the more the selected virtual array elements are, the larger the aperture is, and the better the resolution is. That is, the scheme of fig. 3 may have a higher resolution than the selection of the target array elements of each group shown in fig. 4.
Specifically, for a uniformly arranged two-dimensional transmit-receive array like that shown in fig. 1, the angular resolution calculation formula:
wherein,
as to the number of virtual array elements on a row/column,Dis the distance between the two array elements,
is the pore size, here equals
，
The wavelength corresponding to the carrier frequency is taken as the wavelength corresponding to 77GHz,
at an angle to the normal of the radar (typically taking the value 0, i.e. 0)
). Then, it can be seen from equation (3) that the larger the aperture, the higher the angular resolution, i.e. the closer the angle is to the target can be resolved.
In some embodiments of the present application, the above-mentioned target virtual array may not be a rectangular array, and as shown in fig. 5, the target virtual array at least includes two horizontally oriented virtual array elements to perform angle measurement in the horizontal direction, two vertically oriented virtual array elements to perform angle measurement in the vertical direction, and two non-horizontally oriented virtual array elements to obtain information related to two directions.
Based on this, in some embodiments of the present application, the target virtual array is a non-rectangular array, and the step S101 of selecting a plurality of virtual array elements from the target virtual array to form three groups of target array elements may include:
s1, a row with the largest number of virtual array elements is determined from the target virtual array, and each virtual array element in the row constitutes a first group of target array elements.
S2, a column with the largest number of virtual array elements is determined from the target virtual array, and each virtual array element in the column constitutes a second group of target array elements.
And S3, determining a plurality of virtual array elements which are not in the same row and are not in the same column from the target virtual array, wherein the centers of the plurality of virtual array elements are connected into a line, the intervals of the adjacent array elements in the plurality of virtual array elements in the horizontal direction are consistent, and the intervals of the adjacent array elements in the plurality of virtual array elements in the vertical direction are consistent.
In some embodiments of the present application, the step S102 of determining the first angle set of the target in the horizontal direction based on the echo data matrix of each virtual array element in the first group of target array elements may include:
and S1, performing 2D-FFT on each echo data matrix of each virtual array element in the first group of target array elements to obtain each range-Doppler spectrum matrix.
S2, performing Non-correlation accumulation (Non-coherent combining) processing on each range-doppler spectrum matrix to obtain a range-doppler spectrum matrix after accumulation.
S3, performing CFAR detection (Constant False Alarm Rate) on the accumulated range-doppler spectrum matrix to obtain a range and velocity index of the target.
S4, a first set of angles of the target is determined based on the respective range-Doppler spectrum matrices and the range and velocity indices of the target.
Illustratively, the first set of angles of the target may be determined by finding extrema or the like based on the range-doppler spectrum matrix and the range and velocity indices of the target.
Generally, since the echo data matrices are obtained from a single range and velocity gate, the range resolution and velocity resolution can be made small enough by setting parameters such as bandwidth, for example, only about 3 targets can be allowed under the same range and velocity gate, and then the angle corresponding to the first group of target array elements can be found based on the criterion and a set threshold (for example, -3dB of the maximum energy value).
Likewise, with reference to the above method, a second set of angles of the target in the vertical direction and a third set of angles in the diagonal direction may be determined.
It is understood that, in the process of determining the first angle set, the second angle set and the third angle set, the above steps S1 to S3 may be performed in combination, that is, in S1, 2D-FFT is performed on each echo data matrix of each virtual array element in the entire target virtual array, and after performing S2 and S3, the distance and velocity index of the target is obtained. In S4, the corresponding elements in each range-doppler spectrum matrix are selected to determine each angle set. Aiming at the first angle set, selecting elements corresponding to a first group of target array elements in each range-Doppler spectrum matrix, and determining the first angle set of the target by combining the range and speed indexes of the target; aiming at the second angle set, selecting elements corresponding to a second group of target array elements in each range-Doppler spectrum matrix, and determining the second angle set of the target by combining the distance and the speed index of the target; and aiming at the third angle set, selecting elements corresponding to a third group of target array elements in each distance-Doppler spectrum matrix, and determining the third angle set of the target by combining the distance and the speed index of the target.
In some embodiments of the present application, the step of determining the first angle set of the target based on the range-doppler spectrum matrices and the range and velocity indexes of the target at S4 may include:
s41, each element of the range and velocity index corresponding to the target is selected from each range-doppler spectrum matrix.
S42, new line data is constructed based on the elements.
Wherein the position of each element in the row coincides with the position of the element in the original range-doppler spectrum matrix.
S43, performing FFT or beam forming on the line data, finding the extremum to obtain the possible angles of the target, and forming the first angle set of the target by the angles.
In some embodiments of the present application, the step S103 of determining the angle of each target based on the calculation formula of the echo signal, the first angle set, the second angle set, and the third angle set may include:
s1, matching the first angle in the first angle set and the second angle in the second angle set according to equation (3), to obtain a matched angle combination:
each angle combination comprises a first angle and a second angle, and each angle combination corresponds to one target.
S2, determining each angle combination as the angle of a target.
Assume that the first angle set, the second angle set and the third angle set each include 3 angles, which are
、
、
After the matching process, three groups of angle combinations are obtained, namely
、
And
then these three sets of angle combinations respectively correspond to a target.
Wherein the above equation is obtained based on the following phase relationship: for a particular target, let its horizontal direction angle with respect to the radar be
At a vertical angle of
The angle measured by the array where the third group of target array elements is
Then, the echo signals received by each array element in the third group of target array elements have two equivalent expression modes:
corresponding to the virtual matrix shown in figure 3,
，
，
is the wavelength of the carrier frequency and,
corresponding to each array element, for the virtual array shown in fig. 3,
and (5). Since equation (5) and equation (6) are equivalent, equation (4) can be obtained by combining these two equations.
In some embodiments of the present application, the process of matching the first angle in the first angle set and the second angle in the second angle set according to equation (4) at S1 may include:
s1, constructing a matrix
Each element in the matrix is calculated by the following equation:
s2, constructing a vector list
The vector list is calculated by the following equation
Each vector of (a):
s3, for each
Determining the same as
Target with the closest value of
And target the object
In (1)
And
are determined as angle combinations matched with each other.
Wherein,
is the number of the targets that are to be processed,
is a first angle in the first set of angles,
is a second angle in the second set of angles,
is a third angle in the third set of angles;
in practical applications, due to the influences of insufficient angle measurement accuracy, system errors and the like, the relational expressions cannot be strictly equal, and therefore certain errors are allowed.
The matching process in the above embodiment may be represented by a code as follows:
first, based on
、
And equation (3) constructs one
Size matrix to be compared
Based on
And equation (3) constructs a length of
To be compared vector
：
Then pair
Traversing the values in the vector and comparing the values with the values obtained
And comparing elements in the matrix, finding the element closest to the value, wherein the values of alpha and beta corresponding to the element are the angles in the horizontal and vertical directions corresponding to a certain target, and thus completing pairing.
The List array obtained after the matching comprises the matching results of all targets: each row corresponds to a target, and the second column of each row corresponds to the angle corresponding to the horizontal direction of the target
The third column corresponds to the angle corresponding to the target vertical direction
。
The millimeter wave radar two-dimensional angle calculation device provided by the embodiment of the present application is described below, and the millimeter wave radar two-dimensional angle calculation device described below and the millimeter wave radar two-dimensional angle calculation method described above may be referred to in a mutually corresponding manner.
Referring to fig. 6, the millimeter wave radar two-dimensional angle calculating device provided in the embodiment of the present application may include:
a target array element selecting unit 21, configured to select a plurality of virtual array elements from a target virtual array to form three groups of target array elements, where the target virtual array is uniformly arranged in a horizontal direction and a vertical direction, a first group of target array elements includes at least two virtual array elements in the same horizontal direction, a second group of target array elements includes at least two virtual array elements in the same vertical direction, and a third group of target array elements includes at least two virtual array elements that are not in the same horizontal direction and are not in the same vertical direction;
a single angle determining unit 22, configured to determine a first angle set of each target in the horizontal direction based on an echo data matrix of each virtual array element in the first group of target array elements, determine a second angle set of each target in the vertical direction based on an echo data matrix of each virtual array element in the second group of target array elements, and determine a third angle set of each target in the oblique direction based on an echo data matrix of each virtual array element in the third group of target array elements, where the numbers of elements included in the first angle set, the second angle set, and the third angle set are equal and are the numbers of targets;
an angle matching calculation unit 23, configured to determine an angle of each target based on a calculation formula of an echo signal, the first angle set, the second angle set, and the third angle set.
In some embodiments of the present application, the process that the target virtual array is a rectangular array, and the selecting unit 21 selects a plurality of virtual array elements from the target virtual array to form three groups of target array elements may include:
forming a first group of target array elements by all virtual array elements in any row in the target virtual array;
forming a second group of target array elements by each virtual array element in any column in the target virtual array;
and forming a third group of target array elements by each virtual array element on the diagonal line or the sub diagonal line in the target virtual array.
In some embodiments of the present application, the target virtual array is a non-rectangular array, and the process of selecting a plurality of virtual array elements from the target virtual array by the target array element selecting unit 21 to form three groups of target array elements may include:
determining a row with the maximum number of virtual array elements from a target virtual array, and forming a first group of target array elements by all the virtual array elements in the row;
determining a column with the maximum number of virtual array elements from a target virtual array, and forming a second group of target array elements by all the virtual array elements in the column;
determining a plurality of virtual array elements which are not in the same row and are not in the same column from the target virtual array, wherein the centers of the plurality of virtual array elements are connected into a line, the intervals of the adjacent array elements in the plurality of virtual array elements in the horizontal direction are consistent, and the intervals of the adjacent array elements in the plurality of virtual array elements in the vertical direction are consistent.
In some embodiments of the present application, the distance of adjacent target array elements in the target virtual array in the horizontal direction
Satisfying the following equation:
wherein,
being the wavelength of the millimeter wave used,
the angle measurement range is a preset maximum non-fuzzy angle measurement range.
In some embodiments of the present application, the process of determining, by the single angle determining unit 22, the first angle set of the target in the horizontal direction based on the echo data matrix of each virtual array element in the first group of target array elements may include:
performing two-dimensional fast Fourier transform (2D-FFT) on each echo data matrix of each virtual array element in the first group of target array elements to obtain a distance-Doppler spectrum matrix;
performing non-correlation accumulation processing on the distance-Doppler spectrum matrix to obtain a distance-Doppler spectrum matrix after accumulation;
performing constant false alarm CFAR detection on the accumulated distance-Doppler spectrum matrix to obtain a distance and speed index of the target;
a first set of angles of the target is determined based on the range-doppler spectrum matrix and the range and velocity indices of the target.
In some embodiments of the present application, the process of determining the angle of each target by the angle matching calculation unit 23 based on the calculation formula of the echo signal, the first angle set, the second angle set, and the third angle set may include:
matching a first angle in the first angle set and a second angle in the second angle set according to the following equation to obtain a matched angle combination:
determining each angle combination as an angle of a target, wherein each angle combination comprises a first angle and a second angle;
wherein,
is the distance of the adjacent target array elements in the third group of target array elements in the horizontal direction,
is the distance of the adjacent target array elements in the third group of target array elements in the vertical direction,
for a first angle in the first set of angles,
is a second angle of the second set of angles,
is a third angle in the third set of angles.
In some embodiments of the present application, the process of matching the first angle in the first angle set and the second angle in the second angle set by the angle matching calculation unit 23 according to the following equation may include:
construction matrix
Each element in the matrix is calculated by the following equation:
constructing a vector list
The vector list is calculated by the following equation
Each vector of (a):
for each
Determining the same as
Target with the closest value of
And target the object
In
And
determining the angle combinations matched with each other;
wherein,
as to the number of the objects in question,
for a first angle in the first set of angles,
for a second angle in the second set of angles,
is a third angle in the third set of angles;
The millimeter wave radar two-dimensional angle calculating device provided by the embodiment of the application can be applied to millimeter wave radar two-dimensional angle calculating equipment such as a computer. Optionally, fig. 7 shows a block diagram of a hardware structure of the millimeter wave radar two-dimensional angle calculation device, and referring to fig. 7, the hardware structure of the millimeter wave radar two-dimensional angle calculation device may include: at least one processor 31, at least one communication interface 32, at least one memory 33 and at least one communication bus 34.
In the embodiment of the present application, the number of the processor 31, the communication interface 32, the memory 33 and the communication bus 34 is at least one, and the processor 31, the communication interface 32 and the memory 33 complete the communication with each other through the communication bus 34;
the processor 31 may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits configured to implement embodiments of the present application, etc.;
the memory 33 may include a high-speed RAM memory, and may further include a non-volatile memory (non-volatile memory) or the like, such as at least one disk memory;
wherein the memory 33 stores a program and the processor 31 may call the program stored in the memory 33 for:
selecting a plurality of virtual array elements from a target virtual array to form three groups of target array elements, wherein the target virtual array is uniformly distributed in the horizontal direction and the vertical direction respectively, the first group of target array elements comprises at least two virtual array elements in the same horizontal direction, the second group of target array elements comprises at least two virtual array elements in the same vertical direction, and the third group of target array elements comprises at least two virtual array elements which are not in the same horizontal direction and not in the same vertical direction;
determining a first angle set of each target in the horizontal direction based on an echo data matrix of each virtual array element in the first group of target array elements, determining a second angle set of each target in the vertical direction based on an echo data matrix of each virtual array element in the second group of target array elements, and determining a third angle set of each target in the oblique direction based on an echo data matrix of each virtual array element in the third group of target array elements, wherein the first angle set, the second angle set and the third angle set contain equal number of elements and are the number of targets;
determining the angle of each target based on the calculation formula of the echo signal, the first angle set, the second angle set and the third angle set.
Alternatively, the detailed function and the extended function of the program may be as described above.
An embodiment of the present application further provides a storage medium, where the storage medium may store a program adapted to be executed by a processor, where the program is configured to:
selecting a plurality of virtual array elements from a target virtual array to form three groups of target array elements, wherein the target virtual array is uniformly distributed in the horizontal direction and the vertical direction respectively, the first group of target array elements comprises at least two virtual array elements in the same horizontal direction, the second group of target array elements comprises at least two virtual array elements in the same vertical direction, and the third group of target array elements comprises at least two virtual array elements which are not in the same horizontal direction and not in the same vertical direction;
determining a first angle set of each target in the horizontal direction based on an echo data matrix of each virtual array element in the first group of target array elements, determining a second angle set of each target in the vertical direction based on an echo data matrix of each virtual array element in the second group of target array elements, and determining a third angle set of each target in the oblique direction based on an echo data matrix of each virtual array element in the third group of target array elements, wherein the first angle set, the second angle set and the third angle set contain the same number of elements, and the number of elements is the same as that of the targets;
determining the angle of each target based on the calculation formula of the echo signal, the first angle set, the second angle set and the third angle set.
Alternatively, the detailed function and the extended function of the program may refer to the above description.
In summary, the following steps:
the method comprises the steps of firstly selecting a plurality of virtual array elements from a target virtual array to form three groups of target array elements. The target virtual arrays are respectively and uniformly arranged in the horizontal direction and the vertical direction, namely, the intervals of all virtual array elements of the target virtual arrays in the same horizontal direction are consistent, and the intervals of all virtual array elements of the target virtual arrays in the same vertical direction are consistent. Then, based on the echo data matrix of each virtual array element in the first group of target array elements, determining a first angle set of the target in the horizontal direction; determining a second angle set of the target in the vertical direction based on the echo data matrix of each virtual array element in the second group of target array elements; and determining a third angle set of the target in the oblique direction based on the echo data matrix of each virtual array element in the third group of target array elements. The number of elements contained in the first angle set, the second angle set and the third angle set is equal to the number of the target elements. Because the first group of target array elements comprises at least two virtual array elements in the same horizontal direction, the second group of target array elements comprises at least two virtual array elements in the same vertical direction, and the third group of target array elements comprises at least two virtual array elements which are not in the same horizontal direction and not in the same vertical direction, therefore, each first angle in the first angle set embodies the angle information of the target in the horizontal direction, each second angle in the second angle set embodies the angle information of the target in the vertical direction, and each third angle in the third angle set embodies the associated information of the target in the horizontal direction and the vertical direction. And finally, determining the angle of each target based on a preset calculation formula of the echo signal, the first angle set, the second angle set and the third angle set. According to the method and the device, only part of virtual array elements are adopted for calculation, calculation of unnecessary information is reduced to a great extent, the calculated amount cannot be increased due to the increase of the number of the array elements in the target virtual array, the calculation process is simple, and two-dimensional angle estimation of the target angle can be completed efficiently.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, the embodiments may be combined as needed, and the same and similar parts may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A millimeter wave radar two-dimensional angle calculation method is characterized by comprising the following steps:
selecting a plurality of virtual array elements from a target virtual array to form three groups of target array elements, wherein the target virtual array is uniformly distributed in the horizontal direction and the vertical direction respectively, the first group of target array elements comprises at least two virtual array elements in the same horizontal direction, the second group of target array elements comprises at least two virtual array elements in the same vertical direction, and the third group of target array elements comprises at least two virtual array elements which are not in the same horizontal direction and are not in the same vertical direction;
determining a first angle set of each target in the horizontal direction based on an echo data matrix of each virtual array element in the first group of target array elements, determining a second angle set of each target in the vertical direction based on an echo data matrix of each virtual array element in the second group of target array elements, and determining a third angle set of each target in the oblique direction based on an echo data matrix of each virtual array element in the third group of target array elements, wherein the first angle set, the second angle set and the third angle set contain equal number of elements and are the number of targets;
determining the angle of each target based on the calculation formula of the echo signal, the first angle set, the second angle set and the third angle set.
2. The method of claim 1, wherein the determining the angle of each target based on the calculation formula of the echo signal, the first angle set, the second angle set, and the third angle set comprises:
matching a first angle in the first angle set and a second angle in the second angle set according to the following equation to obtain a matched angle combination:
determining each angle combination as an angle of a target, wherein each angle combination comprises a first angle and a second angle;
wherein,
is the distance of the adjacent target array elements in the third group of target array elements in the horizontal direction,
is the distance of the adjacent target array elements in the third group of target array elements in the vertical direction,
for a first angle in the first set of angles,
for a second angle in the second set of angles,
is a third angle in the third set of angles.
3. The method of claim 2, wherein matching a first angle of the first set of angles to a second angle of the second set of angles is accomplished according to the following equation, comprising:
construction matrix
Each element in the matrix is calculated by the following equation:
constructing a list of vectors
The vector list is calculated by the following equation
Each vector of (a):
for each
Determining the same as
Target with the closest value of
And target the object
In (1)
And
determining the angle combinations matched with each other;
wherein,
as to the number of the objects in question,
is a first angle of the first set of angles,
for a second angle in the second set of angles,
is a third angle in the third set of angles.
4. The method of claim 1, wherein determining the first set of angles of the target in the horizontal direction based on the echo data matrix of each virtual array element in the first set of target array elements comprises:
performing two-dimensional fast Fourier transform (2D-FFT) on each echo data matrix of each virtual array element in the first group of target array elements to obtain a distance-Doppler spectrum matrix;
performing non-correlation accumulation processing on the distance-Doppler spectrum matrix to obtain a distance-Doppler spectrum matrix after accumulation;
performing constant false alarm CFAR detection on the accumulated distance-Doppler spectrum matrix to obtain a distance and speed index of the target;
a first set of angles of the target is determined based on the range-doppler spectrum matrix and the range and velocity indices of the target.
5. The method of claim 1, wherein the target virtual array is a rectangular array, and the selecting a plurality of virtual array elements from the target virtual array to form three groups of target array elements comprises:
forming a first group of target array elements by all virtual array elements in any row in the target virtual array;
forming a second group of target array elements by each virtual array element in any column in the target virtual array;
and forming a third group of target array elements by each virtual array element on the diagonal line or the sub diagonal line in the target virtual array.
6. The method of claim 1, wherein the target virtual array is a non-rectangular array, and the selecting a number of virtual array elements from the target virtual array to form three groups of target array elements comprises:
determining a row with the maximum number of virtual array elements from a target virtual array, and forming a first group of target array elements by all the virtual array elements in the row;
determining a column with the maximum number of virtual array elements from a target virtual array, and forming a second group of target array elements by all the virtual array elements in the column;
determining a plurality of virtual array elements which are not in the same row and are not in the same column from the target virtual array, wherein the centers of the plurality of virtual array elements are connected into a line, the intervals of the adjacent array elements in the plurality of virtual array elements in the horizontal direction are consistent, and the intervals of the adjacent array elements in the plurality of virtual array elements in the vertical direction are consistent.
7. The method of claim 1, wherein the distance between adjacent target array elements in the target virtual array in the horizontal direction
Satisfying the following equation:
wherein,
for the wavelength of the millimeter wave used,
the angle measurement range is a preset maximum non-fuzzy angle measurement range.
8. A millimeter wave radar two-dimensional angle calculation device, comprising:
the target array element selecting unit is used for selecting a plurality of virtual array elements from a target virtual array to form three groups of target array elements, wherein the target virtual array is uniformly distributed in the horizontal direction and the vertical direction respectively, the first group of target array elements comprises at least two virtual array elements in the same horizontal direction, the second group of target array elements comprises at least two virtual array elements in the same vertical direction, and the third group of target array elements comprises at least two virtual array elements which are not in the same horizontal direction and are not in the same vertical direction;
a single angle determining unit, configured to determine a first angle set of each target in a horizontal direction based on an echo data matrix of each virtual array element in the first group of target array elements, determine a second angle set of each target in a vertical direction based on an echo data matrix of each virtual array element in the second group of target array elements, and determine a third angle set of each target in an oblique direction based on an echo data matrix of each virtual array element in the third group of target array elements, where the numbers of elements included in the first angle set, the second angle set, and the third angle set are equal and are the numbers of targets;
an angle matching calculation unit, configured to determine an angle of each target based on a calculation formula of an echo signal, the first angle set, the second angle set, and the third angle set.
9. A millimeter wave radar two-dimensional angle calculation device, comprising: a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the millimeter wave radar two-dimensional angle calculation method according to any one of claims 1 to 7.
10. A storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the millimeter wave radar two-dimensional angle calculation method according to any one of claims 1 to 7.
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