CN115524674A - Millimeter wave radar antenna phase calibration method, device, equipment and storage medium - Google Patents

Abstract

The invention discloses a method, a device, equipment and a storage medium for calibrating a phase of a millimeter wave radar antenna. According to the target distance, speed and radar reflection area, the radar target simulator is controlled to simulate the target to be measured; controlling the millimeter wave radar to rotate at a constant speed, so that the target to be detected is positioned at different detection angles of the millimeter wave radar; controlling a cloud platform to send a trigger signal to acquire echo data; acquiring instruction time delay of sending a trigger signal by the millimeter wave radar at different detection angles; carrying out angle compensation on the detection angle of the millimeter wave radar according to the instruction time delay and the rotation angular speed of the millimeter wave radar; acquiring phase information of each antenna channel to be calibrated in echo data; and acquiring a phase compensation coefficient of each antenna channel to be calibrated according to the phase information, and performing phase compensation on each antenna to be calibrated according to the phase compensation coefficient. The method can effectively calibrate the phase error of the millimeter wave radar array antenna and improve the angle measurement precision of the millimeter wave radar.

Description

Millimeter wave radar antenna phase calibration method, device, equipment and storage medium

technical field

The present invention relates to the technical field of millimeter wave radar, in particular to a millimeter wave radar antenna phase calibration method, device, equipment and storage medium.

Background technique

Automotive millimeter-wave radar is one of the essential sensors in advanced driver assistance systems. The angle measurement accuracy of automotive millimeter-wave radar will greatly affect the application performance of advanced driver assistance systems. The angle of the automotive millimeter-wave radar is mainly calculated by the phase difference between the radar receiving array antennas. Ideally, the phase difference of the millimeter-wave radar Δω=2πdsin(θ)/λ, where d is the distance between the two receiving antennas, θ is the angle of incidence of the target, and λ is the wavelength of the electromagnetic wave emitted by the radar. It can be seen that when the phase difference between the receiving antennas is known, the angle of the detection target can be calculated.

There are mainly two existing radar antenna calibration methods: 1) Only compensate the phase error ω _e between the receiving antennas of the automotive millimeter-wave radar due to the coupling between the feeders and the inside of the RF chip. This calibration method does not take into account the inconsistency between the phase center distance of the receiving antenna and the antenna center distance of the actual hardware design. When the radar directly uses the actual hardware design antenna center distance for angle calculation, it will produce large errors when detecting large-angle targets. , resulting in a decrease in the accuracy of radar angle measurement; 2) It not only compensates the phase error ω _e between the receiving antennas of the automotive millimeter-wave radar due to the coupling between the feeders and the inside of the RF chip, but also compensates the phase center d _p of the array antenna. This calibration method is to obtain the phase value when the radar detects the target at different angles, and fit the sin curve between the phase difference of the radar receiving array antenna and the change of the target angle. From the phase error, its amplitude divided by 2π is the antenna phase center to be compensated (the value is a multiple of the wavelength). The main disadvantage is that if the processing error is relatively large, the fitted antenna phase center cannot express the relationship between the phase difference and the angle of the entire radar FOV range, and there will still be low angular accuracy at individual angles (especially large angles) . Therefore, how to improve the accuracy of the phase calibration of the millimeter-wave radar array antenna has become an urgent problem to be solved by those skilled in the art.

Contents of the invention

In view of the above defects, the embodiments of the present invention provide a millimeter wave radar antenna phase calibration method, device, equipment and storage medium to solve the problems existing in the prior art.

In order to solve the above technical problems, an embodiment of the present invention provides a millimeter-wave radar antenna phase calibration method, the method comprising:

According to the preset target distance, speed and radar reflection area, control the radar target simulator to simulate the target to be tested;

controlling the millimeter-wave radar turntable to drive the millimeter-wave radar to rotate at a constant speed with the radar center shaft, so that the target to be measured is located at different detection angles of the millimeter-wave radar;

Controlling the cloud platform to send trigger signals at different detection angles to trigger the millimeter-wave radar to send waveforms and obtain echo data of each antenna to be calibrated at different detection angles;

Obtaining the instruction delay for the cloud platform to send the trigger signal under different detection angles;

performing angle compensation on the detection angle of the millimeter-wave radar according to the command time delay and the rotational angular velocity of the millimeter-wave radar;

performing signal processing on the echo data, and obtaining phase information of each antenna channel to be calibrated in the echo data;

Acquiring phase compensation coefficients of each of the antenna channels to be calibrated according to the result of the angle compensation and the phase information;

performing phase compensation on each of the antennas to be calibrated according to the phase compensation coefficients.

Preferably, said obtaining the phase compensation coefficients of each antenna channel to be calibrated according to the result of the angle compensation and the phase information includes:

Determining a reference antenna and an antenna to be calibrated, acquiring a phase value of the reference antenna and a phase value of each of the antennas to be calibrated;

Obtaining phase differences between the reference antenna and each of the antennas to be calibrated at different detection angles according to the phase value of the reference antenna and the phase values of each of the antennas to be calibrated;

The phase compensation coefficient is determined according to the result of the angle compensation and the phase difference.

Preferably, the acquisition of the instruction delay of the cloud platform sending the trigger signal under different detection angles includes:

When the millimeter-wave radar turntable rotates to a first detection angle, control the cloud platform to send the trigger signal;

Obtaining the first time node when the cloud platform sends the trigger signal;

Acquiring a second time node when the millimeter-wave radar receives the trigger signal;

Determining a time interval between the first time node and the second time node as the instruction delay.

Preferably, the performing angle compensation on the detection angle of the millimeter-wave radar according to the instruction delay and the rotational angular velocity of the millimeter-wave radar includes:

At the second time node, acquiring an actual detection angle to which the millimeter-wave radar turntable is currently rotated;

determining an angular error between the first detection angle and the actual detection angle;

Angle compensation is performed on the first detection angle according to the angle error.

Preferably, performing signal processing on the echo data, and obtaining phase information of each antenna channel to be calibrated in the echo data includes:

performing a two-dimensional fast Fourier transform on each of the echo data to obtain a signal spectrum of each of the echo data;

determining the position of the target simulated by the target simulator in the signal spectrum according to the target distance and speed;

The phase value corresponding to the position is obtained to obtain the phase value of each antenna at each detection angle.

Preferably, the determining the phase compensation coefficient according to the result of the angle compensation and the phase difference includes:

Δω=2πd _p sin(θ+θ _e )/λ+ω _e ;

Wherein, Δω is the phase difference, θ is the detection angle, θ _e is the angle compensation value, λ is the wavelength of the electromagnetic wave, ω _e is the phase compensation coefficient, and d _p is the phase center distance.

Preferably, the method further includes: the millimeter-wave radar turntable drives the millimeter-wave radar to rotate at a constant speed starting from the maximum negative angle of the millimeter-wave radar FOV.

In order to solve the above technical problems, an embodiment of the present invention provides a millimeter-wave radar antenna phase calibration device, which includes:

The simulation control module is used to control the radar target simulator to simulate the target to be measured according to the preset target distance, speed and radar reflection area;

The rotation control module is used to control the millimeter-wave radar turntable to drive the millimeter-wave radar to rotate at a constant speed around the radar center shaft, so that the target to be measured is located at different detection angles of the millimeter-wave radar;

A trigger module, configured to control the cloud platform to send trigger signals at different detection angles, to trigger the millimeter-wave radar to send waveforms and obtain echo data of each antenna to be calibrated at different detection angles;

A delay detection module, configured to acquire the command delay of the trigger signal sent by the cloud platform at different detection angles;

an angle compensation module, configured to perform angle compensation on the detection angle of the millimeter wave radar according to the command delay and the rotational angular velocity of the millimeter wave radar;

A signal processing module, configured to perform signal processing on the echo data, and obtain phase information of each antenna channel to be calibrated in the echo data;

A compensation determination module, configured to obtain a phase compensation coefficient of each of the antenna channels to be calibrated according to the result of the angle compensation and the phase information;

A compensation control module, configured to perform phase compensation on each of the antennas to be calibrated according to the phase compensation coefficient.

In order to solve the above technical problems, an embodiment of the present invention provides a millimeter-wave radar antenna phase calibration device, including: at least one processor, at least one memory, and computer program instructions stored in the memory, when the computer program instructions are executed by the processor At this time, the method of the first aspect in the above-mentioned embodiment is implemented.

In order to solve the above technical problems, an embodiment of the present invention provides a storage medium on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method in the first aspect of the above implementation manners is implemented.

In summary, embodiments of the present invention provide a millimeter wave radar antenna phase calibration method, device, equipment, and storage medium. According to the preset target distance, the present invention controls the radar target simulator to simulate the target to be measured; controls the millimeter-wave radar turntable to drive the millimeter-wave radar to rotate at a constant speed, so that the millimeter-wave radar is located at different detection angles; controls the millimeter-wave radar to operate at different detection angles Send the trigger signal at different angles to obtain the echo data of each antenna to be calibrated at different detection angles; obtain the command delay of the millimeter-wave radar sending the trigger signal at different detection angles; according to the command delay and the rotation of the millimeter-wave radar Angular velocity, the angle compensation is performed on the detection angle of the millimeter-wave radar; according to the result of angle compensation, the phase information of each antenna channel to be calibrated in the echo data is obtained; the phase compensation coefficient of each antenna channel to be calibrated is obtained according to the phase information, and the phase compensation coefficient is obtained according to the phase compensation The coefficients perform phase compensation for each antenna to be calibrated. Therefore, the present invention can effectively calibrate the phase of the millimeter-wave radar array antenna, and improve the angle measurement accuracy of the millimeter-wave radar.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the embodiments of the present invention. Additional figures can be derived from these figures.

Fig. 1 is a prior art schematic diagram of a millimeter wave radar antenna phase calibration method according to an embodiment of the present invention.

Fig. 2 is a flow chart of a method for calibrating a phase of a millimeter-wave radar antenna according to an embodiment of the present invention.

FIG. 3 is a flow chart of a method for obtaining phase compensation coefficients of each antenna channel to be calibrated according to angle compensation results and phase information according to an embodiment of the present invention.

Fig. 4 is a flow chart of obtaining the instruction delay of the trigger signal sent by the cloud platform at different detection angles according to the embodiment of the present invention.

FIG. 5 is a flow chart of performing angle compensation on the detection angle of the millimeter-wave radar according to the command delay and the rotational angular velocity of the millimeter-wave radar according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a millimeter-wave radar antenna phase calibration device according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a millimeter-wave radar antenna phase calibration device according to an embodiment of the present invention.

detailed description

The characteristics and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only configured to explain the present invention, not to limit the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by showing examples of the present invention.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the statement "comprising..." does not exclude the presence of additional same elements in the process, method, article or device comprising said element.

Please refer to FIG. 1 . FIG. 1 is a prior art schematic diagram of a millimeter wave radar antenna phase calibration method provided by the present application.

In the prior art, there are a total of M1, M2, M3...Mx receiving antennas RX, the target incident angle is θ, the distance between the two receiving antennas is d, Δt represents the time delay, and each time delay caused by the time delay Δt The phase difference of the target signal detected by the receiving antenna is Δω=2πd _p sin(θ)/λ, where λ is the wavelength. Ideally, when the target incident angle θ is 0, the phase difference Δω is 0. But in fact, there is often a certain phase error ω _e between the receiving antennas of the automotive millimeter-wave radar due to the coupling between the feeders and the inside of the RF chip, and the spacing between the receiving antennas often has a certain error with the antenna spacing d of the hardware design. . Therefore, for the accuracy of angle measurement, it is often necessary to calculate the actual antenna phase center distance d _p as a parameter in the angle measurement algorithm.

Please refer to Fig. 2, Fig. 2 is a flowchart of a millimeter-wave radar antenna phase calibration method provided by the present application, the method includes the following steps:

S1. Control the radar target simulator to simulate the target to be measured according to the preset target distance, speed and radar reflection area;

Specifically, the radar target simulator is used for simulating the target to be measured, so as to generate radar echo signals containing the target to be measured and radar environment information. The radar target simulator achieves the purpose of reproducing the radar echo signal by simulating the target to be measured and the echo signal of the environment.

Specifically, the radar target simulator includes a receiving horn and a transmitting horn, wherein the receiving horn is used to receive the electromagnetic waves emitted by the millimeter-wave radar, and the transmitting horn is used to add the information of the target to be measured to the received electromagnetic waves. Launch it again. Therefore, the radar target simulator can simulate the distance, speed and radar reflection area information of the target to be measured by the millimeter-wave radar according to the set target distance, speed and radar reflection area. It can be understood that the preset target distance, speed, and radar reflection area values can be set according to actual needs, and are not specifically limited here.

Specifically, for the convenience of measurement, the target to be measured in this application is set as a target with a strong RCS, that is, a radar cross-sectional area, which is not specifically limited here.

S2. Control the millimeter-wave radar turntable to drive the millimeter-wave radar to rotate at a constant speed on the radar center shaft, so that the target to be measured is located at different detection angles of the millimeter-wave radar;

Specifically, the millimeter-wave radar turntable is used to drive the millimeter-wave radar to rotate at a constant speed around the central axis of the millimeter-wave radar, so that the target to be measured is located at different detection angles of the millimeter-wave radar. In this embodiment, when the millimeter-wave radar turntable rotates, it starts to rotate from the maximum negative angle of the millimeter-wave radar FOV field of view, and the angle of the millimeter-wave radar turntable is accurately acquired in real time through the data acquisition card.

S3. Control the cloud platform to send trigger signals at different detection angles to trigger the millimeter-wave radar to send waveforms and obtain echo data of each antenna to be calibrated at different detection angles;

Specifically, before starting the detection, the detection range of the millimeter-wave radar is divided according to the preset interval angle to obtain multiple detection angles of the echo data to be collected, and the different detection angle values are stored in a one-dimensional array . The application obtains the angle of the millimeter-wave radar turntable accurately in real time through the data acquisition card, and every time it rotates to a detection angle to calibrate the phase difference, an instruction is issued through the cloud platform to trigger the millimeter-wave radar to send waveforms and emit electromagnetic waves.

Specifically, in order to ensure that each antenna receives echo data at each detection angle, in a preferred embodiment, if the echo data at different detection angles of each antenna is not completely received, the millimeter-wave radar is turned Rotate to the detection angle where the echo data is not received, and obtain the echo data not received.

S4. Obtain the command delay of the cloud platform sending the trigger signal under different detection angles;

Specifically, after turning to a detection angle to calibrate the phase difference, the cloud platform sends a trigger signal to the millimeter-wave radar, and the trigger signal has a certain time delay during transmission, while the millimeter-wave radar turntable keeps rotating , so that when the millimeter-wave radar receives the trigger signal, there is a certain deviation between the rotation angle of the millimeter-wave radar turntable at this time and the detection angle of the phase difference to be calibrated, thereby reducing the accuracy of the phase calibration of the antenna array.

Specifically, in this embodiment, the trigger signal is set as a Fast Chirps signal modulation waveform. In another preferred embodiment, the trigger signal can be one of LMCW, FCK and Fast Chirps waveforms, which is not specifically limited here.

S5. Perform angle compensation on the detection angle of the millimeter-wave radar according to the command delay and the rotational angular velocity of the millimeter-wave radar;

Specifically, when the millimeter-wave radar receives the trigger signal, there is a certain deviation between the rotation angle of the millimeter-wave radar turntable at this time and the detection angle to calibrate the phase difference. The application compensates the angle deviation, thereby effectively improving the millimeter wave. Accuracy of Phase Calibration for Wave Radar Antenna Arrays.

S6. Perform signal processing on the echo data, and obtain phase information of each antenna channel to be calibrated in the echo data;

Specifically, when the millimeter-wave radar reaches the detection angle, each antenna of the millimeter-wave radar is controlled to receive the electromagnetic wave data returned by the target simulator, so as to obtain echo data at different detection angles of each antenna. After receiving the echo data, signal processing is performed on the echo data, so as to obtain phase information of each antenna channel to be calibrated in the echo data.

S7. Obtain the phase compensation coefficients of each antenna channel to be calibrated according to the result of the angle compensation and the phase information;

Specifically, each detection angle corresponds to a set of echo data, and angle compensation is performed on different detection angles of the millimeter-wave radar according to the command delay and the rotational angular velocity of the millimeter-wave radar, so that the compensated detection angle is consistent with the echo data Correspondingly, to improve the accuracy of phase compensation.

S8. Perform phase compensation on each antenna to be calibrated according to the phase compensation coefficient.

To sum up, this application provides a millimeter-wave radar antenna phase calibration method. In this solution, the radar target simulator is controlled to simulate the target to be measured according to the preset target distance; the millimeter-wave radar turntable is controlled to drive the millimeter-wave radar at a constant speed. Rotate so that the millimeter-wave radar is located at different detection angles; control the millimeter-wave radar to send trigger signals at different detection angles to obtain the echo data of each antenna to be calibrated at different detection angles; obtain the millimeter-wave radar at different detection angles The command delay of sending the trigger signal under the angle; according to the command delay and the rotational angular velocity of the millimeter wave radar, the angle compensation is performed on the detection angle of the millimeter wave radar; according to the result of the angle compensation, the echo data of each antenna channel to be calibrated is obtained Phase information: Obtain phase compensation coefficients of each antenna channel to be calibrated according to the phase information, and perform phase compensation on each antenna to be calibrated according to the phase compensation coefficients. Therefore, the present invention can effectively calibrate the phase of the millimeter-wave radar array antenna, and improve the angle measurement accuracy of the millimeter-wave radar.

On the basis of above-mentioned embodiment:

Please refer to FIG. 3 . FIG. 3 is a flowchart of a method for obtaining phase compensation coefficients of each antenna channel to be calibrated according to angle compensation results and phase information provided by the present application.

As a preferred embodiment, obtaining the phase compensation coefficients of each antenna channel to be calibrated according to the angle compensation result and phase information includes:

S71. Determine the reference antenna and the antenna to be calibrated, and obtain the phase value of the reference antenna and the phase value of each antenna to be calibrated;

S72. Obtain phase differences between the reference antenna and each antenna to be calibrated at different detection angles according to the phase value of the reference antenna and the phase values of each antenna to be calibrated;

Specifically, one antenna of the millimeter-wave radar is selected as the reference antenna, and the other antennas are antennas to be calibrated; first, the phase values of the reference antenna at different detection angles and the phase values of the first antenna to be calibrated at different detection angles are extracted; Secondly, for the same detection angle, make a difference between the phase value of the antenna to be calibrated and the phase value of the reference antenna to obtain the phase difference between the antenna to be calibrated and the reference antenna at the detection angle; repeat the above process for the remaining antennas to be calibrated, so that The phase difference between each antenna to be calibrated and the reference antenna at different detection angles is obtained.

S73. Determine a phase compensation coefficient according to the angle compensation result and the phase difference.

Please refer to FIG. 4 . FIG. 4 is a flow chart of obtaining the instruction delay of the trigger signal sent by the cloud platform at different detection angles provided by the present application.

As a preferred embodiment, obtaining the instruction delay of the cloud platform sending the trigger signal under different detection angles includes:

S41. When the millimeter-wave radar turntable rotates to the first detection angle, control the cloud platform to send a trigger signal;

S42. Obtain the first time node at which the cloud platform sends the trigger signal;

S43. Obtain a second time node when the millimeter-wave radar receives the trigger signal;

S44. Determine the time interval between the first time node and the second time node as the instruction delay.

Please refer to FIG. 5 . FIG. 5 is a flow chart of angle compensation for the detection angle of the millimeter-wave radar according to the command delay and the rotational angular velocity of the millimeter-wave radar according to the present application.

As a preferred embodiment, according to the command delay and the rotational angular velocity of the millimeter wave radar, performing angle compensation on the detection angle of the millimeter wave radar includes:

S51. At the second time node, acquire the actual detection angle to which the millimeter-wave radar turntable is currently rotated;

S52. Determine the angle error between the first detection angle and the actual detection angle;

S53. Perform angle compensation on the first detection angle according to the angle error.

Specifically, when the millimeter-wave radar turntable drives the millimeter-wave radar to rotate at a constant speed, there will be an angle error caused by the time delay of receiving the trigger signal and sending it. For example, when the first detection angle is 0 degrees, since the millimeter-wave radar turntable always keeps rotating at a constant speed, after the cloud platform sends a trigger signal, when the millimeter-wave radar receives the trigger signal, the millimeter-wave radar turntable has rotated to 0.2 degrees, 0.2 The degree is the actual detection angle, and at this time, record 0.2 degrees as the angle compensation value for angle compensation. Therefore, this application sends commands in advance according to the time interval of the command delay, so that when the millimeter-wave radar receives the trigger signal, the millimeter-wave radar turntable just turns to the angle to be detected, so as to achieve the purpose of angle compensation.

Specifically, the above-mentioned process is repeated for the remaining antennas to be calibrated, so as to obtain the command delays for the cloud platform to send trigger signals at different detection angles.

Specifically, the above process is repeated for the remaining antennas to be calibrated, so as to obtain angle compensation values of different detection angles of the millimeter-wave radar.

As a preferred embodiment, performing signal processing on the echo data, and obtaining the phase information of each antenna channel to be calibrated in the echo data includes:

Perform two-dimensional fast Fourier transform on each echo data to obtain the signal spectrum of each echo data;

Determine the position of the target simulated by the target simulator in the signal spectrum according to the target distance and speed;

Obtain the phase value corresponding to the position to obtain the phase value of each antenna at each detection angle;

Specifically, after 2D-FFT is performed on the echo matrix in the echo data of each receiving antenna channel, the 2D-FFT matrix of each receiving antenna channel is obtained, and all receiving antenna channels corresponding to the target simulated by the radar target simulator are taken out The 2D-FFT data of the 2D-FFT data is complex data, so as to obtain the phase information of all receiving antenna channels corresponding to the target simulated by the radar target simulator.

As a preferred embodiment, according to the result of angle compensation and the phase difference, determining the phase compensation coefficient includes:

Δω=2πd _p sin(θ+θ _e )/λ+ω _e ;

Among them, Δω is the phase difference, θ is the detection angle, θ _e is the angle compensation value, λ is the wavelength of the electromagnetic wave, ω _e is the phase compensation coefficient, and d _p is the phase center distance.

Specifically, after determining the phase compensation coefficient, the host computer saves the phase compensation coefficient, and waits until the millimeter-wave radar turntable has traversed all the detection angles that need to be calibrated in the entire FOV of the millimeter-wave radar, and the host computer will pass the phase compensation coefficient through the CAN command Write in the FLASH area of the millimeter-wave radar, and the subsequent millimeter-wave radar will call the phase compensation coefficient in this area when performing angle measurement calculations, so as to realize the phase error calibration of the automotive millimeter-wave radar array antenna at each detection angle.

As a preferred embodiment, the method further includes: the millimeter-wave radar turntable drives the millimeter-wave radar to rotate at a constant speed starting from the maximum negative angle of the millimeter-wave radar FOV.

Specifically, the radar target simulator and the millimeter-wave radar are set on the same straight line. When the detection starts, the millimeter-wave radar turntable drives the millimeter-wave radar to make a circular motion from the maximum negative angle of the millimeter-wave radar FOV.

Please refer to Figure 6, an embodiment of the present invention provides a millimeter-wave radar antenna phase calibration device, the device includes:

The simulation control module 1 is used to control the radar target simulator to simulate the target to be measured according to the preset target distance, speed and radar reflection area;

The rotation control module 2 is used to control the millimeter-wave radar turntable to drive the millimeter-wave radar to rotate at a constant speed around the radar center shaft, so that the target to be measured is located at different detection angles of the millimeter-wave radar;

The trigger module 3 is used to control the cloud platform to send trigger signals at different detection angles to trigger the millimeter-wave radar to send waveforms and obtain echo data of each antenna to be calibrated at different detection angles;

The delay detection module 4 is used to obtain the command delay of the cloud platform sending the trigger signal under different detection angles;

The angle compensation module 5 is used to perform angle compensation on the detection angle of the millimeter wave radar according to the command delay and the rotational angular velocity of the millimeter wave radar;

A signal processing module 6, configured to perform signal processing on the echo data, and obtain phase information of each antenna channel to be calibrated in the echo data;

The compensation determination module 7 is used to obtain the phase compensation coefficient of each antenna channel to be calibrated according to the result of the angle compensation and the phase information;

The compensation control module 8 is configured to perform phase compensation on each antenna to be calibrated according to the phase compensation coefficient.

In addition, the millimeter-wave radar antenna phase calibration method of the embodiment of the present invention described in conjunction with FIG. 1 may be implemented by a millimeter-wave radar antenna phase calibration device. Fig. 7 shows a schematic diagram of a hardware structure of a millimeter-wave radar antenna phase calibration device provided by an embodiment of the present invention.

The millimeter wave radar antenna phase calibration device may include a processor 401 and a memory 402 storing computer program instructions.

Specifically, the above-mentioned processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits in the embodiments of the present invention.

Memory 402 may include mass storage for data or instructions. By way of example and not limitation, memory 402 may include a hard disk drive (Hard Disk Drive, HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (Universal Serial Bus, USB) drive or two or more Combinations of multiple of the above. Storage 402 may include removable or non-removable (or fixed) media, where appropriate. Memory 402 may be internal or external to the signal processing arrangement, where appropriate. In a particular embodiment, memory 402 is a non-volatile solid-state memory. In particular embodiments, memory 402 includes read-only memory (ROM). Where appropriate, the ROM may be mask programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory or A combination of two or more of the above.

The processor 401 reads and executes the computer program instructions stored in the memory 402 to implement any one of the millimeter-wave radar antenna phase calibration methods in the foregoing embodiments.

In an example, the millimeter wave radar antenna phase calibration device may further include a communication interface 403 and a bus 410 . Wherein, as shown in FIG. 7 , the processor 401 , memory 402 , and communication interface 403 are connected through a bus 410 to complete mutual communication.

The communication interface 403 is mainly used to realize the communication between various modules, devices, units and/or devices in the embodiments of the present invention.

The bus 410 includes hardware, software or both, and couples the components of the millimeter wave radar antenna phase calibration device to each other. By way of example and not limitation, the bus may include Accelerated Graphics Port (AGP) or other graphics bus, Enhanced Industry Standard Architecture (EISA) bus, Front Side Bus (FSB), HyperTransport (HT) interconnect, Industry Standard Architecture (ISA) Bus, Infiniband Interconnect, Low Pin Count (LPC) Bus, Memory Bus, Micro Channel Architecture (MCA) Bus, Peripheral Component Interconnect (PCI) Bus, PCI-Express (PCI-X) Bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association Local (VLB) bus or other suitable bus or a combination of two or more of these. Bus 410 may comprise one or more buses, where appropriate. Although embodiments of the invention describe and illustrate a particular bus, the invention contemplates any suitable bus or interconnect.

In addition, in combination with the millimeter-wave radar antenna phase calibration method in the foregoing embodiments, embodiments of the present invention may provide a computer-readable storage medium for implementation. Computer program instructions are stored on the computer-readable storage medium; when the computer program instructions are executed by a processor, any one of the millimeter-wave radar antenna phase calibration methods in the above-mentioned embodiments is implemented.

It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps may be performed in the order mentioned in the embodiment, or may be different from the order in the embodiment, or several steps may be performed simultaneously.

The above is only a specific implementation of the present invention, and those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described systems, modules and units can refer to the foregoing method embodiments The corresponding process in , will not be repeated here. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present invention, and these modifications or replacements should cover all Within the protection scope of the present invention.

Claims (10)

1. A millimeter wave radar antenna phase calibration method is characterized by comprising the following steps:

controlling a radar target simulator to simulate a target to be measured according to preset target distance, speed and radar reflection area;

controlling a millimeter wave radar turntable to drive the millimeter wave radar to rotate at a constant speed by a radar central rotating shaft, so that the target to be detected is positioned at different detection angles of the millimeter wave radar;

controlling a cloud platform to send a trigger signal under different detection angles so as to trigger the millimeter wave radar to send a waveform and obtain echo data of each antenna to be calibrated under different detection angles;

acquiring instruction time delay of the cloud platform for sending the trigger signal at different detection angles;

carrying out angle compensation on the detection angle of the millimeter wave radar according to the instruction time delay and the rotation angular speed of the millimeter wave radar;

performing signal processing on the echo data to acquire phase information of each antenna channel to be calibrated in the echo data;

obtaining a phase compensation coefficient of each antenna channel to be calibrated according to the angle compensation result and the phase information;

and performing phase compensation on each antenna to be calibrated according to the phase compensation coefficient.

2. The millimeter wave radar antenna phase calibration method according to claim 1, wherein the obtaining phase compensation coefficients of the antenna channels to be calibrated according to the angle compensation result and the phase information comprises:

determining a reference antenna and antennas to be calibrated, and acquiring a phase value of the reference antenna and a phase value of each antenna to be calibrated;

acquiring phase differences of the reference antenna and each antenna to be calibrated at different detection angles according to the phase value of the reference antenna and the phase value of each antenna to be calibrated;

and determining the phase compensation coefficient according to the angle compensation result and the phase difference.

3. The millimeter wave radar antenna phase calibration method according to claim 1, wherein the obtaining of the command time delay of the trigger signal sent by the cloud platform at different detection angles comprises:

when the millimeter wave radar rotary table rotates to a first detection angle, controlling the cloud platform to send the trigger signal;

acquiring a first time node of the cloud platform for sending the trigger signal;

acquiring a second time node of the millimeter wave radar receiving the trigger signal;

and determining the time interval of the first time node and the second time node as the instruction time delay.

4. The millimeter wave radar antenna phase calibration method according to claim 3, wherein the performing angle compensation on the detection angle of the millimeter wave radar according to the command time delay and the rotation angular velocity of the millimeter wave radar comprises:

acquiring the actual detection angle currently rotated by the millimeter wave radar rotary table at the second time node;

determining an angle error of the first detected angle and the actual detected angle;

and carrying out angle compensation on the first detection angle according to the angle error.

5. The millimeter wave radar antenna phase calibration method according to claim 4, wherein the performing signal processing on the echo data to obtain phase information of each antenna channel to be calibrated in the echo data comprises:

performing two-dimensional fast Fourier transform on each echo data to obtain a signal frequency spectrum of each echo data;

determining the position of the target simulated by the target simulator in the signal spectrum according to the target distance and the speed;

and acquiring a phase value corresponding to the position to obtain a phase value of each antenna at each detection angle.

6. The millimeter wave radar antenna phase calibration method according to claim 2, wherein the determining the phase compensation coefficient based on the result of the angle compensation and the phase difference comprises:

Δω＝2πd _p sin(θ+θ _e )/λ+ω _e ；

wherein, delta omega is the phase difference, theta is the detection angle, theta _e Is an angle compensation value, lambda is an electromagnetic wave wavelength,

ω _e as phase compensation coefficient, d _p Is the phase center spacing.

7. The millimeter wave radar antenna phase calibration method of claim 1, further comprising: and the millimeter wave radar rotary table drives the millimeter wave radar to rotate at a constant speed from the maximum negative angle of the FOV of the millimeter wave radar.

8. A millimeter-wave radar antenna phase calibration apparatus, the apparatus comprising:

the simulation control module is used for controlling the radar target simulator to simulate the target to be measured according to the preset target distance, speed and radar reflection area;

the rotation control module is used for controlling the millimeter wave radar rotary table to drive the millimeter wave radar to rotate at a constant speed by a radar central rotating shaft, so that the target to be detected is positioned at different detection angles of the millimeter wave radar;

the trigger module is used for controlling the cloud platform to send trigger signals at different detection angles so as to trigger the millimeter wave radar to send waveforms and obtain echo data of each antenna to be calibrated at different detection angles;

the time delay detection module is used for acquiring the instruction time delay of the cloud platform for sending the trigger signal at different detection angles;

the angle compensation module is used for carrying out angle compensation on the detection angle of the millimeter wave radar according to the instruction time delay and the rotation angular speed of the millimeter wave radar;

the signal processing module is used for carrying out signal processing on the echo data and acquiring phase information of each antenna channel to be calibrated in the echo data;

the compensation determining module is used for acquiring a phase compensation coefficient of each antenna channel to be calibrated according to the angle compensation result and the phase information;

and the compensation control module is used for carrying out phase compensation on each antenna to be calibrated according to the phase compensation coefficient.

9. A millimeter wave radar antenna phase calibration device, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory that, when executed by the processor, implement the method of any of claims 1-7.

10. A storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1-7.

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