CN115524674A - Millimeter wave radar antenna phase calibration method, device, equipment and storage medium - Google Patents
Millimeter wave radar antenna phase calibration method, device, equipment and storage medium Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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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
Technical Field
The invention relates to the technical field of millimeter wave radars, in particular to a method, a device, equipment and a storage medium for calibrating a phase of a millimeter wave radar antenna.
Background
The automobile millimeter wave radar is used as one of the indispensable sensors in the advanced driving assistance system, and the angle measurement precision of the automobile millimeter wave radar can influence the application performance of the advanced driving assistance system to a great extent. The angle of the automotive millimeter wave radar is mainly obtained through phase difference calculation among radar receiving array antennas. Ideally, the phase difference Δ ω =2 π dsin (θ)/λ of the millimeter wave radar is set, where d is the distance between two receiving antennas, θ is the incident angle of the target, and λ is the wavelength of the electromagnetic wave emitted by the radar. It can be seen that the angle of the detection target can be calculated with the phase difference between the receiving antennas being known.
The existing radar antenna calibration methods mainly comprise two methods: 1) Only compensate phase error omega caused by coupling between feeder lines and inside of radio frequency chip between automobile millimeter wave radar receiving antennas e . The calibration method does not consider that the phase center distance of the receiving antenna is inconsistent with the antenna center distance designed by actual hardware, and when the radar directly uses the actual hardware to design the antenna center distance for angle calculation, a large error is generated when a large-angle target is detected, so that the accuracy of radar angle measurement is reduced; 2) Not only compensates the phase error omega caused by the coupling between the feeder lines and the inside of the radio frequency chip between the millimeter wave radar receiving antennas of the automobile e And compensating the phase center d of the array antenna p . The calibration method comprises the steps of fitting a sin curve of phase difference of a radar receiving array antenna and target angle change by obtaining phase values when a radar detects targets with different angles, wherein intercept is phase error caused by coupling between feeders needing to be compensated and inside a radio frequency chip, and amplitude divided by 2 pi is phase center of the antenna needing to be compensated (the value is a multiple of wavelength). The main disadvantage is that if the processing error is relatively large, the phase center of the antenna which is fit out cannot show the relation between the phase difference and the angle in the whole radar FOV range, and the angular precision is still not high in the case of individual angles (especially large angles). Therefore, how to improve the accuracy of the millimeter wave radar array antenna for phase calibration has become an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
Aiming at the defects, the embodiment of the invention provides a method, a device, equipment and a storage medium for calibrating the phase of a millimeter wave radar antenna, which are used for solving the problems in the prior art.
In order to solve the above technical problem, an embodiment of the present invention provides a method for calibrating a phase of a millimeter wave radar antenna, where the method includes:
controlling a radar target simulator to simulate a target to be measured according to a 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.
Preferably, the obtaining a phase compensation coefficient of each antenna channel to be calibrated according to the angle compensation result and the phase information includes:
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 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 value of each antenna to be calibrated;
and determining the phase compensation coefficient according to the angle compensation result and the phase difference.
Preferably, the obtaining of the instruction delay of the cloud platform sending the trigger signal at different detection angles includes:
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 a trigger signal;
and determining the time interval of the first time node and the second time node as the instruction time delay.
Preferably, the performing angle compensation on the detection angle of the millimeter wave radar according to the instruction time delay and the rotation angular velocity of the millimeter wave radar includes:
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.
Preferably, the performing signal processing on the echo data, and acquiring phase information of each antenna channel to be calibrated in the echo data includes:
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.
Preferably, the determining the phase compensation coefficient according to 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, λ is the wavelength of the electromagnetic wave, ω e As phase compensation coefficient, d p Is the phase center spacing.
Preferably, the method further comprises: 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.
In order to solve the above technical problem, an embodiment of the present invention provides a millimeter wave radar antenna phase calibration apparatus, where the apparatus includes:
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 triggering module is used for controlling the cloud platform to send triggering 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.
In order to solve the above technical problem, 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, which when executed by the processor, implement the method of the first aspect of the embodiments described above.
To solve the above technical problem, 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 storage medium implements the method according to the first aspect of the foregoing embodiments.
In summary, the millimeter wave radar antenna phase calibration method, apparatus, device, and storage medium provided in the embodiments of the present invention. According to the method, a radar target simulator is controlled to simulate a target to be detected according to a preset target distance; controlling the millimeter wave radar rotary table to drive the millimeter wave radar to rotate at a constant speed, so that the millimeter wave radar is positioned at different detection angles; controlling the millimeter wave radar to send a trigger signal under different detection angles so as to obtain echo data of each antenna to be calibrated under different detection angles; 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; according to the result of the angle compensation, phase information of each antenna channel to be calibrated in the echo data is obtained; 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. Therefore, the phase of the millimeter wave radar array antenna can be effectively calibrated, and the angle measurement precision of the millimeter wave radar is improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a prior art of a method for calibrating a phase of a millimeter wave radar antenna according to an embodiment of the present invention.
Fig. 2 is a flowchart 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 flowchart of a method for obtaining phase compensation coefficients of each antenna channel to be calibrated according to the angle compensation result and the phase information according to an embodiment of the present invention.
Fig. 4 is a flowchart for acquiring instruction delays of sending trigger signals by a cloud platform at different detection angles according to an embodiment of the present invention.
Fig. 5 is a flowchart of angle compensation of the detection angle of the millimeter wave radar according to the command delay and the rotation angular velocity of the millimeter wave radar according to the embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a millimeter wave radar antenna phase calibration apparatus according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a millimeter wave radar antenna phase calibration apparatus according to an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the 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 merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is 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 phrases "comprising 8230; \8230;" comprises 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Referring to fig. 1, fig. 1 is a schematic diagram of a prior art of a method for calibrating a phase of a millimeter wave radar antenna according to the present application.
In the prior art, the number of receiving antennas RX is M1, M2, and M3.. Mx in total, the target incident angle is θ, the distance between two receiving antennas is d, Δ t represents a time delay, and the phase difference of a target signal detected by each receiving antenna due to the time delay Δ t is Δ ω =2 π d p sin (theta)/lambda, where lambda is the wavelength, and ideally the target angle of incidence theta is 0, the phase difference delta omega is 0. In practice, however, a certain phase error omega is caused between the millimeter wave radar receiving antennas of the automobile due to coupling between the feeder lines and the inside of the radio frequency chip e The spacing between the receiving antennas is also prone to have a certain error from the antenna spacing d of the hardware design. Therefore, for the purpose of angle measurement accuracy, the actual distance d between the antenna phase centers is often calculated p As a parameter in an angle measurement algorithm.
Referring to fig. 2, fig. 2 is a flowchart of a method for calibrating a phase of a millimeter wave radar antenna according to the present application, where the method includes the following steps:
s1, controlling a radar target simulator to simulate a target to be measured according to preset target distance, speed and radar reflection area;
specifically, the radar target simulator is used for simulating a target to be detected so as to generate a radar echo signal containing the target to be detected and radar environment information. The radar target simulator simulates the target to be detected and the environmental echo signal to achieve the purpose of reproducing the radar echo signal.
Specifically, the radar target simulator comprises a receiving horn mouth and a transmitting horn mouth, wherein the receiving horn mouth is used for receiving electromagnetic waves transmitted by the millimeter wave radar, and the transmitting horn mouth is used for adding information of a target to be detected into the received electromagnetic waves and then transmitting the information. Therefore, the radar target simulator can simulate the distance, the speed and the radar reflection area information of the target to be detected of the millimeter wave radar according to the set target distance, the set speed and the set radar reflection area. It is understood that the preset values of the target distance, the speed and the radar reflection area may be set according to actual requirements, and are not limited in particular.
Specifically, for the convenience of measurement, the target to be measured in the present application is set as a strong RCS, that is, a target of a radar reflection cross-sectional area, and is not particularly limited herein.
S2, controlling a millimeter wave radar rotary table to drive the millimeter wave radar to rotate at a constant speed through a radar central rotating shaft, so that the target to be detected is located at different detection angles of the millimeter wave radar;
specifically, the millimeter wave radar rotary table is used for driving the millimeter wave radar to rotate at a constant speed by taking a central shaft of the millimeter wave radar as a center, so that the target to be detected is located at different detection angles of the millimeter wave radar. In this embodiment, when the millimeter wave radar turntable rotates, the rotation starts from the maximum negative angle of the FOV field of the millimeter wave radar, and the angle of the millimeter wave radar turntable is accurately obtained in real time through the data acquisition card.
S3, controlling the cloud platform to send a trigger signal at 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 at different detection angles;
specifically, before the detection is started, the detection range of the millimeter wave radar is divided according to preset interval angles to obtain a plurality of detection angles of echo data to be collected, and different detection angle values are stored in a one-dimensional array. According to the method and the device, the angle of the millimeter wave radar rotary table is accurately acquired in real time through the data acquisition card, and when the angle is rotated to a detection angle at which the phase difference is to be calibrated, an instruction is sent through the cloud platform to trigger the millimeter wave radar to send the waveform to emit the 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 turntable is rotated to the detection angle at which the echo data is not received, and the unreceived echo data is acquired.
S4, acquiring instruction time delay of the cloud platform for sending the trigger signal at different detection angles;
specifically, after turning to a detection angle that wants to calibrate the phase difference, the cloud platform sends trigger signal to the millimeter wave radar, and trigger signal has certain time delay in transmission process, and meanwhile the millimeter wave radar revolving stage keeps rotating to when resulting in that when the millimeter wave radar receives trigger signal, there is certain deviation in the detection angle that the pivoted angle of millimeter wave radar revolving stage this moment and will calibrate the phase difference, thereby reduces the precision of antenna array phase calibration.
Specifically, in the present embodiment, the Fast chirp signal modulation waveform is set as the trigger signal. In another preferred embodiment, the trigger signal may be one of LMCW, FCK and Fast chirp waveforms, which are not limited in detail herein.
S5, 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;
specifically, when millimeter wave radar received trigger signal, certain deviation existed in the pivoted angle of millimeter wave radar revolving stage this moment and the detection angle that wants the calibration phase difference, and this application is through carrying out angle compensation to the angular deviation to can effectively improve the precision of millimeter wave radar antenna array phase calibration.
S6, performing signal processing on the echo data to acquire 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 electromagnetic wave data returned by the target simulator, so that echo data of each antenna under different detection angles are obtained. And after the echo data are received, performing signal processing on the echo data so as to acquire phase information of each antenna channel to be calibrated in the echo data.
S7, acquiring a phase compensation coefficient of each antenna channel to be calibrated according to the angle compensation result and the phase information;
specifically, each detection angle corresponds to a group of echo data, and angle compensation is performed on different detection angles of the millimeter wave radar according to the instruction time delay and the rotation angular speed of the millimeter wave radar, so that the compensated detection angle corresponds to the echo data, and the accuracy of phase compensation is improved.
And S8, performing phase compensation on each antenna to be calibrated according to the phase compensation coefficient.
In summary, the present application provides a method for calibrating a phase of a millimeter wave radar antenna, in the present scheme, a radar target simulator is controlled to simulate a target to be measured according to a preset target distance; controlling the millimeter wave radar rotary table to drive the millimeter wave radar to rotate at a constant speed, so that the millimeter wave radar is positioned at different detection angles; controlling the millimeter wave radar to send a trigger signal under different detection angles so as to acquire echo data of each antenna to be calibrated under different detection angles; 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; according to the result of the angle compensation, phase information of each antenna channel to be calibrated in the echo data is obtained; 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. Therefore, the phase of the millimeter wave radar array antenna can be effectively calibrated, and the angle measurement precision of the millimeter wave radar is improved.
On the basis of the above-described embodiment:
referring to fig. 3, fig. 3 is a flowchart illustrating a method for obtaining phase compensation coefficients of antenna channels to be calibrated according to angle compensation results and phase information according to the present application.
As a preferred embodiment, the obtaining the phase compensation coefficient of each antenna channel to be calibrated according to the result of the angle compensation and the phase information includes:
s71, determining a reference antenna and antennas to be calibrated, and acquiring phase values of the reference antenna and phase values of the antennas to be calibrated;
s72, acquiring 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 value of each antenna to be calibrated;
specifically, one antenna of the millimeter wave radar is selected as a reference antenna, and other antennas are all antennas to be calibrated; firstly, phase values of a reference antenna at different detection angles and phase values of a first antenna to be calibrated at different detection angles are extracted; secondly, for the same detection angle, the phase value of the antenna to be calibrated is differenced with 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; and repeating the process for the rest antennas to be calibrated, so as to obtain the phase difference between each antenna to be calibrated and the reference antenna at different detection angles.
And S73, determining a phase compensation coefficient according to the angle compensation result and the phase difference.
Referring to fig. 4, fig. 4 is a flowchart illustrating a method for obtaining an instruction delay of a cloud platform sending a trigger signal at different detection angles according to the present application.
As a preferred embodiment, the obtaining of the instruction time delay of the cloud platform sending the trigger signal at different detection angles includes:
s41, when the millimeter wave radar rotary table rotates to a first detection angle, controlling the cloud platform to send a trigger signal;
s42, acquiring a first time node of the cloud platform for sending the trigger signal;
s43, acquiring a second time node of the millimeter wave radar receiving the trigger signal;
and S44, determining the time interval between the first time node and the second time node as the instruction time delay.
Referring to fig. 5, fig. 5 is a flowchart illustrating an angle compensation process performed on a detection angle of a millimeter wave radar according to a command delay and a rotation angular velocity of the millimeter wave radar according to the present application.
As a preferred embodiment, the angle compensation of the detection angle of the millimeter wave radar in accordance with the command delay and the rotational angular velocity of the millimeter wave radar includes:
s51, acquiring the actual detection angle to which the millimeter wave radar rotary table rotates currently at a second time node;
s52, determining an angle error between the first detection angle and the actual detection angle;
and S53, carrying out angle compensation on the first detection angle according to the angle error.
Specifically, when the millimeter wave radar rotary table drives the millimeter wave radar to rotate at a constant speed, an angle error caused by time delay of sending down of the received trigger signal occurs. For example, when the first detection angle is 0 degree, the millimeter wave radar rotary table always keeps rotating at a constant speed, so that after the cloud platform issues the trigger signal, when the millimeter wave radar receives the trigger signal, the millimeter wave radar rotary table has rotated to 0.2 degree, the actual detection angle is 0.2 degree, and at the moment, the actual detection angle is recorded as an angle compensation value at 0.2 degree for angle compensation. Therefore, the command is sent in advance according to the time interval of the command time delay, so that when the millimeter wave radar receives the trigger signal, the millimeter wave radar rotary table just rotates to the angle to be detected, and the purpose of angle compensation is achieved.
Specifically, the above process is repeated for the remaining antennas to be calibrated, so that the instruction time delay of the cloud platform sending the trigger signal under different detection angles is obtained.
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 acquiring phase information of each antenna channel to be calibrated in the echo data includes:
performing two-dimensional fast Fourier transform on each echo data to obtain a signal frequency spectrum of each echo data;
determining the position of a target simulated by the target simulator in a signal frequency spectrum according to the target distance and the speed;
acquiring a phase value corresponding to the position to obtain a phase value of each antenna at each detection angle;
specifically, after 2D-FFT is performed on an echo matrix in echo data of each receiving antenna channel, the 2D-FFT matrix of each receiving antenna channel is obtained, 2D-FFT data of all receiving antenna channels corresponding to a target simulated by the radar target simulator are taken out, and the 2D-FFT data are complex data, so that phase information of all receiving antenna channels corresponding to the target simulated by the radar target simulator is obtained.
As a preferred embodiment, determining the phase compensation coefficient depending on the result of the angle compensation and the phase difference includes:
Δω＝2πd p sin(θ+θ e )/λ+ω e ；
wherein, delta omega is phase difference, theta is detection angle, and theta e Is an angle compensation value, λ is the wavelength of the electromagnetic wave, ω e As phase compensation coefficient, d p Is the phase center spacing.
Specifically, after the phase compensation coefficient is determined, the upper computer stores the phase compensation coefficient, after the millimeter wave radar rotary table traverses all detection angles needing to be calibrated in the whole FOV of the millimeter wave radar, the upper computer writes the phase compensation coefficient into a FLASH region of the millimeter wave radar through a CAN instruction, and the subsequent millimeter wave radar calls the phase compensation coefficient in the FLASH region when angle measurement operation is carried out on the millimeter wave radar so as to realize phase error calibration of the automobile millimeter wave radar array antenna at each detection angle.
As a preferred embodiment, the method further comprises: 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.
Specifically, the radar target simulator and the millimeter wave radar are arranged on the same straight line, and when detection is started, the millimeter wave radar rotary table drives the millimeter wave radar to do circular arc motion from the maximum negative angle of the FOV of the millimeter wave radar.
Referring to fig. 6, an embodiment of the present invention provides a phase calibration apparatus for a millimeter wave radar antenna, including:
the simulation control module 1 is used for controlling the radar target simulator to simulate a target to be measured according to preset target distance, speed and radar reflection area;
the rotation control module 2 is used for controlling the 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;
the trigger module 3 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 4 is used for acquiring the instruction time delay of the cloud platform sending the trigger signal at different detection angles;
the angle compensation module 5 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 6 is used for performing signal processing on the echo data to acquire phase information of each antenna channel to be calibrated in the echo data;
the compensation determining module 7 is configured to obtain a phase compensation coefficient of each antenna channel to be calibrated according to the result of the angle compensation and the phase information;
and the compensation control module 8 is used for performing phase compensation on each antenna to be calibrated according to the phase compensation coefficient.
In addition, the millimeter wave radar antenna phase calibration method according to 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 is a schematic diagram illustrating a hardware structure of the millimeter wave radar antenna phase calibration apparatus according to the embodiment of the present invention.
The millimeter-wave radar antenna phase calibration apparatus may include a processor 401 and a memory 402 having stored thereon computer program instructions.
Specifically, the processor 401 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.
The processor 401 may be configured to read and execute the computer program instructions stored in the memory 402 to implement any one of the millimeter wave radar antenna phase calibration methods in the above-described embodiments.
In one example, millimeter-wave radar antenna phase calibration device may also include communication interface 403 and bus 410. As shown in fig. 7, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 to complete communication therebetween.
The communication interface 403 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present invention.
In addition, in combination with the millimeter wave radar antenna phase calibration method in the foregoing embodiment, an embodiment of the present invention may provide a computer-readable storage medium to implement the method. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement any of the millimeter wave radar antenna phase calibration methods of the above embodiments.
It should also be noted that the exemplary embodiments noted in this patent 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-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
As described above, only the specific embodiments of the present invention are provided, and it can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical 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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