WO2023029914A1 - 稀疏阵列解栅瓣方法、装置及相关设备 - Google Patents

稀疏阵列解栅瓣方法、装置及相关设备 Download PDF

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Publication number
WO2023029914A1
WO2023029914A1 PCT/CN2022/111422 CN2022111422W WO2023029914A1 WO 2023029914 A1 WO2023029914 A1 WO 2023029914A1 CN 2022111422 W CN2022111422 W CN 2022111422W WO 2023029914 A1 WO2023029914 A1 WO 2023029914A1
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angle
target
phase
difference
peak
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PCT/CN2022/111422
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English (en)
French (fr)
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何小静
崔璨
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深圳市塞防科技有限公司
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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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity

Definitions

  • the present application relates to the technical field of millimeter-wave radar, and in particular to a sparse array de-grating lobe method, device and related equipment.
  • This application provides a sparse array grating lobe solution method, device, millimeter-wave radar and automatic driving equipment, the main purpose of which is to solve the existing technology that is difficult to solve the grating lobes and angle measurement ambiguity existing in the sparse array within the beam coverage range question.
  • the present application provides a method for solving grating lobes with a sparse array, the method comprising:
  • a target angle of the target echo signal is determined according to the first difference and the second difference.
  • the baseline prior information includes baseline lengths of different baselines and prior angles corresponding to different baseline lengths, the prior angle refers to the angle at which each prior signal is located; the prior information based on the baseline and the phase
  • the step of determining the target baseline length and the target phase difference corresponding to the first peak angle and the second peak angle according to the prior information includes: comparing the first peak angle and the second peak angle with each of the matching the prior angles; and determining the target baseline length and target phase difference corresponding to the matched prior angles.
  • the step of determining the target angle of the target echo signal according to the first difference and the second difference includes: comparing the first difference with the second difference magnitude; when the first difference is smaller than the second difference, determine the first peak angle as the target angle.
  • the step before the step of determining the target baseline length and the target phase difference corresponding to the first peak angle and the second peak angle respectively according to the baseline prior information and phase prior information, the step includes: obtaining each prior angle ; For each prior angle, adopt any group of baselines to measure the angle by phase method, and obtain the measurement angle; the baseline length between a group of baselines whose measurement angle is consistent with the prior angle is determined to be the same as the prior angle Baseline length corresponding to the test angle.
  • the phase prior information includes phase differences between different baselines and prior angles corresponding to the phase differences of different baselines; the first peak value is determined according to the baseline prior information and phase prior information respectively.
  • the steps of the target baseline length and the target phase difference corresponding to the angle and the second peak angle include: respectively determining prior angles matched with the first peak angle and the second peak angle; determining according to the matched prior angles A target baseline and a target baseline length; determining a target phase difference corresponding to the target baseline length according to the target baseline length.
  • the step of measuring the angle of the target echo signal based on the target baseline length and the target phase difference according to the phase angle measurement method to obtain the first phase angle and the second phase angle includes:
  • ⁇ corresponds to the first phase angle or the second phase angle respectively, and the is the target phase difference, and d is the baseline length.
  • the present application also provides a sparse array de-grating lobe device, the device includes a memory and a processor, the memory stores a sparse array de-grating lobe system that can run on the processor, When the sparse array de-grating lobe system is executed by the processor, the following steps are implemented:
  • a target angle of the target echo signal is determined according to the first difference and the second difference.
  • the present application also provides a millimeter wave radar, which includes the above sparse array de-grating lobe device.
  • the present application also provides an automatic driving device, which includes the above-mentioned millimeter wave radar.
  • the present application also provides a computer-readable storage medium, on which a sparse array de-grating lobe program is stored, and the sparse array de-grating lobe program can be executed by at least one processor , to achieve the following steps:
  • a target angle of the target echo signal is determined according to the first difference and the second difference.
  • the sparse array grating lobe solution method proposed in this application measures the angle of the target echo signal based on digital beamforming DBF, obtains the first peak angle and the second peak angle, and determines the above-mentioned The target baseline length and the target phase difference corresponding to the first peak angle and the second peak angle, and then based on the target baseline length and the target phase difference, measure the angle of the target echo signal according to the phase angle measurement method, Obtaining the first phase angle and the second phase angle, further calculating the first difference between the first peak angle and the first phase angle, and the second difference between the second peak angle and the second phase angle Finally, according to the first difference and the second difference, determine the target angle of the target echo signal, without changing the array layout and without limiting the range of unambiguous angle measurement, combined with DBF
  • the method of angle measurement and multi-baseline phase method effectively solves the problem of grating lobes in the beam coverage area of the sparse array and the angle measurement ambiguity caused by it.
  • Fig. 1 is the schematic diagram of the preferred embodiment of the sparse array solution grating lobe method of the present application
  • Fig. 2 is the schematic diagram of the principle of the phase angle measurement method in the sparse array solution grating lobe method of the present application;
  • Fig. 3 is a flow chart of a preferred embodiment of the device for removing grating lobes with a sparse array of the present application
  • Fig. 4 is a schematic diagram of modules of the sparse array grating lobe removal system in an embodiment of the sparse array grating lobe removal device of the present application;
  • FIG. 5 is a schematic structural diagram of a preferred embodiment of the millimeter wave radar of the present application.
  • Baseline refers to the distance between two antennas used to receive signals, which can be called long and short baselines according to the relative length of the distance.
  • Sparse array refers to an antenna array that randomly and sparsely arranges the spacing of a group of antenna elements.
  • Grating lobe refers to the lobe with the same amplitude as the main lobe that appears in the scanning range other than the main lobe due to the excessive spacing of the antenna array.
  • Angle measurement by phase method It refers to the angle measurement using the phase difference between the echo signals received by multiple antennas.
  • DBF angle measurement digital beam forming (DigitalBeamForming) angle measurement.
  • Effective aperture refers to the maximum effective spacing between antenna array elements.
  • the angle measurement accuracy is mainly determined by the effective aperture of the antenna array, the larger the effective aperture, the higher the angle measurement accuracy.
  • the antenna array generally adopts a linear array, and its effective aperture is the distance between the farthest antenna unit and the reference unit (usually the first antenna unit). Arranging the antenna elements in a uniform linear array with half-wavelength spacing requires more antenna elements.
  • the alternative is to optimize the number and position arrangement of antenna elements to ensure that fewer antenna elements are used under the same effective aperture, and the optimized array is also called a sparse array.
  • the vehicle-mounted millimeter-wave radar products on the market are basically implemented using sparse arrays.
  • the problems brought about are the reduction of the range of unambiguous angle measurement, the influence of high side lobes and grating lobes.
  • the grating lobe can be eliminated by optimizing the antenna array, it is equivalent to transferring the energy of the grating lobe to other side lobes, especially when the wavelength is greater than 1/2 ⁇ , which will cause the problem of high side lobes and affect the accuracy of angle measurement. degrees; and the form of limiting the range of unambiguous angle measurement directly reduces the beam coverage.
  • the present application provides a method for solving grating lobes with a sparse array.
  • FIG. 1 it is a flow chart of a preferred embodiment of a method for removing grating lobes with a sparse array of the present application.
  • the method may be performed by a device, and the device may be implemented by software and/or hardware.
  • the sparse array de-grating lobe method includes:
  • Step S10 measuring the angle of the target echo signal based on the digital beamforming DBF to obtain a first peak angle and a second peak angle.
  • angle measurement is performed on a baseline whose length is greater than half-wavelength 1/2 ⁇ .
  • the entire sparse array of the radar is used to measure the DBF angle of the target echo signal, and the DBF pattern is obtained, and the two highest lobe peak points in the pattern are selected.
  • the angle corresponding to the point is set as the first peak angle A1, and the angle corresponding to the second peak point is set as the second peak angle A2.
  • the embodiment of the present invention selects two peak angles.
  • the specific manner of DBF angle measurement is not specifically limited in this embodiment of the present application.
  • Step S20 Determine the target baseline length and the target phase difference corresponding to the first peak angle and the second peak angle according to the baseline prior information and the phase prior information respectively.
  • the corresponding two types of prior information are obtained in advance through theoretical simulation or channel data of various angles within the range of angles of interest collected in the darkroom. These two types of prior information are baseline prior information and phase prior information respectively. .
  • the selection of prior information for the baseline means that corresponding to different target real angles (prior angles), it is necessary to select different baselines to perform angle measurement by phase method to remove grating lobes. This is because: for the same set of baselines, the target return The grating lobe angle of the wave signal 1 may be the real angle of the target echo signal 2, so the baseline that can remove the grating lobe at each prior angle is selected as the prior information. Therefore, the baseline prior information in the embodiment of the present application includes baseline lengths of different baselines and prior angles corresponding to different baseline lengths, and the prior angle refers to the real angle of each prior signal (echo signal).
  • the baseline corresponding to the prior angle obtains each prior angle; randomly select two baselines from the sparse array as a group, use the phase method to measure the angle, and obtain the measurement angle; combine the measurement angle with the prior
  • the baseline length between a group of baselines with the same prior angle is determined as the baseline length corresponding to the prior angle, and the group of baselines is determined to correspond to the prior angle, so that each group of baselines corresponding to each prior angle can be determined respectively, And determine the baseline length between each group of baselines.
  • Baseline prior information such as the prior angle, the baseline corresponding to the prior angle, and the length of the baseline are stored in advance.
  • the a priori angle refers to the angle at which each a priori signal is located, that is, generally refers to each angle within a radar visible range (ie, FOV).
  • the phase prior information refers to the phase difference between different baselines corresponding to each prior angle when using a baseline larger than half-wavelength 1/2 ⁇ for phase angle measurement, and the phase between different baselines
  • the difference has different periodicities according to the length of the baseline, so it is necessary to first obtain the periodic phase value of each real target angle ⁇ (prior angle) corresponding to different baselines, and usually the phase value of the baseline corresponding to the grating lobe angle is different. Therefore, the phase prior information includes phase differences between different baselines and prior angles corresponding to the phase differences of different baselines. That is to say, after determining the baseline and selecting the prior information, the baseline corresponding to each prior angle is determined, and the phase differences corresponding to different baseline lengths are different.
  • the phase difference between different baselines is compensated in advance, so as to obtain the phase prior information between each baseline, where the phase difference between each baseline is generally k ⁇ , and k is a natural number. Therefore, after the baseline corresponding to each prior angle is determined, the prior information and phase prior information are selected for matching with the baseline.
  • the prior angles matching the first peak angle and the second peak angle respectively to obtain the prior angles matched by the first peak angle and the prior angles matched by the second peak angle; according to The matched prior angle determines the target baseline and target baseline length corresponding to the first peak angle, and the target baseline and target baseline length corresponding to the second peak angle; according to the target baseline length, determine the target phase difference corresponding to the target baseline length according to The baseline length determines the phase difference corresponding to each prior angle.
  • the target baseline length and target phase difference corresponding to the first peak angle, and the target baseline length and target phase difference corresponding to the second peak angle are determined.
  • Step S30 based on the target baseline length and the target phase difference, measure the angle of the target echo signal according to a phase angle measurement method to obtain a first phase angle and a second phase angle.
  • the target feedback is calculated according to the target baseline length, target phase difference and phase angle measurement method.
  • the angle of the wave signal is measured to obtain the first phase angle and the second phase angle.
  • the phase angle measurement method is shown in Figure 2.
  • B and C are two receiving antenna units with a distance of d, and d ⁇ the distance from the target echo signal to the vibration source. Therefore, under normal circumstances, it is considered that the target echo signal arrives through target reflection.
  • the electromagnetic wave at the receiving point is a plane wave.
  • the angle ⁇ from the target to the receiving point can be obtained through the phase difference of the two receiving channels B and C as:
  • the ⁇ obtained by the above formula has only one value, called the unambiguous angle, assuming that the unambiguous angle measurement interval corresponding to [- ⁇ , ⁇ ] is in:
  • the first phase angle corresponding to the first peak angle and the second phase angle corresponding to the second peak angle are obtained:
  • ⁇ corresponds to the first phase angle or the second phase angle respectively, and the is the target phase difference, and d is the target baseline length.
  • Step S40 calculating a first difference between the first peak angle and the first phase angle, and a second difference between the second peak angle and the second phase angle.
  • the first peak angle and the second peak angle are calculated by the DBF angle measurement method, but the DBF angle measurement method cannot distinguish Whether the first peak angle and the second peak angle are grating lobe angles, and when one of them is a grating lobe angle, since the baseline prior information and phase prior information are pre-set, according to the baseline prior information and phase prior information Determine the corresponding baseline.
  • the phase angle measured by the phase goniometric method will be consistent with the real angle (priori angle), and when the peak angle is the grating lobe angle, it will be obtained by using the phase goniometric method
  • the phase angle of is not consistent with the true angle. Therefore, it can be determined whether the first peak angle and the second peak angle are real angles according to the first difference value and the second difference value.
  • Step S50 determining a target angle of the target echo signal according to the first difference and the second difference.
  • the sparse array de-grating lobe method proposed in the above-mentioned embodiments measures the angle of the target echo signal based on the digital beamforming DBF, obtains the first peak angle and the second peak angle, and determines the corresponding angles according to the baseline prior information and phase prior information respectively.
  • the target baseline length and the target phase difference corresponding to the first peak angle and the second peak angle and then based on the target baseline length and the target phase difference, measure the angle of the target echo signal according to the phase angle measurement method , to obtain the first phase angle and the second phase angle, and further calculate the first difference between the first peak angle and the first phase angle, and the second difference between the second peak angle and the second phase angle difference, and finally determine the target angle of the target echo signal according to the first difference and the second difference, and combine the
  • the methods of DBF angle measurement and multi-baseline phase angle measurement can effectively solve the problem of grating lobes in the beam coverage area of the sparse array and the angle measurement ambiguity caused by it.
  • the present application provides a device for removing grating lobes with a sparse array.
  • FIG. 3 it is a schematic diagram of a preferred embodiment of the device for removing grating lobes with a sparse array of the present application.
  • the sparse array lobe degrating device may be a PC (Personal Computer, personal computer), or may be a terminal device such as a smart phone, a tablet computer, an e-book reader, or a portable computer.
  • the sparse array lobe de-grating device includes a memory 11 , a processor 12 , a communication bus 13 , and a network interface 14 .
  • the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (eg, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc.
  • the memory 11 may be an internal storage unit of the sparse array de-grating lobe device, such as a hard disk of the sparse array de-grating lobe device.
  • Memory 11 also can be the external storage device of sparse array de-grating lobe device in other embodiments, such as a plug-in hard disk equipped on the sparse array de-grating lobe device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc. Further, the memory 11 may also include both an internal storage unit of the sparse array grating lobe removing device and an external storage device.
  • a plug-in hard disk equipped on the sparse array de-grating lobe device such as a plug-in hard disk equipped on the sparse array de-grating lobe device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc.
  • the memory 11 may also include both an internal storage unit of the sparse array grating lobe removing device and an external storage device.
  • the memory 11 can not only be used to store application software and various data installed in the sparse array grating lobe removing device, such as the code of the sparse array grating lobe removing system, but also be used to temporarily store outputted or to-be-outputted data.
  • the processor 12 can be a central processing unit (Central Processing Unit, CPU), a controller, a microcontroller, a microprocessor or other data processing chips, and is used to run program codes stored in the memory 11 or process Data, such as the function of performing sparse array de-grating lobe system, etc.
  • CPU Central Processing Unit
  • controller a controller
  • microcontroller a microprocessor or other data processing chips
  • program codes stored in the memory 11 or process Data, such as the function of performing sparse array de-grating lobe system, etc.
  • the communication bus 13 is used to realize connection communication among these components.
  • the network interface 14 may optionally include standard wired interfaces and wireless interfaces (such as WI-FI interfaces), which are generally used to establish communication connections between the device and other electronic devices.
  • WI-FI interfaces such as WI-FI interfaces
  • FIG. 3 only shows a sparse array grating lobe de-grating lobe device with components 11-14 and a sparse array grating-lobe de-grating system, but it should be understood that it is not required to implement all of the illustrated components, and more or more few components.
  • the device may further include a user interface.
  • the user interface may include a display (Display) and an input unit such as a keyboard (Keyboard).
  • Optional user interfaces may also include standard wired interfaces and wireless interfaces.
  • the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode, organic light-emitting diode) touch device, and the like.
  • the display may also be properly referred to as a display screen or a display unit, and is used for displaying information processed in the sparse array lobe degrating device and for displaying a visualized user interface.
  • the sparse array de-grating lobe system is stored in the memory 11; the processor 12 implements the following steps when executing the function of the sparse array de-grating lobe system stored in the memory 11:
  • angle measurement is performed on a baseline whose length is greater than half-wavelength 1/2 ⁇ .
  • the entire sparse array of the radar is used to measure the DBF angle of the target echo signal, and the DBF pattern is obtained, and the two highest lobe peak points in the pattern are selected.
  • the angle corresponding to the point is set as the first peak angle A1, and the angle corresponding to the second peak point is set as the second peak angle A2.
  • the embodiment of the present invention selects two peak angles.
  • the specific manner of DBF angle measurement is not specifically limited in this embodiment of the present application.
  • the selection of prior information for the baseline means that corresponding to different target real angles (prior angles), it is necessary to select different baselines to perform angle measurement by phase method to remove grating lobes. This is because: for the same set of baselines, the target return The grating lobe angle of the wave signal 1 may be the real angle of the target echo signal 2, so the baseline that can remove the grating lobe at each prior angle is selected as the prior information. Therefore, the baseline prior information in the embodiment of the present application includes baseline lengths of different baselines and prior angles corresponding to different baseline lengths, and the prior angle refers to the real angle of each prior signal (echo signal).
  • the baseline corresponding to the prior angle obtain each prior angle; randomly select two baselines from the sparse array as a group, use the phase method to measure the angle, and obtain the measurement angle; combine the measurement angle with the prior
  • the baseline length between a group of baselines with the same prior angle is determined as the baseline length corresponding to the prior angle, and the group of baselines is determined to correspond to the prior angle, so that each group of baselines corresponding to each prior angle can be determined respectively, And determine the baseline length between each group of baselines.
  • Baseline prior information such as the prior angle, the baseline corresponding to the prior angle, and the length of the baseline are stored in advance.
  • the phase prior information refers to the phase difference between different baselines corresponding to each prior angle when using a baseline larger than half-wavelength 1/2 ⁇ for phase angle measurement, and the phase between different baselines
  • the difference has different periodicities according to the length of the baseline, so it is necessary to first obtain the periodic phase value of each real target angle ⁇ (prior angle) corresponding to different baselines, and usually the phase value of the baseline corresponding to the grating lobe angle is different. Therefore, the phase prior information includes phase differences between different baselines and prior angles corresponding to the phase differences of different baselines. That is to say, after the prior information of the baseline selection is determined, the baseline corresponding to each prior angle is determined, and different baseline lengths correspond to different phase differences.
  • the prior information and phase prior information are selected for matching with the baseline. Specifically, determine the prior angles matching the first peak angle and the second peak angle respectively, to obtain the prior angles matched by the first peak angle and the prior angles matched by the second peak angle; according to The matched prior angle determines the target baseline and target baseline length corresponding to the first peak angle, and the target baseline and target baseline length corresponding to the second peak angle; according to the target baseline length, determine the target phase difference corresponding to the target baseline length according to The baseline length determines the phase difference corresponding to each prior angle. Thus, the target baseline length and target phase difference corresponding to the first peak angle, and the target baseline length and target phase difference corresponding to the second peak angle are determined.
  • the target feedback is calculated according to the target baseline length, target phase difference and phase angle measurement method.
  • the angle of the wave signal is measured to obtain the first phase angle and the second phase angle.
  • the phase angle measurement method is shown in Figure 2.
  • B and C are two receiving antenna units with a distance of d, and d ⁇ the distance from the target echo signal to the vibration source. Therefore, under normal circumstances, it is considered that the target echo signal arrives through target reflection.
  • the electromagnetic wave at the receiving point is a plane wave.
  • the angle ⁇ from the target to the receiving point can be obtained through the phase difference of the two receiving channels B and C as:
  • the ⁇ obtained by the above formula has only one value, called the unambiguous angle, assuming that the unambiguous angle measurement interval corresponding to [- ⁇ , ⁇ ] is in:
  • the first phase angle corresponding to the first peak angle and the second phase angle corresponding to the second peak angle are obtained:
  • ⁇ corresponds to the first phase angle or the second phase angle respectively, and the is the target phase difference, and d is the target baseline length.
  • the first peak angle and the second peak angle are calculated by the DBF angle measurement method, but the DBF angle measurement method cannot distinguish Whether the first peak angle and the second peak angle are grating lobe angles, and when one of them is a grating lobe angle, since the baseline prior information and phase prior information are pre-set, according to the baseline prior information and phase prior information Determine the corresponding baseline.
  • the phase angle measured by the phase goniometric method will be consistent with the real angle (priori angle), and when the peak angle is the grating lobe angle, it will be obtained by using the phase goniometric method
  • the phase angle of is not consistent with the true angle. Therefore, it can be determined whether the first peak angle and the second peak angle are real angles according to the first difference value and the second difference value.
  • the sparse array de-grating lobe system can also be divided into one or more modules, and one or more modules are stored in the memory 11 and executed by one or more processors (this The embodiment is executed by the processor 12) to complete the present application.
  • the module referred to in the present application refers to a series of computer program instruction segments capable of completing specific functions.
  • FIG. 4 it is a schematic diagram of modules of the sparse array de-grating lobe system in an embodiment of the sparse array de-grating lobe device of the present application.
  • the sparse array de-grating lobe system can be divided into a first measurement The angle module 10, the first determination module 20, the second angle measurement module 30, the calculation module 40 and the second determination module 50, for example:
  • the first angle measurement module 10 is used to measure the angle of the target echo signal based on the digital beamforming DBF to obtain the first peak angle and the second peak angle;
  • the first determining module 20 is configured to respectively determine the target baseline length and the target phase difference corresponding to the first peak angle and the second peak angle according to the baseline prior information and the phase prior information;
  • the second angle measurement module 30 is configured to measure the angle of the target echo signal according to the phase angle measurement method based on the target baseline length and the target phase difference, to obtain a first phase angle and a second phase angle;
  • the calculation module 40 is used to calculate a first difference between the first peak angle and the first phase angle, and a second difference between the second peak angle and the second phase angle;
  • the second determination module 50 is configured to determine the target angle of the target echo signal according to the first difference and the second difference.
  • first angle measurement module 10 The above-mentioned first angle measurement module 10, the first determination module 20, the second angle measurement module 30, the calculation module 40 and the second determination module 50 are executed and the functions or operation steps realized are substantially the same as those of the above-mentioned embodiments, and will not be repeated here. repeat.
  • the sparse array grating lobe solution method proposed in this application measures the angle of the target echo signal based on digital beamforming DBF, obtains the first peak angle and the second peak angle, and determines the above-mentioned The target baseline length and the target phase difference corresponding to the first peak angle and the second peak angle, and then based on the target baseline length and the target phase difference, measure the angle of the target echo signal according to the phase angle measurement method, Obtaining the first phase angle and the second phase angle, further calculating the first difference between the first peak angle and the first phase angle, and the second difference between the second peak angle and the second phase angle Finally, according to the first difference and the second difference, determine the target angle of the target echo signal, without changing the array layout and without limiting the range of unambiguous angle measurement, combined with DBF
  • the method of angle measurement and multi-baseline phase method effectively solves the problem of grating lobes in the beam coverage area of the sparse array and the angle measurement ambiguity caused by it.
  • an embodiment of the present application further provides a millimeter-wave radar, and the millimeter-wave radar includes the aforementioned device for removing grating lobes with a sparse array.
  • the specific functions or operation steps realized by the device for removing grating lobes with a sparse array in the embodiment of the present application are substantially the same as those in the above embodiment, and will not be repeated here.
  • an embodiment of the present application further provides an automatic driving device, the automatic driving device includes the above-mentioned millimeter-wave radar, and the above-mentioned millimeter-wave radar includes the sparse array lobe de-grating device in the embodiment of the present application.
  • the specific functions or operation steps realized by the device for removing grating lobes with a sparse array in the embodiment of the present application are substantially the same as those in the above embodiment, and will not be repeated here.
  • the embodiment of the present application also proposes a computer-readable storage medium, the computer-readable storage medium stores a sparse array de-grating lobe program, and the sparse array de-grating lobe program can be executed by one or more processors , to do the following:
  • a target angle of the target echo signal is determined according to the first difference and the second difference.
  • the baseline prior information includes baseline lengths of different baselines and prior angles corresponding to different baseline lengths, the prior angle refers to the angle at which each prior signal is located;
  • the steps of determining the target baseline length and the target phase difference corresponding to the first peak angle and the second peak angle respectively through information and phase prior information include: respectively determining the first peak angle and the second peak angle Matching with each prior angle; determining the baseline length corresponding to the matched prior angle.
  • the step of determining the target angle of the target echo signal according to the first difference and the second difference includes: comparing the magnitudes of the first difference and the second difference ; When the first difference is smaller than the second difference, determining the first peak angle as the target angle.
  • the step includes: obtaining each prior angle; For each prior angle, adopt any group of baselines to measure angles by phase method to obtain the measurement angle; the baseline length between the group of baselines whose measurement angle is consistent with the prior angle is determined to be the same as the priori angle The baseline length corresponding to the angle.
  • the phase prior information includes the phase difference between different baselines and the prior angle corresponding to the phase difference of different baselines; the first peak angle is determined according to the baseline prior information and phase prior information respectively.
  • the steps of determining the target baseline length and the target phase difference corresponding to the second peak angle include: respectively determining prior angles matched with the first peak angle and the second peak angle; determining the target according to the matched prior angles A baseline and a target baseline length; determining a target phase difference corresponding to the target baseline length according to the target baseline length.
  • the step of measuring the angle of the target echo signal based on the target baseline length and the target phase difference according to the phase angle measurement method to obtain the first phase angle and the second phase angle includes:
  • ⁇ corresponds to the first phase angle or the second phase angle respectively, and the is the target phase difference, and d is the baseline length.
  • the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation.
  • the technical solution of the present application can be embodied in the form of a software product in essence or the part that contributes to the prior art, and the computer software product is stored in a storage medium as described above (such as ROM/RAM , magnetic disk, optical disk), including several instructions to enable a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

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Abstract

一种稀疏阵列解栅瓣方法、装置、毫米波雷达、自动驾驶设备以及计算机可读存储介质，稀疏阵列解栅瓣方法包括：（S10）基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度；（S20）根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差；（S30）基于基线先验信息及相位先验信息，根据相位测角法对目标回波信号测角得到第一相位角及第二相位角；（S40）计算第一峰值角度与第一相位角的第一差值，以及第二峰值角度与第二相位角的第二差值；（S50）根据第一差值及第二差值，确定目标回波信号的目标角度。稀疏阵列解栅瓣方法解决了稀疏阵列的测角模糊问题。

Description

稀疏阵列解栅瓣方法、装置及相关设备
本申请要求于2021年08月30日提交中国专利局、申请号为202111007033.5、申请名称为“稀疏阵列解栅瓣方法、装置及相关设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及毫米波雷达技术领域，尤其涉及一种稀疏阵列解栅瓣方法、装置及相关设备。
背景技术
现有的毫米波雷达产品，基本上都是采用稀疏阵列来实现，与此同时带来的问题就是无模糊测角范围的缩小、高旁瓣和栅瓣的影响。目前存在的解决栅瓣的方法，不能有效解决稀疏阵列在波束覆盖范围内存在的栅瓣和由此带来的测角模糊问题。
发明内容
本申请提供一种稀疏阵列解栅瓣方法、装置、毫米波雷达及自动驾驶设备，其主要目的在于解决现有技术中难以解决稀疏阵列在波束覆盖范围内存在的栅瓣及测角模糊的技术问题。
为实现上述目的，本申请提供一种稀疏阵列解栅瓣方法，该方法包括：
基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度；
根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差；
基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角；
计算所述第一峰值角度与所述第一相位角的第一差值，以及所述第二峰值角度与所述第二相位角的第二差值；
根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度。
可选地，所述基线先验信息包括不同基线的基线长度以及不同基线长度所对应的先验角度，所述先验角度指各个先验信号所在的角度；所述根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差的步骤，包括：将所述第一峰值角度及所述第二峰值角度分别与各个所述先验角度进行匹配；确定匹配的所述先验角度所对应的目标基线长度及目标相位差。
可选地，所述根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度的步骤包括：比较所述第一差值与所述第二差值的大小；当第一差值小于所述第二差值时，将所述第一峰值角度确定为所述目标角度。
可选地，所述根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差的步骤之前包括：获取各个先验角度；对于各个先验角度，采用任一组基线进行相位法测角，得到测量角度；将所述测量角度与所述先验角度一致的一组基线之间的基线长度，确定为与所述先验角度对应的基线长度。
可选地，所述相位先验信息包括不同基线之间的相位差以及不同基线的相位差所对应的先验角度；所述根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差的步骤包括：分别确定与所述第一峰值角度及所述第二峰值角度匹配的先验角度；根据匹配的先验角度确定目标基线及目标基线长度；根据所述目标基线长度，确定所述目标基线长度对应的目标相位差。
可选的，所述基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角的步骤包括：
根据下述公式分别计算所述第一相位角及所述第二相位角：
Figure PCTCN2022111422-appb-000001
其中，θ分别对应为第一相位角或第二相位角，所述
Figure PCTCN2022111422-appb-000002
为目标相位差，所述d为基线长度。
此外，为实现上述目的，本申请还提供一种稀疏阵列解栅瓣装置，该装置包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的稀疏阵列解栅瓣系统，所述稀疏阵列解栅瓣系统被所述处理器执行时实现如下步骤：
基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度；
根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差；
基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角；
计算所述第一峰值角度与所述第一相位角的第一差值，以及所述第二峰值角度与所述第二相位角的第二差值；
根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度。
此外，为实现上述目的，本申请还提供一种毫米波雷达，该毫米波雷达包括上述的稀疏阵列解栅瓣装置。
此外，为实现上述目的，本申请还提供一种自动驾驶设备，该自动驾驶设备包括上述的毫米波雷达。
此外，为实现上述目的，本申请还提供一种计算机可读存储介质，该计算机可读存储介质上存储有稀疏阵列解栅瓣程序，所述稀疏阵列解栅瓣程序可被至少一个处理器执行，以实现如下步骤：
基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度；
根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差；
基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角；
计算所述第一峰值角度与所述第一相位角的第一差值，以及所述第二峰值角度与所述第二相位角的第二差值；
根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度。
本申请提出的稀疏阵列解栅瓣方法，基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度，并根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差，然后基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角，进一步计算所述第一峰值角度与所述第一相位角的第一差值，以及所述第二峰值角度与所述第二相位角的第二差值，最后根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度，在不改变阵列布阵形式和不限制无模糊测角范围的情况下，结合DBF测角和多基线相位法测角的方法，有效地解除了稀疏阵列在波束覆盖范围内存在的栅瓣和由此带来的测角模糊问题。
附图说明
图1为本申请稀疏阵列解栅瓣方法较佳实施例的示意图；
图2为本申请稀疏阵列解栅瓣方法中相位测角法的原理示意图；
图3为本申请稀疏阵列解栅瓣装置较佳实施例的流程图；
图4为本申请稀疏阵列解栅瓣装置一实施例中稀疏阵列解栅瓣系统的模块示意图；
图5为本申请毫米波雷达较佳实施例的结构示意图。
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
首先介绍本申请实施例中出现的技术术语：
基线：是指用于接收信号的两个天线之间的距离，根据距离的相对长短可称为长、短基线。
稀疏阵：是指对一组天线阵元的间距进行随机稀疏排布的天线阵列。
栅瓣：是指由于天线阵列间距过大后，导致在除主瓣以外的其他扫描范围内出现的与主瓣等幅度的波瓣。
相位法测角：是指利用多个天线所接收回波信号之间的相位差进行测角。
DBF测角：数字波束形成(DigitalBeamForming)测角。
有效孔径：是指天线阵列单元之间最大的有效间距。
随着自动驾驶技术的发展，不受恶劣天气影响、具有较强稳定性的车载毫米波雷达也愈发火热，作为无人驾驶汽车的一个重要部件，市场对价格低廉、性能出色的雷达产品的需求也在不断增长。价格低廉则需保证雷达产品所需天线单元及其组件更少，性能出色则需满足探测距离远、测角精度高、无模糊测角范围广等等。但是上述这几类特性往往相互矛盾的。
测角精度主要由天线阵列的有效孔径决定，有效孔径越大，测角精度越高。对于车载毫米波雷达而言，天线阵列一般采用线性阵列，其有效孔径是最远的天线单元与参考单元(一般为第一个天线单元)之间的间距，若要保证测角无模糊，需要将天线单元排布成间隔为半波长的均匀线性阵列，这就需要更多的 天线单元。替代方案是，通过优化天线单元的数目和位置排布，来保证相同有效孔径下使用更少的天线单元，这样优化得到的阵列也称为稀疏阵列。
目前，市场上存在的车载毫米波雷达产品，基本上都是采用稀疏阵列来实现。与此同时带来的问题就是无模糊测角范围的缩小、高旁瓣和栅瓣的影响。发明人在实施本申请实施例的过程中发现，目前对于一维稀疏阵列，大多都采用优化天线布阵的方式或者限制无模糊测角范围来解决栅瓣的问题，对于阵列形式固定，在要求的波束覆盖范围内仍然存在栅瓣的解决方案研究不多。通过优化天线布阵虽然可以解除栅瓣，但是相当于是把栅瓣的能量转移到了其他旁瓣，尤其是在波长大于1/2λ时，由此会带来高旁瓣的问题，影响测角准确度；而限制无模糊测角范围的形式，则直接减小了波束覆盖范围。
因此，本申请提供一种稀疏阵列解栅瓣方法。参照图1所示，为本申请稀疏阵列解栅瓣方法较佳实施例的流程图。该方法可以由一个装置执行，该装置可以由软件和/或硬件实现。在本实施例中，稀疏阵列解栅瓣方法包括：
步骤S10，基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度。
本申请实施例中，对于基线长度大于半波长1/2λ的基线进行测角。其中，对于稀疏阵列的毫米波雷达的天线阵列，采用雷达的整个稀疏阵列对目标回波信号进行DBF测角，得到DBF的方向图，选取方向图中2个最高的波瓣峰值点，主峰值点对应角度设为第一峰值角度A1，次峰值点对应角度设为第二峰值角度A2。由于栅瓣角度可能会大于等于真实角度，或与真实角度相近，而采用DBF测角并不能区分，哪个是真实角度哪个是栅瓣角度，因此本发明实施例选取两个峰值角度。DBF测角的具体方式，本申请实施例不做具体限制。
步骤S20，根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差。
本发明实施例中，事先通过理论仿真或者暗室采集的关注角度范围内各个角度的通道数据得到的对应的两类先验信息，这两类先验信息分别为基线先验信息及相位先验信息。
其中，基线选取先验信息，指的是对应于不同的目标真实角度(先验角度)，需要选取不同基线来进行相位法测角解除栅瓣，这是因为：对于同一组基线，对于目标回波信号1存在的栅瓣角度，可能是目标回波信号2的真实角度，因此选取各先验角度下能解除栅瓣的基线作为先验信息。因此，本申请实施例中的基线先验信息包括不同基线的基线长度以及不同基线长度所对应的先验角度，该先验角度指各个先验信号(回波信号)所在的真实角度。具体地，需要确定先验角度对应的基线：获取各个先验角度；从稀疏阵列中任意选取两个基线为一组，采用相位法测角，得到测量角度；将所述测量角度与所述先验角度一致的一组基线之间的基线长度，确定为与所述先验角度对应的基线长度，确定该组基线对应该先验角度，从而可以分别确定各个先验角度对应的各组基线，并确定各组基线之间的基线长度。将先验角度、先验角度对应的基线以及基线长度等基线先验信息预先存储。所述先验角度指各个先验信号所在的角度，也即一般是指雷达可视范围(即FOV)内的各角度。
本申请实施例中，相位先验信息指的是采用大于半波长1/2λ的基线进行相位法测角时，对应于各先验角度下不同基线之间的相位差，不同基线之间的相位差根据基线长度具有不同的周期性，因此需要先得到每个真实目标角度θ(先验角度)对应于不同基线的周期相位值，而通常情况下栅瓣角度对应的基线的相位值则不同。因此，相位先验信息包括不同基线之间的相位差以及不同基线的相位差所对应的先验角度。也就是说，在确定了基线选取先验信息后，则确定了各个先验角度所对应的基线，而不同的基线长度所对应的相位差不同，本发明实施例中，在处理相位先验信息时，预先对不同基线之间的相位差进行补齐，从而得到各个基线之间的相位先验信息，其中各个基线之间的相位差一般为kπ，k为自然数。因此，在确定了各个先验角度所对应的基线后，与基线选取先验信息及相位先验信息进行匹配。具体地，分别确定与所述第一峰值角度及所述第二峰值角度匹配的先验角度，得到第一峰值角度所匹配的先验角度，以及第二峰值角度所匹配的先验角度；根据匹配的先验角度确定第一峰值角度对应的目标基线及目标基线长度，以及第二峰值角度对应的目标基线及目标基线长度；根据目标基线长度，确定所述目标基线长度对应的目标相位差根据基线长度确定各个先验角度所对应的相位差。从而确定第一峰值角度对应 的目标基线长度及目标相位差，以及第二峰值角度对应的目标基线长度及目标相位差。
步骤S30，基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角。
其中，在得到第一峰值角度对应的目标基线长度及目标相位差，以及第二峰值角度对应的目标基线长度及目标相位差后，根据目标基线长度、目标相位差及相位测角法对目标回波信号测角，得到第一相位角及第二相位角。
具体地，相位测角法如图2所示，B和C为两个接收天线单元，间距为d，d<<目标回波信号到振源的距离，因此通常情况下，认为通过目标反射到达接收点的电磁波是一个平面波。这里假设目标到A、B两点的距离相等，回波到达A、B两点的相位也相等，称为等相位波前；则回波到达B、C两个接收天线单元的距离差为d sin(θ)，假设回波到达B、C两个接收点的相位差为
Figure PCTCN2022111422-appb-000003
一个波长λ的相位差为2π，则对应于距离为d sin(θ)的相位差
Figure PCTCN2022111422-appb-000004
为：
Figure PCTCN2022111422-appb-000005
通过B、C两个接收通道的相位差可以得到目标到接收点的角度θ为：
Figure PCTCN2022111422-appb-000006
当
Figure PCTCN2022111422-appb-000007
时，通过上述公式得到的θ只有一个取值，称为无模糊角，假设对应于[-π，π]的无模糊测角区间为
Figure PCTCN2022111422-appb-000008
其中：
Figure PCTCN2022111422-appb-000009
从上式可知，
Figure PCTCN2022111422-appb-000010
越大，对应的θ max越大。
因此，本申请实施例在得到目标基线长度及目标相位差后，根据上述相位测角法，得到第一峰值角度对应的第一相位角及第二峰值角度对应的第二相位角：
Figure PCTCN2022111422-appb-000011
其中，θ分别对应为第一相位角或第二相位角，所述
Figure PCTCN2022111422-appb-000012
为目标相位差，所述d为目标基线长度。
步骤S40，计算所述第一峰值角度与所述第一相位角的第一差值，以及所述第二峰值角度与所述第二相位角的第二差值。
本申请实施例中，由于第一相位角及第二相位角根据相位测角法计算得到，第一峰值角度及第二峰值角度根据DBF测角法计算得到，而根据DBF测角法并不能区分第一峰值角度及第二峰值角度是否为栅瓣角度，而当其中一个为栅瓣角度时，由于预先设置了基线先验信息及相位先验信息，因此根据基线先验信息及相位先验信息确定对应的基线。对于峰值角度为真实角度的情况，其通过相位测角法测量得到的相位角与真实角度(先验角度)将会一致，而对于峰值角度为栅瓣角度时，其采用相位测角法测量得到的相位角与真实角度不一致。因此，根据第一差值及第二差值从而可以确定第一峰值角度及第二峰值角度是否是真实角度。
步骤S50，根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度。
其中，比较所述第一差值与所述第二差值的大小，当第一差值小于所述第二差值时，将所述第一峰值角度确定为目标回波信号的目标角度，从而解除了最短基线长度大于半波长的稀疏阵列的栅瓣。
上述实施例提出的稀疏阵列解栅瓣方法，基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度，并根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差，然后基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角，进一步计算 所述第一峰值角度与所述第一相位角的第一差值，以及所述第二峰值角度与所述第二相位角的第二差值，最后根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度，在不改变阵列布阵形式和不限制无模糊测角范围的情况下，结合DBF测角和多基线相位法测角的方法，有效地解除了稀疏阵列在波束覆盖范围内存在的栅瓣和由此带来的测角模糊问题。
本申请提供一种稀疏阵列解栅瓣装置。参照图3所示，为本申请稀疏阵列解栅瓣装置较佳实施例的示意图。在本实施例中，稀疏阵列解栅瓣装置可以是PC(Personal Computer，个人电脑)，也可以是智能手机、平板电脑、电子书阅读器、便携计算机等终端设备。
该稀疏阵列解栅瓣装置包括存储器11、处理器12，通信总线13，以及网络接口14。
其中，存储器11至少包括一种类型的可读存储介质，所述可读存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如，SD或DX存储器等)、磁性存储器、磁盘、光盘等。存储器11在一些实施例中可以是稀疏阵列解栅瓣装置的内部存储单元，例如该稀疏阵列解栅瓣装置的硬盘。存储器11在另一些实施例中也可以是稀疏阵列解栅瓣装置的外部存储设备，例如稀疏阵列解栅瓣装置上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，存储器11还可以既包括稀疏阵列解栅瓣装置的内部存储单元也包括外部存储设备。存储器11不仅可以用于存储安装于稀疏阵列解栅瓣装置的应用软件及各类数据，例如稀疏阵列解栅瓣系统的代码等，还可以用于暂时地存储已经输出或者将要输出的数据。
处理器12在一些实施例中可以是一中央处理器(Central Processing Unit,CPU)、控制器、微控制器、微处理器或其他数据处理芯片，用于运行存储器11中存储的程序代码或处理数据，例如执行稀疏阵列解栅瓣系统的功能等。
通信总线13用于实现这些组件之间的连接通信。
网络接口14可选的可以包括标准的有线接口、无线接口(如WI-FI接口)，通常用于在该装置与其他电子设备之间建立通信连接。
图3仅示出了具有组件11-14以及稀疏阵列解栅瓣系统的稀疏阵列解栅瓣装置，但是应理解的是，并不要求实施所有示出的组件，可以替代的实施更多或者更少的组件。
可选地，该装置还可以包括用户接口，用户接口可以包括显示器(Display)、输入单元比如键盘(Keyboard)，可选的用户接口还可以包括标准的有线接口、无线接口。可选地，在一些实施例中，显示器可以是LED显示器、液晶显示器、触控式液晶显示器以及OLED(Organic Light-Emitting Diode，有机发光二极管)触摸器等。其中，显示器也可以适当的称为显示屏或显示单元，用于显示在稀疏阵列解栅瓣装置中处理的信息以及用于显示可视化的用户界面。
在图3所示的装置实施例中，存储器11中存储有稀疏阵列解栅瓣系统；处理器12执行存储器11中存储的稀疏阵列解栅瓣系统的功能时实现如下步骤：
A、基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度。
本申请实施例中，对于基线长度大于半波长1/2λ的基线进行测角。其中，对于稀疏阵列的毫米波雷达的天线阵列，采用雷达的整个稀疏阵列对目标回波信号进行DBF测角，得到DBF的方向图，选取方向图中2个最高的波瓣峰值点，主峰值点对应角度设为第一峰值角度A1，次峰值点对应角度设为第二峰值角度A2。由于栅瓣角度可能会大于等于真实角度，或与真实角度相近，而采用DBF测角并不能区分，哪个是真实角度哪个是栅瓣角度，因此本发明实施例选取两个峰值角度。DBF测角的具体方式，本申请实施例不做具体限制。
B、根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差。
其中，基线选取先验信息，指的是对应于不同的目标真实角度(先验角度)，需要选取不同基线来进行相位法测角解除栅瓣，这是因为：对于同一组基线，对于目标回波信号1存在的栅瓣角度，可能是目标回波信号2的真实角度，因此选取各先验角度下能解除栅瓣的基线作为先验信息。因此，本申请实施例中的基线先验信息包括不同基线的基线长度以及不同基线长度所对应的先验角度，该先验角度指各个先验信号(回波信号)所在的真实角度。具体地，需要确定先验角度对应的基线：获取各个先验角度；从稀疏阵列中任意选取两个基线为一组，采用相位法测角，得到测量角度；将所述测量角度与所述先验角度一致的一组基线之间的基线长度，确定为与所述先验角度对应的基线长度，确定该组基线对应该先验角度，从而可以分别确定各个先验角度对应的各组基线，并确定各组基线之间的基线长度。将先验角度、先验角度对应的基线以及基线长度等基线先验信息预先存储。
本申请实施例中，相位先验信息指的是采用大于半波长1/2λ的基线进行相位法测角时，对应于各先验角度下不同基线之间的相位差，不同基线之间的相位差根据基线长度具有不同的周期性，因此需要先得到每个真实目标角度θ(先验角度)对应于不同基线的周期相位值，而通常情况下栅瓣角度对应的基线的相位值则不同。因此，相位先验信息包括不同基线之间的相位差以及不同基线的相位差所对应的先验角度。也就是说，在确定了基线选取先验信息后，则确定了各个先验角度所对应的基线，而不同的基线长度所对应的相位差不同。因此，在确定了各个先验角度所对应的基线后，与基线选取先验信息及相位先验信息进行匹配。具体地，分别确定与所述第一峰值角度及所述第二峰值角度匹配的先验角度，得到第一峰值角度所匹配的先验角度，以及第二峰值角度所匹配的先验角度；根据匹配的先验角度确定第一峰值角度对应的目标基线及目标基线长度，以及第二峰值角度对应的目标基线及目标基线长度；根据目标基线长度，确定所述目标基线长度对应的目标相位差根据基线长度确定各个先验角度所对应的相位差。从而确定第一峰值角度对应的目标基线长度及目标相位差，以及第二峰值角度对应的目标基线长度及目标相位差。
C、基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角。
其中，在得到第一峰值角度对应的目标基线长度及目标相位差，以及第二峰值角度对应的目标基线长度及目标相位差后，根据目标基线长度、目标相位差及相位测角法对目标回波信号测角，得到第一相位角及第二相位角。
具体地，相位测角法如图2所示，B和C为两个接收天线单元，间距为d，d<<目标回波信号到振源的距离，因此通常情况下，认为通过目标反射到达接收点的电磁波是一个平面波。这里假设目标到A、B两点的距离相等，回波到达A、B两点的相位也相等，称为等相位波前；则回波到达B、C两个接收天线单元的距离差为d sin(θ)，假设回波到达B、C两个接收点的相位差为
Figure PCTCN2022111422-appb-000013
一个波长λ的相位差为2π，则对应于距离为d sin(θ)的相位差
Figure PCTCN2022111422-appb-000014
为：
Figure PCTCN2022111422-appb-000015
通过B、C两个接收通道的相位差可以得到目标到接收点的角度θ为：
Figure PCTCN2022111422-appb-000016
当
Figure PCTCN2022111422-appb-000017
时，通过上述公式得到的θ只有一个取值，称为无模糊角，假设对应于[-π，π]的无模糊测角区间为
Figure PCTCN2022111422-appb-000018
其中：
Figure PCTCN2022111422-appb-000019
从上式可知，
Figure PCTCN2022111422-appb-000020
越大，对应的θ max越大。
因此，本申请实施例在得到目标基线长度及目标相位差后，根据上述相位测角法，得到第一峰值角度对应的第一相位角及第二峰值角度对应的第二相位角：
Figure PCTCN2022111422-appb-000021
其中，θ分别对应为第一相位角或第二相位角，所述
Figure PCTCN2022111422-appb-000022
为目标相位差，所述d为目标基线长度。
D、计算所述第一峰值角度与所述第一相位角的第一差值，以及所述第二峰值角度与所述第二相位角的第二差值。
本申请实施例中，由于第一相位角及第二相位角根据相位测角法计算得到，第一峰值角度及第二峰值角度根据DBF测角法计算得到，而根据DBF测角法并不能区分第一峰值角度及第二峰值角度是否为栅瓣角度，而当其中一个为栅瓣角度时，由于预先设置了基线先验信息及相位先验信息，因此根据基线先验信息及相位先验信息确定对应的基线。对于峰值角度为真实角度的情况，其通过相位测角法测量得到的相位角与真实角度(先验角度)将会一致，而对于峰值角度为栅瓣角度时，其采用相位测角法测量得到的相位角与真实角度不一致。因此，根据第一差值及第二差值从而可以确定第一峰值角度及第二峰值角度是否是真实角度。
E、根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度。
其中，比较所述第一差值与所述第二差值的大小，当第一差值小于所述第二差值时，将所述第一峰值角度确定为目标回波信号的目标角度，从而解除了最短基线长度大于半波长的稀疏阵列的栅瓣。
可选地，在其他的实施例中，稀疏阵列解栅瓣系统还可以被分割为一个或者多个模块，一个或者多个模块被存储于存储器11中，并由一个或多个处理器(本实施例为处理器12)所执行，以完成本申请，本申请所称的模块是指能够完成特定功能的一系列计算机程序指令段。例如，参照图4所示，为本申请稀疏阵列解栅瓣装置一实施例中的稀疏阵列解栅瓣系统的模块示意图，该实施例中，稀疏阵列解栅瓣系统可以被分割为第一测角模块10、第一确定模块20、第二测角模块30、计算模块40以及第二确定模块50，示例性地：
第一测角模块10用于基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度；
第一确定模块20用于根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差；
第二测角模块30用于基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角；
计算模块40用于计算所述第一峰值角度与所述第一相位角的第一差值，以及所述第二峰值角度与所述第二相位角的第二差值；
第二确定模块50用于根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度。
上述第一测角模块10、第一确定模块20、第二测角模块30、计算模块40以及第二确定模块50被执行所实现的功能或操作步骤与上述实施例大体相同，在此不再赘述。
本申请提出的稀疏阵列解栅瓣方法，基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度，并根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差，然后基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角，进一步计算所述第一峰值角度与所述第一相位角的第一差值，以及所述第二峰值角度与所述第二相位角的第二差值，最后根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度，在不改变阵列布阵形式和不限制无模糊测角范围的情况下，结合DBF测角和多基线相位法测角的方法，有效地解除了稀疏阵列在波束覆盖范围内存在的栅瓣和由此带来的测角模糊问题。
如图5所示，本申请实施例还提供一种毫米波雷达，该毫米波雷达包括上述的稀疏阵列解栅瓣装置。本申请实施例中的稀疏阵列解栅瓣装置的具体所实现的功能或操作步骤与上述实施例大体相同，此处不再赘述。
此外，本申请实施例还提供一种自动驾驶设备，该自动驾驶设备包括上述的毫米波雷达，上述的毫米波雷达包括本申请实施例中的稀疏阵列解栅瓣装置。本申请实施例中的稀疏阵列解栅瓣装置的具体所实现的功能或操作步骤与上述实施例大体相同，此处不再赘述。
此外，本申请实施例还提出一种计算机可读存储介质，所述计算机可读存储介质上存储有稀疏阵列解栅瓣程序，所述稀疏阵列解栅瓣程序可被一个或多个处理器执行，以实现如下操作：
基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度；
根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差；
基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角；
计算所述第一峰值角度与所述第一相位角的第一差值，以及所述第二峰值角度与所述第二相位角的第二差值；
根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度。
进一步地，可选地，所述基线先验信息包括不同基线的基线长度以及不同基线长度所对应的先验角度，所述先验角度指各个先验信号所在的角度；所述根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差的步骤，包括：将所述第一峰值角度及所述第二峰值角度分别与各个所述先验角度进行匹配；确定匹配的所述先验角度所对应的基线长度。
进一步地，所述根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度的步骤包括：比较所述第一差值与所述第二差值的大小；当第一差值小于所述第二差值时，将所述第一峰值角度确定为所述目标角度。
进一步地，所述根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差的步骤之前包括：获取各个先验角度；对于各个先验角度，采用任一组基线进行相位法测角，得到测量角度；将所述测量角度与所述先验角度一致的一组基线之间的基线长度，确定为与所述先验角度对应的基线长度。
进一步地，所述相位先验信息包括不同基线之间的相位差以及不同基线的相位差所对应的先验角度；所述根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差的步骤包括：分别确定与所述第一峰值角度及所述第二峰值角度匹配的先验角度；根据匹配的先验角度确定目标基线及目标基线长度；根据所述目标基线长度，确定所述目标基线长度对应的目标相位差。
进一步地，所述基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角的步骤包括：
根据下述公式分别计算所述第一相位角及所述第二相位角：
Figure PCTCN2022111422-appb-000023
其中，θ分别对应为第一相位角或第二相位角，所述
Figure PCTCN2022111422-appb-000024
为目标相位差，所述d为基线长度。
本申请计算机可读存储介质具体实施方式与上述稀疏阵列解栅瓣方法和装置各实施例基本相同，在此不作累述。
需要说明的是，上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。并且本文中的术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、装置、物品或者方法不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、装置、物品或者方法所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、装置、物品或者方法中还存在另外的相同要素。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在如上所述的一个存储介质(如ROM/RAM、磁碟、光 盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本申请各个实施例所述的方法。
以上仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (10)

  1. 一种稀疏阵列解栅瓣方法，其特征在于，所述方法包括：
    基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度；
    根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差；
    基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角；
    计算所述第一峰值角度与所述第一相位角的第一差值，以及所述第二峰值角度与所述第二相位角的第二差值；
    根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度。
  2. 根据权利要求1所述的稀疏阵列解栅瓣方法，其特征在于，所述基线先验信息包括不同基线的基线长度以及不同基线长度所对应的先验角度，所述先验角度指各个先验信号所在的角度；所述根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差的步骤，包括：
    将所述第一峰值角度及所述第二峰值角度分别与各个所述先验角度进行匹配；
    确定匹配的所述先验角度所对应的目标基线长度及目标相位差。
  3. 根据权利要求2所述的稀疏阵列解栅瓣方法，其特征在于，所述根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度的步骤包括：
    比较所述第一差值与所述第二差值的大小；
    当第一差值小于所述第二差值时，将所述第一峰值角度确定为所述目标角度。
  4. 根据权利要求2所述的稀疏阵列解栅瓣方法，其特征在于，所述根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差的步骤之前包括：
    获取各个先验角度；
    对于各个先验角度，采用任一组基线进行相位法测角，得到测量角度；
    将所述测量角度与所述先验角度一致的一组基线之间的基线长度，确定为与所述先验角度对应的基线长度。
  5. 根据权利要求4所述的稀疏阵列解栅瓣方法，其特征在于，所述相位先验信息包括不同基线之间的相位差以及不同基线的相位差所对应的先验角度；所述根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差的步骤包括：
    分别确定与所述第一峰值角度及所述第二峰值角度匹配的先验角度；
    根据匹配的先验角度确定目标基线及目标基线长度；
    根据所述目标基线长度，确定所述目标基线长度对应的目标相位差。
  6. 根据权利要求5所述的稀疏阵列解栅瓣方法，其特征在于，所述基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角的步骤包括：
    根据下述公式分别计算所述第一相位角及所述第二相位角：
    Figure PCTCN2022111422-appb-100001
    其中，θ分别对应为第一相位角或第二相位角，所述
    Figure PCTCN2022111422-appb-100002
    为目标相位差，所述d为目标基线长度。
  7. 一种稀疏阵列解栅瓣装置，其特征在于，所述装置包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的稀疏阵列解栅瓣系统，所述稀疏阵列解栅瓣系统被所述处理器执行时实现如下步骤：
    基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度；
    根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差；
    基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角；
    计算所述第一峰值角度与所述第一相位角的第一差值，以及所述第二峰值角度与所述第二相位角的第二差值；
    根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度。
  8. 一种毫米波雷达，其特征在于，所述毫米波雷达包括如权利要求7所述的稀疏阵列解栅瓣装置。
  9. 一种自动驾驶设备，其特征在于，所述自动驾驶设备包括如权利要求8所述的毫米波雷达。
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有稀疏阵列解栅瓣程序，所述稀疏阵列解栅瓣程序可被至少一个处理器执行，以实现如下步骤：
    基于数字波束形成DBF对目标回波信号测角，得到第一峰值角度及第二峰值角度；
    根据基线先验信息及相位先验信息分别确定所述第一峰值角度及所述第二峰值角度对应的目标基线长度及目标相位差；
    基于所述目标基线长度及所述目标相位差，根据相位测角法对所述目标回波信号测角，得到第一相位角及第二相位角；
    计算所述第一峰值角度与所述第一相位角的第一差值，以及所述第二峰值角度与所述第二相位角的第二差值；
    根据所述第一差值及所述第二差值，确定所述目标回波信号的目标角度。
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