阅读说明：本技术 毫米波雷达平台超分辨测角方法、装置、设备及存储介质 (Super-resolution angle measurement method, device and equipment for millimeter wave radar platform and storage medium ) 是由 祁鹏辉 王珂 胡春文 于 2020-12-30 设计创作，主要内容包括：本发明属于雷达技术领域,公开了一种毫米波雷达平台超分辨测角方法、装置、设备及存储介质。该方法包括：获取雷达目标物体的导向矢量；根据所述导向矢量搜索所述目标物体的方位角度,获得所述目标物体的粗方位角度；根据所述粗方位角度,毫米波雷达平台超分辨测角所述目标物体的方位角度,获得所述目标物体的目标方位角度。通过上述方式,可以根据目标物体的导向矢量粗搜索方位角度,即粗方位角度,根据粗方位角度对目标物体进行更高精度的方位毫米波雷达平台超分辨测角,获得目标物体的目标方位角度,本发明通过两次搜索,即保证了搜索时计算量少,也保证了搜索的方位角度精度高。(The invention belongs to the technical field of radars, and discloses a super-resolution angle measurement method, a super-resolution angle measurement device, a super-resolution angle measurement equipment and a storage medium for a millimeter wave radar platform. The method comprises the following steps: acquiring a guide vector of a radar target object; searching the azimuth angle of the target object according to the guide vector to obtain a coarse azimuth angle of the target object; and according to the rough azimuth angle, the millimeter wave radar platform carries out super-resolution angle measurement on the azimuth angle of the target object, and the target azimuth angle of the target object is obtained. By the mode, the azimuth angle, namely the rough azimuth angle, can be roughly searched according to the guide vector of the target object, and the higher-precision azimuth millimeter wave radar platform super-resolution angle measurement is carried out on the target object according to the rough azimuth angle to obtain the target azimuth angle of the target object.)

1. A millimeter wave radar platform super-resolution angle measurement method is characterized by comprising the following steps:

acquiring a guide vector of a radar target object;

searching the azimuth angle of the target object according to the guide vector to obtain a coarse azimuth angle of the target object;

and searching the azimuth angle of the target object accurately according to the rough azimuth angle to obtain the target azimuth angle of the target object.

2. The millimeter wave radar platform super-resolution angle measurement method according to claim 1, wherein the searching for the azimuth angle of the target object according to the steering vector to obtain the coarse azimuth angle of the target object comprises:

acquiring a field angle range of a radar arranged on a vehicle;

acquiring a first search step amount;

determining each first search angle of the target object according to the field angle range and the first search stepping amount;

searching the azimuth angle of the target object according to the guide vector to obtain a coarse azimuth angle of the target object, comprising:

and searching a first search angle of the target object according to the guide vector to obtain a rough azimuth angle of the target object.

3. The millimeter wave radar platform super-resolution angle measurement method according to claim 2, wherein the obtaining the coarse azimuth angle of the target object by searching the first search angle of the target object according to the steering vector comprises:

searching each first search angle of the target object by the first search step according to the guide vector and the view field angle range to obtain a first search result;

and searching for a first search angle minimum value in the first search result, and determining the rough azimuth angle of the target object according to the first search angle minimum value.

4. The millimeter wave radar platform super-resolution angle measurement method according to claim 3, wherein the searching for the first search angle for the target object at the first search step amount according to the steering vector and the field of view angle range to obtain a first search result comprises:

obtaining a covariance matrix of the guide vector according to the guide vector;

performing characteristic decomposition on the covariance matrix to obtain a characteristic value;

obtaining a noise subspace feature vector matrix according to the feature value;

acquiring dot product data according to the noise subspace characteristic vector matrix and the guide vector;

and searching the dot product data of each first search angle according to the field angle range and the first search step amount to obtain a first search result.

5. The millimeter wave radar platform super-resolution angle measurement method according to claim 1, wherein the obtaining the target azimuth angle of the target object by finely searching the azimuth angle of the target object according to the coarse azimuth angle comprises:

determining a searching azimuth angle range according to the rough azimuth angle;

acquiring a second search step amount;

determining each second search angle of the target object according to the search azimuth angle range and the second search step amount;

the obtaining the target azimuth angle of the target object according to the super-resolution angle measurement of the coarse azimuth millimeter wave radar platform comprises the following steps:

and obtaining the target azimuth angle of the target object according to the second search angle of the target object by the super-resolution angle measurement of the coarse azimuth millimeter wave radar platform.

6. The millimeter wave radar platform super resolution angle measurement method according to claim 5, wherein the obtaining the target azimuth angle of the target object according to the second search angle of the coarse azimuth millimeter wave radar platform super resolution angle measurement of the target object comprises:

searching each second search angle of the target object by the second search step according to the guide vector and the search azimuth angle range to obtain a second search result;

and searching a second search angle minimum value in the second search result, and determining the target azimuth angle of the target object according to the second search angle minimum value.

7. The millimeter wave radar platform super-resolution angle measurement method according to claim 6, wherein the step of searching for each second search angle of the target object by the second search step amount according to the steering vector and the search azimuth angle range to obtain a second search result comprises:

obtaining a covariance matrix of the guide vector according to the guide vector;

performing characteristic decomposition on the covariance matrix to obtain a characteristic value;

obtaining a noise subspace feature vector matrix according to the feature value;

acquiring dot product data according to the noise subspace characteristic vector matrix and the guide vector;

and searching the dot product data of each second search angle according to the search azimuth angle range and the second search step amount to obtain a second search result.

8. The utility model provides a millimeter wave radar platform super-resolution angle measuring device which characterized in that, millimeter wave radar platform super-resolution angle measuring device includes:

the acquisition module is used for acquiring a guide vector of a target object;

the searching module is used for searching the azimuth angle of the target object according to the guide vector to obtain a rough azimuth angle of the target object;

the searching module is further configured to precisely search the azimuth angle of the target object according to the rough azimuth angle to obtain the target azimuth angle of the target object.

9. A millimeter wave radar platform super-resolution goniometer apparatus, the apparatus comprising: a memory, a processor, and a millimeter wave radar platform super resolution goniometry program stored on the memory and operable on the processor, the millimeter wave radar platform super resolution goniometry program configured to implement the steps of the millimeter wave radar platform super resolution goniometry method of any of claims 1-7.

10. A storage medium having stored thereon a millimeter wave radar platform super resolution goniometry program, which when executed by a processor, performs the steps of the millimeter wave radar platform super resolution goniometry method of any of claims 1 to 7.

Technical Field

The invention relates to the technical field of radars, in particular to a millimeter wave radar platform super-resolution angle measurement method, device, equipment and storage medium.

Background

The distance, direction, pitching and speed information of the vehicle-mounted millimeter wave measuring target is controlled by radar cost, the number of equivalent receiving channels is small, and the traditional angle measuring technology cannot meet the requirement of angle measuring precision of a vehicle-mounted millimeter wave radar.

At present, the integration level of vehicle-mounted millimeter waves is higher, and two types of combined chips are combined on the chips, wherein one type of combined chip is formed by integrating a radio frequency part and a digital part and one chip; one is radio frequency single integrated chip, and the other is digital integrated chip. And the number of radio frequency receiving equivalent channels is 8, the angle resolution is generally difficult to improve, the super-resolution angle measurement precision of the millimeter wave radar platform and the super-resolution angle measurement resolution of the millimeter wave radar platform are in positive correlation, and for the super-resolution angle measurement of the millimeter wave radar platform, the precision is related to the position accuracy of a measurement target. The most important is that the computing power of the vehicle-mounted millimeter wave radar chip is limited, and the improvement and optimization of the millimeter wave radar platform super-resolution angle measurement algorithm becomes a key technology of engineering application.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention mainly aims to provide a method, a device, equipment and a storage medium for super-resolution angle measurement of a millimeter wave radar platform, and aims to solve the technical problem that the super-resolution angle measurement precision of the millimeter wave radar platform is not high and the number of times of calculation is large in the prior art.

In order to achieve the aim, the invention provides a millimeter wave radar platform super-resolution angle measurement method, which comprises the following steps:

acquiring a guide vector of a radar target object;

searching the azimuth angle of the target object according to the guide vector to obtain a coarse azimuth angle of the target object;

and searching the azimuth angle of the target object accurately according to the rough azimuth angle to obtain the target azimuth angle of the target object.

Optionally, the searching for the azimuth angle of the target object according to the steering vector to obtain the rough azimuth angle of the target object includes:

acquiring a field angle range of a radar arranged on a vehicle;

acquiring a first search step amount;

determining each first search angle of the target object according to the field angle range and the first search stepping amount;

searching the azimuth angle of the target object according to the guide vector to obtain a coarse azimuth angle of the target object, comprising:

and searching a first search angle of the target object according to the guide vector to obtain a rough azimuth angle of the target object.

Optionally, the searching for the first search angle of the target object according to the steering vector to obtain the rough azimuth angle of the target object includes:

searching each first search angle of the target object by the first search step according to the guide vector and the view field angle range to obtain a first search result;

and searching for a first search angle minimum value in the first search result, and determining the rough azimuth angle of the target object according to the first search angle minimum value.

Optionally, the searching the target object by the first search angle according to the guide vector and the field angle range by the first search step amount to obtain a first search result includes:

obtaining a covariance matrix of the guide vector according to the guide vector;

performing characteristic decomposition on the covariance matrix to obtain a characteristic value;

obtaining a noise subspace feature vector matrix according to the feature value;

acquiring dot product data according to the noise subspace characteristic vector matrix and the guide vector;

and searching the dot product data of each first search angle according to the field angle range and the first search step amount to obtain a first search result.

Optionally, the precisely searching the azimuth angle of the target object according to the rough azimuth angle to obtain the target azimuth angle of the target object includes:

determining a searching azimuth angle range according to the rough azimuth angle;

acquiring a second search step amount;

determining each second search angle of the target object according to the search azimuth angle range and the second search step amount;

the obtaining the target azimuth angle of the target object according to the super-resolution angle measurement of the coarse azimuth millimeter wave radar platform comprises the following steps:

and obtaining the target azimuth angle of the target object according to the second search angle of the target object by the super-resolution angle measurement of the coarse azimuth millimeter wave radar platform.

Optionally, the obtaining a target azimuth angle of the target object according to the second search angle of the target object by the coarse azimuth millimeter wave radar platform super-resolution angle measurement includes:

searching each second search angle of the target object by the second search step according to the guide vector and the search azimuth angle range to obtain a second search result;

and searching a second search angle minimum value in the second search result, and determining the target azimuth angle of the target object according to the second search angle minimum value.

Optionally, searching each second search angle of the target object by the second search step amount according to the guidance vector and the search azimuth angle range to obtain a second search result, including:

obtaining a covariance matrix of the guide vector according to the guide vector;

performing characteristic decomposition on the covariance matrix to obtain a characteristic value;

obtaining a noise subspace feature vector matrix according to the feature value;

acquiring dot product data according to the noise subspace characteristic vector matrix and the guide vector;

and searching the dot product data of each second search angle according to the search azimuth angle range and the second search step amount to obtain a second search result.

In addition, in order to achieve the above object, the present invention further provides a millimeter wave radar platform super-resolution angle measurement apparatus, including:

the acquisition module is used for acquiring a guide vector of a target object;

the searching module is used for searching the azimuth angle of the target object according to the guide vector to obtain a rough azimuth angle of the target object;

the searching module is further configured to precisely search the azimuth angle of the target object according to the rough azimuth angle to obtain the target azimuth angle of the target object.

In addition, in order to achieve the above object, the present invention further provides a millimeter wave radar platform super-resolution angle measurement device, including: the millimeter wave radar platform super-resolution angle measurement method comprises the steps of a memory, a processor and a millimeter wave radar platform super-resolution angle measurement program, wherein the millimeter wave radar platform super-resolution angle measurement program is stored in the memory and can run on the processor.

In addition, in order to achieve the above object, the present invention further provides a storage medium, where a millimeter wave radar platform super-resolution angle measurement program is stored, and when being executed by a processor, the millimeter wave radar platform super-resolution angle measurement program implements the steps of the millimeter wave radar platform super-resolution angle measurement method as described above.

The method comprises the steps of obtaining a guide vector of a radar target object; searching the azimuth angle of the target object according to the guide vector to obtain a coarse azimuth angle of the target object; and searching the azimuth angle of the target object accurately according to the rough azimuth angle to obtain the target azimuth angle of the target object. By the mode, the azimuth angle, namely the rough azimuth angle, can be roughly searched according to the guide vector of the target object, and the higher-precision azimuth millimeter wave radar platform super-resolution angle measurement is carried out on the target object according to the rough azimuth angle to obtain the target azimuth angle of the target object.

Drawings

Fig. 1 is a schematic structural diagram of a millimeter wave radar platform super-resolution angle measurement device in a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a first embodiment of the millimeter wave radar platform super-resolution angle measurement method according to the present invention;

FIG. 3 is a schematic diagram of 0.5 degree peak search according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of 45 ° peak search according to an embodiment of the millimeter wave radar platform super-resolution angle measurement method of the present invention;

fig. 5 is a block diagram of a first embodiment of the millimeter wave radar platform super-resolution angle measurement apparatus according to the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a millimeter wave radar platform super-resolution angle measurement device in a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 1, the millimeter wave radar platform super-resolution goniometer device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the millimeter wave radar platform super-resolution goniometric device, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.

As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a millimeter wave radar platform super-resolution goniometry program.

In the millimeter wave radar platform super-resolution angle measurement device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the millimeter wave radar platform super-resolution angle measurement device of the present invention may be disposed in the millimeter wave radar platform super-resolution angle measurement device, and the millimeter wave radar platform super-resolution angle measurement device calls the millimeter wave radar platform super-resolution angle measurement program stored in the memory 1005 through the processor 1001, and executes the millimeter wave radar platform super-resolution angle measurement method provided by the embodiment of the present invention.

The embodiment of the invention provides a millimeter wave radar platform super-resolution angle measurement method, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the millimeter wave radar platform super-resolution angle measurement method.

In this embodiment, the millimeter wave radar platform super-resolution angle measurement method includes the following steps:

step S10: and acquiring a guide vector of the radar target object.

It should be noted that the execution main body of the embodiment may be an embedded chip suitable for vehicle-mounted millimeter wave radar integration, or may be a vehicle-mounted processor, and is a special vehicle informatization product which is developed specially for the special operating environment of the vehicle and the circuit characteristics of the electrical appliances, has the functions of high temperature resistance, dust resistance and shock resistance, and can be fused with the electronic circuit of the vehicle, and is a highly integrated processor. And the specific functions can be customized according to the requirements.

It should be noted that the vehicle is loaded with a radar for detecting a target object around the vehicle, and the radar may be a millimeter wave radar, which is a radar operating in a millimeter wave band (millimeter wave) for detection.

It is understood that the radar and the onboard processor are connected via a Controller Area Network (CAN).

It should be noted that the steering vector radar is the response of all array elements of the array antenna to the narrow-band source with unit energy. Since the array response is different in different directions, the steering vector is correlated to the direction of the source, and the uniqueness of this correlation depends on the geometry of the array. Each element of the steering vector has a unity magnitude for the same array element array.

In a specific implementation, 8 array elements with equal spacing are arranged on the same linear array at a wavelength λ corresponding to a central frequency point, the array element spacing is equal to λ 2, and a target object is at an angle θ relative to a normal incidence, so that a steering vector of an echo of a single target object is α ═ 1, e^{j πsin}(^θ),...,e^{j(N-1)πsin(θ)}]^TWhere e is the natural index, N is the number of antennas, and T represents the transpose of the matrix or vector.

Step S20: and searching the azimuth angle of the target object according to the guide vector to obtain the rough azimuth angle of the target object.

Further, step S20 includes:

a field angle range of a radar provided on a vehicle is acquired.

The Field of View (FOV) of the radar is a maximum observation range of the radar, and the radar can observe an object in the observation range, for example, with the normal direction of the radar front as reference 0 °, the market angle range of the radar is-75 ° to +75 °, that is, the maximum observation angle is 150 °.

A first search step size is obtained.

The first search step amount refers to an angle difference between every two adjacent search angles, for example, if a certain first search angle is-75 °, and the step amount is 4 °, the adjacent first search angle is-71 °.

And determining each first search angle of the target object according to the field angle range and the first search stepping amount.

In a specific implementation, there are 38 first search angles in the range of-75 ° +75 ° field angles, when the first search step amount is 4 °.

Step S24: searching the azimuth angle of the target object according to the guide vector to obtain a coarse azimuth angle of the target object, comprising: and searching a first search angle of the target object according to the guide vector to obtain a rough azimuth angle of the target object.

It can be understood that, according to the steering vector of the target object, a power peak value of each first search angle is obtained, and when the power peak value is the minimum, the power peak value is the coarse azimuth angle of the target object.

Further, searching for a first search angle of the target object according to the steering vector, and obtaining a coarse azimuth angle of the target object includes:

and searching each first search angle of the target object by the first search step according to the guide vector and the field angle range to obtain a first search result.

Further, according to the guide vector and the field angle range, searching each first search angle of the target object by the first search step amount, and obtaining a first search result includes:

and obtaining a covariance matrix of the guide vector according to the guide vector.

Note that, a mathematical model Of Direction Of Arrival (DOA) Of the narrow-band far-field signal is:

x (t) ═ a (θ) s (t) + n (t) formula 1

Wherein a (θ) ═ α (θ)₁),α(θ₂),...,α(θ_m)]Is an N × M array matrix, also called an array manifold vector or a directional response vector, s (t) ═ α (t)₁),α(t₂),...,α(t_m)]^TIs M incident signal vectors, N (t) ═ n (t)₁),n(t₂),...,n(t_N)]^TIs the array noise vector.

It can be understood that when the array element spacing is equal to λ/2, the effect of the uniform linear array is the best, and at this time, the steering vector is:

target signals are detected by using radar, and a covariance matrix is calculated, so that:

R＝E[XX^H]＝AE[SS^H]A^H+σ²I＝AR_sA^H+σ²i formula 3

Wherein, X^HIs the conjugate transpose of the matrix. Since the signal and noise are independent of each other, R can be decomposed into a signal-only dependent portion and a noise-only dependent portion, AR_SA^HRepresents a signal portion, R_SRepresenting the covariance matrix of the signal.

And performing characteristic decomposition on the covariance matrix to obtain an eigenvalue.

In a specific implementation, for R_SThe eigenvalue decomposition is carried out to obtain:

wherein, V_sDiagonal matrix formed for a larger portion of eigenvalues, V_NA diagonal matrix of the remaining eigenvalues. Furthermore, the feature vector matrix can also be divided into two parts: a part of is with V_sCorresponding signal sub-space V_s＝[e₁,e₂,...,e_n]The other part is a group of a group_NCorresponding noise subspace V_N＝[e_N+1,e_N+2,...e_M]。

It should be noted that the preceding item U_sA signal subspace spanned by large eigenvalues corresponding to the eigenvectors, the latter term U_NAnd a noise subspace formed by stretching the corresponding feature vector of the small noise feature value.

And acquiring a noise subspace characteristic vector matrix according to the characteristic value.

It should be noted that, because the signal and the noise are independent under ideal conditions, the signal subspace and the noise subspace are orthogonal to each other, and the steering vector in the signal subspace is also orthogonal to the noise subspace, that is:

α^H(θ)U_Nequation 5 ═ 0

Considering that the actual received data matrix is of finite length, the maximum likelihood estimate of the data covariance matrix is:

to pairThe feature decomposition is carried out to obtain a noise subspace feature vector matrix

And acquiring dot product data according to the noise subspace characteristic vector matrix and the guide vector.

It is noted thatThe feature decomposition is carried out to obtain a noise subspace feature vector matrixComputing noise subspace characteristics using dot product formulaDot product data of vector matrix and steering vector:

and searching the dot product data of each first search angle according to the field angle range and the first search step amount to obtain a first search result.

It is understood that by inputting θ (each first search angle) into the above equation 7, dot product data of each first search angle can be obtained.

And searching for a first search angle minimum value in the first search result, and determining the rough azimuth angle of the target object according to the first search angle minimum value.

Note that due to the presence of noise, α^H(theta) andthe angles cannot be completely orthogonal, so that the first search angle corresponding to the minimum value of the first search angle is the coarse azimuth angle of the target object, and the coarse azimuth angle calculation formula is as follows:

step S30: and searching the azimuth angle of the target object accurately according to the rough azimuth angle to obtain the target azimuth angle of the target object.

Further, step S30 includes: determining a searching azimuth angle range according to the rough azimuth angle; acquiring a second search step amount; determining each second search angle of the target object according to the search azimuth angle range and the second search step amount; the obtaining the target azimuth angle of the target object according to the super-resolution angle measurement of the coarse azimuth millimeter wave radar platform comprises the following steps: and obtaining the target azimuth angle of the target object according to the second search angle of the target object by the super-resolution angle measurement of the coarse azimuth millimeter wave radar platform.

In a specific implementation, if the coarse azimuth angle of the target object isSecond search start angle andto start the angle, can be takenSecond exact search step sizeSecond search end angleFor example, if the coarse azimuth angle is 46 °, the second search start angle is 46 ° -4 ° -42 °, the second search end angle is 46 ° +4 ° -50 °, the search azimuth angle range is 42 ° to 50 °, which is merely an example, and the present embodiment is not limited thereto.

It should be noted that the second search step amount is more accurate than the first search step amount, for example, the first search step amount may be 4 °, the second search step amount may be 0.1 °, the above is only an example, and the present embodiment is not limited.

Further, obtaining a target azimuth angle of the target object according to the second search angle of the target object by the coarse azimuth millimeter wave radar platform super-resolution angle measurement, includes: searching each second search angle of the target object by the second search step according to the guide vector and the search azimuth angle range to obtain a second search result; and searching a second search angle minimum value in the second search result, and determining the target azimuth angle of the target object according to the second search angle minimum value.

Further, according to the guidance vector and the search azimuth angle range, searching each second search angle of the target object by the second search step amount to obtain a second search result, including: obtaining a covariance matrix of the guide vector according to the guide vector; performing characteristic decomposition on the covariance matrix to obtain a characteristic value; obtaining a noise subspace feature vector matrix according to the feature value; acquiring dot product data according to the noise subspace characteristic vector matrix and the guide vector; and searching the dot product data of each second search angle according to the search azimuth angle range and the second search step amount to obtain a second search result.

It is understood that each second search angle may be obtained according to the search azimuth angle range and the second search step amount, and the target azimuth angle of the target object may be obtained by using the above equations 1 to 8 according to the second search angle and the guide vector of the target object.

In a specific implementation, the normal direction of the radar front is taken as reference 0 °, the market angle range of the radar is-75 ° +75 °, that is, the maximum observation angle is 150 °, the search accuracy is taken as 0.1 °, and the embodiment and the conventional search method are shown in table 1.

TABLE 1

The target azimuth angles were set to 0.5 ° and 45 °, and the results of the verification were shown in table 2, using the above equations 1 to 8.

Table 2 the peak search was performed using the peak formula:

as can be seen from equation 9, when the denominator is the minimum value, the peak value is the maximum, the 0.5 ° search peak map is shown in fig. 3, and the 45 ° search peak map is shown in fig. 4, where the solid line is the super-resolution angle measurement peak of the first millimeter wave radar platform, and the dotted line is the second search peak.

In the embodiment, the guide vector of the radar target object is obtained; searching the azimuth angle of the target object according to the guide vector to obtain a coarse azimuth angle of the target object; and searching the azimuth angle of the target object accurately according to the rough azimuth angle to obtain the target azimuth angle of the target object. Through the mode, the azimuth angle, namely the rough azimuth angle, can be roughly searched according to the guide vector of the target object, the higher-precision azimuth millimeter wave radar platform super-resolution angle measurement is carried out on the target object according to the rough azimuth angle, and the target azimuth angle of the target object is obtained.

In addition, an embodiment of the present invention further provides a storage medium, where a millimeter wave radar platform super-resolution angle measurement program is stored on the storage medium, and when being executed by a processor, the millimeter wave radar platform super-resolution angle measurement program implements the steps of the millimeter wave radar platform super-resolution angle measurement method described above.

Referring to fig. 5, fig. 5 is a block diagram illustrating a first embodiment of the millimeter wave radar platform super-resolution angle measurement apparatus according to the present invention.

As shown in fig. 5, the millimeter wave radar platform super-resolution angle measurement apparatus provided in the embodiment of the present invention includes:

and the acquisition module 10 is used for acquiring the guide vector of the target object.

And the searching module 20 is configured to search the azimuth angle of the target object according to the steering vector, and obtain a coarse azimuth angle of the target object.

The searching module 20 is further configured to precisely search the azimuth angle of the target object according to the rough azimuth angle, and obtain the target azimuth angle of the target object.

The embodiment comprises the steps of obtaining a guide vector of a radar target object; searching the azimuth angle of the target object according to the guide vector to obtain a coarse azimuth angle of the target object; and searching the azimuth angle of the target object accurately according to the rough azimuth angle to obtain the target azimuth angle of the target object. Through the mode, the azimuth angle, namely the rough azimuth angle, can be roughly searched according to the guide vector of the target object, the higher-precision azimuth millimeter wave radar platform super-resolution angle measurement is carried out on the target object according to the rough azimuth angle, and the target azimuth angle of the target object is obtained.

In an embodiment, the search module 20 is further configured to obtain a field angle range of a radar disposed on a vehicle; acquiring a first search step amount; determining each first search angle of the target object according to the field angle range and the first search stepping amount; searching the azimuth angle of the target object according to the guide vector to obtain a coarse azimuth angle of the target object, comprising: and searching a first search angle of the target object according to the guide vector to obtain a rough azimuth angle of the target object.

In an embodiment, the search module 20 is further configured to search, according to the steering vector and the field angle range, each first search angle of the target object by the first search step amount to obtain a first search result; and searching for a first search angle minimum value in the first search result, and determining the rough azimuth angle of the target object according to the first search angle minimum value.

In an embodiment, the searching module 20 is further configured to obtain a covariance matrix of the steering vector according to the steering vector; performing characteristic decomposition on the covariance matrix to obtain a characteristic value; obtaining a noise subspace feature vector matrix according to the feature value; acquiring dot product data according to the noise subspace characteristic vector matrix and the guide vector; and searching the dot product data of each first search angle according to the field angle range and the first search step amount to obtain a first search result.

In an embodiment, the search module 20 is further configured to determine a search azimuth angle range according to the rough azimuth angle; acquiring a second search step amount; determining each second search angle of the target object according to the search azimuth angle range and the second search step amount; the obtaining the target azimuth angle of the target object according to the super-resolution angle measurement of the coarse azimuth millimeter wave radar platform comprises the following steps: and obtaining the target azimuth angle of the target object according to the second search angle of the target object by the super-resolution angle measurement of the coarse azimuth millimeter wave radar platform.

In an embodiment, the searching module 20 is further configured to search, according to the steering vector and the search azimuth angle range, each second search angle of the target object by the second search step amount to obtain a second search result; and searching a second search angle minimum value in the second search result, and determining the target azimuth angle of the target object according to the second search angle minimum value.

In an embodiment, the searching module 20 is further configured to obtain a covariance matrix of the steering vector according to the steering vector; performing characteristic decomposition on the covariance matrix to obtain a characteristic value; obtaining a noise subspace feature vector matrix according to the feature value; acquiring dot product data according to the noise subspace characteristic vector matrix and the guide vector; and searching the dot product data of each second search angle according to the search azimuth angle range and the second search step amount to obtain a second search result.

It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.

In addition, the technical details that are not described in detail in this embodiment may be referred to a super-resolution angle measurement method for a millimeter wave radar platform provided in any embodiment of the present invention, and are not described herein again.

Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.