Millimeter wave radar two-dimensional angle calculation method and device and related equipment

Abstract

The invention discloses a millimeter wave radar two-dimensional angle calculation method, a millimeter wave radar two-dimensional angle calculation device and related equipment. The millimeter wave radar two-dimensional angle calculation method comprises the steps of selecting a plurality of virtual array elements from a target virtual array to form three groups of target array elements; based on the echo data matrix of each virtual array element in each group of target array elements, determining an angle set of each target in a corresponding direction, and obtaining a first angle set of each target in a horizontal direction, a second angle set of each target in a vertical direction and a third angle set of each target in an inclined direction; and finally, determining the angle of each target based on a preset echo signal calculation formula, the first angle set, the second angle set and the third angle set. According to the method, calculation is carried out by only adopting part of virtual array elements, calculation of unnecessary information is reduced to a great extent, the calculation amount is not increased by increasing the number of the array elements in the target virtual array, the calculation process is simple, and two-dimensional angle estimation of the target angle can be efficiently completed.

Description

technical field [0001] The present application relates to the technical field of millimeter-wave radar, and more particularly, to a method, device and related equipment for calculating a two-dimensional angle of a millimeter-wave radar. Background technique [0002] The automotive industry is currently developing in a smarter direction. From Advanced Driver Assistance System (ADAS) to higher-level fully automated driving, the realization of these functions is inseparable from providing decision-making systems with information about the surrounding environment. Perception of various sensors. Millimeter-wave radar has the advantages of long detection distance, speed measurement, all-weather work, and low cost. It has become one of the most core sensors in automobiles. [0003] The traditional millimeter-wave radar sensor only has the angle measurement function of the horizontal dimension, and the improvement of the automatic driving level has higher requirements on the sensor...

AI Technical Summary

Problems solved by technology

[0004] One problem that needs to be solved in two-dimensional angle measurement is the angle matching of the horizontal and vertical directions of the same target. The traditional 2D-DOA (2-Dimention Direction of Arrival) method is for all row array elements and array arrays Do 2D-FFT (2-Dimention Fast Fourier Transform) or beamforming, and then obtain the target angle by finding extreme values ​​to avoid the problem of angle matching

This method requires a large amount of calculation. Not only does it need to perform FFT or beamforming on all rows and columns, but it also needs to find the extremum in the entire matrix. When the number of array elements increases, the calculation amount of this method increases linearly. of

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