CN115524674B - Millimeter wave radar antenna phase calibration method, device, equipment and storage medium - Google Patents

Abstract

The present invention discloses a millimeter-wave radar antenna phase calibration method, device, equipment and storage medium. The present invention controls a radar target simulator to simulate a target to be measured according to the target distance, speed and radar reflection area; controls the millimeter-wave radar to rotate at a uniform speed so that the target to be measured is located at different detection angles of the millimeter-wave radar; controls the cloud platform to send a trigger signal to obtain echo data; obtains the command delay of the millimeter-wave radar to send a trigger signal at different detection angles; performs angle compensation on the detection angle of the millimeter-wave radar according to the command delay and the rotation angular velocity of the millimeter-wave radar; obtains the phase information of each antenna channel to be calibrated in the echo data; obtains the phase compensation coefficient of each antenna channel to be calibrated according to the phase information, and performs phase compensation on each antenna to be calibrated according to the phase compensation coefficient. The present invention can effectively calibrate the phase error of the millimeter-wave radar array antenna and improve the angle measurement accuracy of the millimeter-wave radar.

Description

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

Technical Field

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

Background Art

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

There are two main existing radar antenna calibration methods: 1) Only compensate for the phase error ω _e caused by the coupling between feeders and the inside of the RF chip between the receiving antennas of the automotive millimeter-wave radar. This calibration method does not take into account that the phase center spacing of the receiving antenna is inconsistent with the antenna center spacing of the actual hardware design. When the radar directly uses the actual hardware design antenna center spacing for angle calculation, it will produce a large error when detecting large-angle targets, resulting in a decrease in the accuracy of radar angle measurement; 2) Compensate for both the phase error ω _e caused by the coupling between feeders and the inside of the RF chip between the receiving antennas of the automotive millimeter-wave radar and the phase center d _p of the array antenna. This calibration method is to obtain the phase value when the radar detects targets at different angles, and fit the sin curve of the phase difference of the radar receiving array antenna and the target angle change. Its intercept is the phase error caused by the coupling between feeders and the inside of the RF chip that needs to be compensated, and its amplitude divided by 2π is the antenna phase center that needs to be compensated (the value is a multiple of the wavelength). The main disadvantage is that if the processing error is relatively large, the fitted antenna phase center cannot show the relationship between the phase difference and the angle of the entire radar FOV range, and the angle accuracy is still low at some angles (especially large angles). Therefore, how to improve the accuracy of phase calibration of millimeter-wave radar array antennas has become an urgent problem to be solved by technicians in this field.

Summary of the invention

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

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

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

Controlling the millimeter-wave radar turntable to drive the millimeter-wave radar to rotate at a constant speed about the radar central axis, so that the target to be detected is located at different detection angles of the millimeter-wave radar;

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

Obtaining the command delay of the cloud platform sending the trigger signal at different detection angles;

Performing angle compensation on the detection angle of the millimeter-wave radar according to the instruction delay and the rotation angular velocity of the millimeter-wave radar;

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

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

Phase compensation is performed on each of the antennas to be calibrated according to the phase compensation coefficient.

Preferably, the acquiring the phase compensation coefficient of each antenna channel to be calibrated according to the angle compensation result and the phase information comprises:

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

According to the phase value of the reference antenna and the phase value of each of the antennas to be calibrated, obtaining the phase difference between the reference antenna and each of the antennas to be calibrated at different detection angles;

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

Preferably, the step of obtaining the instruction delay of the cloud platform sending a trigger signal at different detection angles includes:

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

Obtaining the first time point at which the cloud platform sends the trigger signal;

Acquire a second time point at which the millimeter-wave radar receives a trigger signal;

A time interval between the first time node and the second time node is determined as the instruction delay.

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

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

Determining an angle error between the first detection angle and the actual detection angle;

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

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

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

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

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

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

Δω=2πd _p sin(θ+θ _e )/λ+ω _e ;

Among them, Δω is the phase difference, θ is the detection angle, _θe is the angle compensation value, λ is the wavelength of the electromagnetic wave, _ωe is the phase compensation coefficient, and _dp is the phase center spacing.

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

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

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

A rotation control module, used for controlling the millimeter wave radar turntable to drive the millimeter wave radar to rotate at a constant speed about the radar central axis, so that the target to be detected is located at different detection angles of the millimeter wave radar;

A trigger module, used to control the cloud platform to send a trigger signal at different detection angles to trigger the millimeter wave radar to send a waveform and obtain the echo data of each antenna to be calibrated at different detection angles;

A delay detection module, used to obtain the instruction delay of the cloud platform sending the trigger signal under different detection angles;

An angle compensation module, used to perform angle compensation on the detection angle of the millimeter wave radar according to the instruction delay and the rotation angular velocity of the millimeter wave radar;

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

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

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

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

To solve the above technical problem, an embodiment of the present invention provides a storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method of the first aspect in the above embodiment is implemented.

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

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following briefly introduces the drawings required for use in the embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

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

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

FIG3 is a flow chart of a method for obtaining phase compensation coefficients of each antenna channel to be calibrated based on angle compensation results and phase information according to an embodiment of the present invention.

FIG4 is a flow chart of an embodiment of the present invention for obtaining the instruction delay of a cloud platform sending a trigger signal at different detection angles.

FIG5 is a flow chart of an embodiment of the present invention for performing angle compensation on the detection angle of the millimeter wave radar according to the instruction delay and the rotation angular velocity of the millimeter wave radar.

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

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

DETAILED DESCRIPTION

The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and Examples. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention.

It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

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

In the prior art, there are a total of M1, M2, M3...Mx receiving antennas RX, the target incident angle is θ, the spacing between the two receiving antennas is d, Δt represents the delay, and the phase difference of each receiving antenna detecting the target signal due to the delay Δt is Δω＝2πd _p sin(θ)/λ, where λ is the wavelength. Ideally, when the target incident angle θ is 0, the phase difference Δω is 0. However, in reality, there is often a certain phase error ω _e between the receiving antennas of automotive millimeter-wave radars due to coupling between feeders and inside the RF chip, and the spacing between the receiving antennas often has a certain error with the antenna spacing d designed by the hardware. Therefore, in order to achieve the accuracy of angle measurement, the actual antenna phase center spacing d _p is often calculated as a parameter in the angle measurement algorithm.

Please refer to FIG. 2 , which is a flow chart of a millimeter wave radar antenna phase calibration method provided by the present application, and the method includes the following steps:

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

Specifically, the radar target simulator is used to simulate the target to be measured to generate a radar echo signal containing the target to be measured and the radar environment information. The radar target simulator simulates the target to be measured and the environment echo signal to achieve the purpose of reproducing the radar echo signal.

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

Specifically, in order to facilitate measurement, the target to be measured in the present application is set as a target with a strong RCS, i.e., radar cross-sectional area, which is not specifically limited here.

S2. Control the millimeter-wave radar turntable to drive the millimeter-wave radar to rotate at a constant speed about the radar central axis, so that the target to be detected is located at different detection angles of the millimeter-wave radar;

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

S3, controlling the cloud platform to send a trigger signal at different detection angles to trigger the millimeter wave radar to send a waveform and obtain echo data of each antenna to be calibrated at different detection angles;

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

Specifically, in order to ensure that each antenna receives echo data at each detection angle, in a preferred embodiment, if the echo data at different detection angles of each antenna is not completely received, the millimeter-wave radar turntable is rotated to a detection angle at which no echo data is received to obtain the unreceived echo data.

S4, obtaining the command delay of the cloud platform to send a trigger signal at different detection angles;

Specifically, after turning to a detection angle for calibrating the phase difference, the cloud platform sends a trigger signal to the millimeter-wave radar. The trigger signal has a certain time delay during the transmission process, and at the same time the millimeter-wave radar turntable keeps rotating. As a result, when the millimeter-wave radar receives the trigger signal, the angle at which the millimeter-wave radar turntable rotates at this time deviates from the detection angle for calibrating the phase difference, thereby reducing the accuracy of the antenna array phase calibration.

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

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

Specifically, when the millimeter-wave radar receives a trigger signal, there is a certain deviation between the rotation angle of the millimeter-wave radar turntable and the detection angle of the phase difference to be calibrated. The present application can effectively improve the accuracy of the phase calibration of the millimeter-wave radar antenna array by performing angle compensation for the angle deviation.

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

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

S7, obtaining a phase compensation coefficient of each antenna channel to be calibrated according to the angle compensation result and phase information;

Specifically, each detection angle corresponds to a set of echo data. According to the command delay and the rotation angular velocity of the millimeter-wave radar, angle compensation is performed on the different detection angles of the millimeter-wave radar, so that the compensated detection angle corresponds to the echo data, thereby improving the accuracy of phase compensation.

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

In summary, the present application provides a millimeter-wave radar antenna phase calibration method. In this scheme, the radar target simulator is controlled to simulate the target to be measured according to the preset target distance; the millimeter-wave radar turntable is controlled to drive the millimeter-wave radar to rotate at a uniform speed, so that the millimeter-wave radar is located at different detection angles; the millimeter-wave radar is controlled to send a trigger signal at different detection angles to obtain the echo data of each antenna to be calibrated at different detection angles; the command delay of the millimeter-wave radar to send a trigger signal at different detection angles is obtained; the detection angle of the millimeter-wave radar is angle compensated according to the command delay and the rotation angular velocity of the millimeter-wave radar; according to the result of the angle compensation, the phase information of each antenna channel to be calibrated in the echo data is obtained; the phase compensation coefficient of each antenna channel to be calibrated is obtained according to the phase information, and the phase compensation is performed on each antenna to be calibrated according to the phase compensation coefficient. Therefore, the present invention can effectively calibrate the phase of the millimeter-wave radar array antenna and improve the angle measurement accuracy of the millimeter-wave radar.

Based on the above embodiments:

Please refer to FIG. 3 , which is a flow chart of a method provided by the present application for obtaining phase compensation coefficients of each antenna channel to be calibrated based on angle compensation results and phase information.

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

S71, determining a reference antenna and an antenna to be calibrated, and obtaining a phase value of the reference antenna and a phase value of each antenna to be calibrated;

S72, obtaining a phase difference between the reference antenna and each antenna to be calibrated at different detection angles according to the phase value of the reference antenna and the phase value of each antenna to be calibrated;

Specifically, one antenna of the millimeter-wave radar is selected as the reference antenna, and the other antennas are antennas to be calibrated; first, the phase value of the reference antenna at different detection angles and the phase value of the first antenna to be calibrated at different detection angles are extracted; secondly, for the same detection angle, the phase value of the antenna to be calibrated is subtracted from the phase value of the reference antenna to obtain the phase difference between the antenna to be calibrated and the reference antenna at the detection angle; the above process is repeated for the remaining antennas to be calibrated, so as to obtain the phase difference between each antenna to be calibrated and the reference antenna at different detection angles.

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

Please refer to FIG. 4 , which is a flowchart provided by the present application for obtaining the instruction delay of a cloud platform for sending a trigger signal at different detection angles.

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

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

S42, obtaining the first time point when the cloud platform sends a trigger signal;

S43, obtaining a second time point at which the millimeter wave radar receives a trigger signal;

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

Please refer to FIG. 5 , which is a flow chart provided by the present application for performing angle compensation on the detection angle of the millimeter-wave radar according to the instruction delay and the rotation angular velocity of the millimeter-wave radar.

As a preferred embodiment, according to the instruction delay and the rotation angular velocity of the millimeter wave radar, the angle compensation of the detection angle of the millimeter wave radar includes:

S51. At a second time node, obtaining an actual detection angle to which the millimeter wave radar turntable currently rotates;

S52, determining an angle error between the first detection angle and the actual detection angle;

S53, performing angle compensation on the first detection angle according to the angle error.

Specifically, when the millimeter-wave radar turntable drives the millimeter-wave radar to rotate at a constant speed, an angle error will occur due to the time delay in receiving the trigger signal. For example, when the first detection angle is 0 degrees, since the millimeter-wave radar turntable always keeps rotating at a constant speed, after the cloud platform sends the trigger signal, when the millimeter-wave radar receives the trigger signal, the millimeter-wave radar turntable has rotated to 0.2 degrees, and 0.2 degrees is the actual detection angle. At this time, 0.2 degrees is recorded as the angle compensation value for angle compensation. Therefore, the present application sends instructions in advance according to the time interval of the instruction delay, so that when the millimeter-wave radar receives the trigger signal, the millimeter-wave radar turntable just rotates to the angle to be detected, thereby achieving the purpose of angle compensation.

Specifically, the above process is repeated for the remaining antennas to be calibrated, thereby obtaining the command delay of the cloud platform sending the trigger signal at different detection angles.

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

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

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

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

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

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

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

Δω=2πd _p sin(θ+θ _e )/λ+ω _e ;

Among them, Δω is the phase difference, θ is the detection angle, _θe is the angle compensation value, λ is the wavelength of the electromagnetic wave, _ωe is the phase compensation coefficient, and _dp is the phase center spacing.

Specifically, after determining the phase compensation coefficient, the host computer saves the phase compensation coefficient. After the millimeter-wave radar turntable has traversed all the detection angles that need to be calibrated in the entire FOV of the millimeter-wave radar, the host computer writes the phase compensation coefficient into the FLASH area of the millimeter-wave radar through a CAN instruction. The subsequent millimeter-wave radar will call the phase compensation coefficient in this area when performing angle measurement operations to achieve phase error calibration of the automotive millimeter-wave radar array antenna at each detection angle.

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

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

Referring to FIG. 6 , an embodiment of the present invention provides a millimeter wave radar antenna phase calibration device, the device comprising:

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

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

Trigger module 3, used to control the cloud platform to send a trigger signal at different detection angles to trigger the millimeter wave radar to send a waveform and obtain the echo data of each antenna to be calibrated at different detection angles;

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

Angle compensation module 5, used to perform angle compensation on the detection angle of the millimeter wave radar according to the instruction delay and the rotation angular velocity of the millimeter wave radar;

The signal processing module 6 is used to perform signal processing on the echo data to obtain the phase information of each antenna channel to be calibrated in the echo data;

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

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

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

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

Specifically, the processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

The memory 402 may include a large capacity memory for data or instructions. For example, but not limitation, the memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 402 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 402 may be inside or outside the signal processing device. In a specific embodiment, the memory 402 is a non-volatile solid-state memory. In a specific embodiment, the memory 402 includes a read-only memory (ROM). In appropriate cases, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM) or a flash memory or a combination of two or more of these.

The processor 401 implements any one of the millimeter wave radar antenna phase calibration methods in the above embodiments by reading and executing computer program instructions stored in the memory 402.

In one example, the millimeter wave radar antenna phase calibration device may further include a communication interface 403 and a bus 410. As shown in FIG7, the processor 401, the memory 402, and the communication interface 403 are connected through the bus 410 and communicate with each other.

The communication interface 403 is mainly used to implement the communication between the modules, devices, units and/or equipment in the embodiment of the present invention.

Bus 410 includes hardware, software or both, and couples the components of millimeter wave radar antenna phase calibration equipment to each other. For example, but not limitation, the bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnect (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. Where appropriate, bus 410 may include one or more buses. Although the embodiment of the present invention describes and shows a specific bus, the present invention considers any suitable bus or interconnection.

In addition, in combination with the millimeter wave radar antenna phase calibration method in the above embodiment, the embodiment of the present invention can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the millimeter wave radar antenna phase calibration methods in the above embodiment is implemented.

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

The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims (5)

1. A millimeter wave radar antenna phase calibration method, the method comprising:

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

Controlling a millimeter wave radar turntable to drive the millimeter wave radar to rotate at a uniform speed through a radar center rotating shaft, so that the targets to be detected are positioned at different detection angles of the millimeter wave radar;

the cloud platform is controlled to send trigger signals under different detection angles so as to trigger the millimeter wave radar to send waveforms and acquire echo data of each antenna to be calibrated under different detection angles;

Acquiring instruction time delay of the cloud platform for sending the trigger signal under different detection angles; when the millimeter wave radar turntable rotates to a first detection angle, the cloud platform is controlled to send the trigger signal; acquiring a first time node of the cloud platform for sending the trigger signal; acquiring a second time node of the millimeter wave radar receiving the trigger signal; determining the time interval of the first time node and the second time node as the instruction time delay;

Performing angle compensation on the detection angle of the millimeter wave radar according to the instruction time delay and the rotation angular speed of the millimeter wave radar; when the second time node is reached, acquiring an actual detection angle to which the millimeter wave radar turntable is currently rotated; determining an angle error between the first detected angle and the actual detected angle; performing angle compensation on the first detection angle according to the angle error;

Performing signal processing on the echo data to acquire phase information of each antenna channel to be calibrated in the echo data; performing two-dimensional fast Fourier transform on each echo data to obtain a signal spectrum of each echo data; determining the position of the target simulated by the target simulator in the signal spectrum according to the target distance and the target speed; acquiring a phase value corresponding to the position to acquire a phase value of each antenna under each detection angle;

Acquiring phase compensation coefficients of the antenna channels to be calibrated according to the angle compensation result and the phase information; determining a reference antenna and an antenna to be calibrated, and acquiring a phase value of the reference antenna and a phase value of each antenna to be calibrated; according to the phase values of the reference antenna and the phase values of the antennas to be calibrated, obtaining phase differences of the reference antenna and the antennas to be calibrated under different detection angles; determining the phase compensation coefficient according to the angle compensation result and the phase difference;

; wherein, For the purpose of the phase difference,In order to detect the angle of the beam,In order to be an angle compensation value,Is the wavelength of the electromagnetic wave,As the phase compensation coefficient, a phase compensation coefficient,Is the phase center-to-center spacing;

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

2. The millimeter wave radar antenna phase calibration method of claim 1, further comprising: and the millimeter wave radar turntable starts to drive the millimeter wave radar to rotate at a constant speed from the maximum negative angle of the FOV of the millimeter wave radar.

3. A millimeter wave radar antenna phase calibration device, characterized in that the device is applied to the millimeter wave radar antenna phase calibration method according to any one of claims 1-2; the device comprises:

The simulation control module is used for controlling the radar target simulator to simulate a target to be detected according to the preset target distance, speed and radar reflecting area;

the rotation control module is used for controlling the millimeter wave radar turntable to drive the millimeter wave radar to rotate at a uniform speed through a radar center rotating shaft, so that the targets to be detected are positioned at different detection angles of the millimeter wave radar;

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

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

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

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

The compensation determining module is used for obtaining phase compensation coefficients of the antenna channels to be calibrated according to the angle compensation result and the phase information;

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

4. A millimeter wave radar antenna phase calibration apparatus, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method of any one of claims 1-2.

5. A storage medium having stored thereon computer program instructions, which when executed by a processor, implement the method of any of claims 1-2.