Search

CN-122021527-A - 4D radar antenna array design method, device, equipment and storage medium

CN122021527ACN 122021527 ACN122021527 ACN 122021527ACN-122021527-A

Abstract

The invention discloses a 4D radar antenna array design method, a device, equipment and a storage medium, wherein the method comprises the steps of determining a transverse interval of a transmitting antenna and a first arrangement parameter of a receiving antenna inclined step unit based on hardware size constraint and a system performance index; the method comprises the steps of determining a first number of receiving antenna inclined step units according to pitching aperture requirements and system gain requirements, determining a second number of remaining receiving antenna units based on the first number, determining a second arrangement parameter of the remaining receiving antenna units based on the second number and the first arrangement parameter, and configuring physical layout of a transmitting antenna array and a receiving antenna array according to transverse interval, the first arrangement parameter and the second arrangement parameter. Compared with the prior art, the invention designs the 4D radar antenna array with high resolution and high robustness under the condition of limited hardware size.

Inventors

  • Fang Chuying

Assignees

  • 福思(杭州)智能科技有限公司

Dates

Publication Date
20260512
Application Date
20251229

Claims (10)

  1. 1. A method for designing an array of 4D radar antennas, the method comprising: Determining a transverse interval of a transmitting antenna and a first arrangement parameter of a receiving antenna inclined step unit based on hardware size constraint and a system performance index; Determining a first number of the receive antenna ramp units according to the pitch aperture requirement and the system gain requirement, and determining a second number of the remaining receive antenna units based on the first number; determining a second arrangement parameter of the remaining receiving antenna units based on the second number and the first arrangement parameter; And configuring physical layout of the transmitting antenna array and the receiving antenna array according to the transverse interval, the first arrangement parameter and the second arrangement parameter.
  2. 2. The method for designing an array of 4D radar antennas according to claim 1, wherein the step of determining the first arrangement parameters of the diagonal elements of the receiving antenna and the lateral spacing of the transmitting antenna based on the hardware size constraint and the system performance index comprises: determining a transverse interval of a transmitting antenna and a first transverse interval of a receiving antenna oblique step unit according to the hardware transverse size constraint and the azimuth ambiguity constraint; Determining a first longitudinal interval of the receiving antenna ramp unit according to a hardware longitudinal dimension constraint and a pitching field angle constraint; and taking the first transverse interval and the first longitudinal interval as first arrangement parameters.
  3. 3. The 4D radar antenna array design method according to claim 2, wherein the step of determining the second arrangement parameters of the remaining receiving antenna elements based on the number of the remaining receiving antenna elements and the first arrangement parameters includes: Selecting a subset of locations from a sequence of longitudinal locations generated based on the first longitudinal interval based on the number of remaining receive antenna elements; Determining a second longitudinal spacing of the remaining receive antenna elements from the subset of positions; Determining a second lateral spacing of the remaining receive antenna elements according to the first lateral spacing and a post-synthetic aperture minimum spacing constraint; And taking the second transverse interval and the second longitudinal interval as second arrangement parameters.
  4. 4. The method of 4D radar antenna array design of claim 2, wherein the step of determining the lateral spacing of the transmit antennas and the first lateral spacing of the receive antenna ramp units based on hardware lateral dimension constraints and azimuth ambiguity constraints comprises: Acquiring the upper limit of the transverse dimension of a hardware platform, the number of transmitting antennas and the millimeter wave radar wavelength; Determining a lateral interval upper limit meeting hardware size constraint based on the lateral size upper limit, the number of transmitting antennas and the millimeter wave radar wavelength; and comparing the upper limit of the transverse interval with the upper limit of the azimuth ambiguity determined based on the azimuth ambiguity constraint, and determining the transverse interval of the transmitting antenna and the first transverse interval of the inclined step unit of the receiving antenna.
  5. 5. The method of 4D radar antenna array design of claim 2, wherein the step of determining a first number of the receive antenna ramp units based on the pitch aperture requirement and the system gain requirement and determining a second number of remaining receive antenna units based on the first number comprises: determining a first candidate number meeting pitch aperture requirements based on the first longitudinal interval and a preset minimum pitch aperture; Determining a second candidate number meeting a system gain requirement based on the number of transmitting antennas and a preset minimum antenna accumulation gain; Determining a first number of the receive antenna ramp units according to the first candidate number and the second candidate number; And taking the difference value between the total number of the receiving antennas and the first number as a second number of the remaining receiving antenna units.
  6. 6. The 4D radar antenna array design method of claim 1, wherein the step of configuring physical layouts of the transmit antenna array and the receive antenna array according to the lateral spacing, the first arrangement parameter, and the second arrangement parameter comprises: Arranging all transmitting antennas along the transverse direction according to the transverse interval to form a transmitting antenna array; arranging the receiving antenna inclined step units according to a first transverse interval and a first longitudinal interval in the first arrangement parameters; And arranging the residual receiving antenna units according to a second transverse interval and a second longitudinal interval in the second arrangement parameters, wherein the receiving antenna inclined step units and the residual receiving antenna units form a receiving antenna array.
  7. 7. The method of 4D radar antenna array design of claim 6, further comprising, after the step of configuring physical layouts of the transmit antenna array and the receive antenna array according to the lateral spacing, the first configuration parameter, and the second configuration parameter: Controlling the transmitting antenna array to transmit detection signals based on the physical layout, and receiving echo signals reflected by a target through the receiving antenna array; performing wave beam forming processing on echo signals corresponding to a main virtual area array synthesized by the receiving antenna inclined step unit and the transmitting antenna array to obtain an initial angle estimation spectrum of an azimuth dimension and a pitching dimension; And performing defuzzification processing on the fuzzy angles in the initial angle estimation spectrum by using echo signals corresponding to the defuzzification subarrays synthesized by the residual receiving antenna units and the transmitting antenna arrays to obtain a target angle estimation result.
  8. 8. A 4D radar antenna array design apparatus, the apparatus comprising: The first parameter determining module is used for determining the transverse interval of the transmitting antenna and the first arrangement parameter of the inclined step unit of the receiving antenna based on the hardware size constraint and the system performance index; the antenna quantity determining module is used for determining a first quantity of the receiving antenna inclined step units according to the pitching aperture requirement and the system gain requirement, and determining a second quantity of the remaining receiving antenna units based on the first quantity; A second parameter determining module, configured to determine a second configuration parameter of the remaining receiving antenna units based on the second number and the first configuration parameter; And the physical layout configuration module is used for configuring the physical layout of the transmitting antenna array and the receiving antenna array according to the transverse interval, the first arrangement parameter and the second arrangement parameter.
  9. 9. A 4D radar antenna array design device, characterized in that the device comprises a memory, a processor and a 4D radar antenna array design program stored on the memory and executable on the processor, the 4D radar antenna array design program being configured to implement the steps of the 4D radar antenna array design method according to any one of claims 1 to 7.
  10. 10. A storage medium having stored thereon a 4D radar antenna array design program, which when executed by a processor, implements the steps of the 4D radar antenna array design method of any one of claims 1 to 7.

Description

4D radar antenna array design method, device, equipment and storage medium Technical Field The invention relates to the technical field of vehicle millimeter wave radars, in particular to a 4D radar antenna array design method, device, equipment and storage medium. Background With the development of intelligent driving technology, the performance requirements of Advanced Driving Assistance Systems (ADAS) on vehicle millimeter wave radars are increasingly improved. In order to meet the higher standards of target height measurement capability, target resolution capability of size and detection robustness, a 4D millimeter wave radar with multidimensional information sensing capability becomes a key point of research and application. To achieve excellent angular resolution and altimetric performance, 4D radars typically require more transmit-receive antenna channels to be configured, improving detection stability by accumulating gain, and improving angular resolution by increasing antenna aperture. However, the increase of the number of antennas presents a serious challenge to the array design of the antenna array, and the problem of performance optimization under multiple constraints such as aperture size, sidelobe level, angle ambiguity, array element utilization rate, hardware processing consistency and the like needs to be comprehensively solved in a limited hardware size and installation space. In the existing 4D radar antenna array scheme, the first scheme adopts a transmitting antenna and a receiving antenna to respectively perform L-shaped array, a cross-shaped virtual array is formed through a synthetic aperture, the mode can respectively obtain longer equivalent apertures in azimuth and elevation dimensions, so that higher theoretical resolution is achieved, however, the azimuth and elevation angle measuring processes are mutually separated, a single physical array element cannot be simultaneously used for measuring angles in two dimensions, the array element utilization rate is lower, in addition, the separation treatment possibly introduces the problem of matching mismatch between the azimuth and elevation angle results, and more importantly, due to the physical limitation of the L-shaped layout, the minimum distance between the array element in the azimuth direction and the elevation direction is limited by the lower limit of the physical dimensions (such as the length and the width) of an antenna unit, the minimum distance between the array element in the azimuth direction and the elevation direction is difficult to be further reduced, which generally causes high sidelobe level of the array and influences the angle measuring precision and multi-target resolution capability. According to the second scheme, the transmitting antennas (or receiving antennas) are arranged in a single row transversely, the corresponding receiving antennas (or transmitting antennas) are arranged in a single row longitudinally, a two-dimensional area array is synthesized through a MIMO (multiple input multiple output) technology, each physical array element can simultaneously contribute to the angle measurement of azimuth and pitching dimensions, the array element utilization rate is high, but the aperture of the virtual area array synthesized by the scheme in both azimuth and pitching dimensions is limited by the length of the single row antennas, so that the angle resolution performance is limited, meanwhile, in order to realize the horizontal and vertical two-row layout, the hardware needs larger dimensions in the transverse and longitudinal directions, the strict requirement of vehicle-mounted application on the sensor volume is not met, and the array element spacing is limited by the antenna unit size as well, similar to the first scheme, and the problem of poor sidelobe performance exists. The third type of scheme is an improvement on the second type of scheme, the transmitting antennas and the receiving antennas are adopted to respectively carry out transverse and longitudinal array in a double-row mode, the whole hardware layout is in a shape of a Chinese character 'kou', and finally an area array is synthesized. In summary, the existing 4D radar antenna array scheme generally faces the contradiction that firstly, the minimum space of array elements is limited by the hardness of the physical size of antenna elements, which restricts the optimization of the array sidelobe performance, secondly, the ideal main sidelobe ratio is difficult to obtain simultaneously while the large aperture is pursued to obtain high resolution, and thirdly, the array performance (such as aperture and gain) and the actual size, cost and engineering realizability of a hardware platform have conflict which is difficult to reconcile. Therefore, a 4D radar antenna array design method is needed, which can effectively break through the performance bottleneck under the constraint of limited hardware size, and realize a 4D radar antenna array wi