CN112119329A - Object identification method, millimeter wave radar and vehicle - Google Patents

Object identification method, millimeter wave radar and vehicle Download PDF

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Publication number
CN112119329A
CN112119329A CN201980030581.4A CN201980030581A CN112119329A CN 112119329 A CN112119329 A CN 112119329A CN 201980030581 A CN201980030581 A CN 201980030581A CN 112119329 A CN112119329 A CN 112119329A
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ground metal
metal reflector
reflection intensity
identified
evaluation value
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李怡强
陈雷
陆新飞
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Shenzhen Zhuoyu Technology Co ltd
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SZ DJI Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Provided are an object recognition method, a millimeter wave radar, and a vehicle, wherein the object recognition method includes: acquiring detection information (101) of an object to be identified; determining characteristic information of the object to be identified according to the detection information, wherein the characteristic information comprises at least one of the following information: the distance-reflection intensity slope of the radar transmitted wave, the ground metal reflector evaluation value and the reflection intensity fading value (102) of the radar transmitted wave; the object to be recognized is recognized (103) by utilizing the characteristic information, so that the accuracy of recognizing the object in front of the vehicle can be improved without adding extra hardware, and the false triggering of the automatic emergency braking system is reduced.

Description

Object identification method, millimeter wave radar and vehicle
Technical Field
The invention relates to the technical field of auxiliary driving, in particular to an object identification method, a millimeter wave radar and a vehicle.
Background
In recent years, Advanced Driver Assistance System (ADAS) technology and Automatic Driving (AD) technology have been rapidly developed, and millimeter wave radar is widely used in these fields due to its advantages such as all-time, all-weather, long working distance, high speed measurement precision, etc., however, it is a problem and difficulty of vehicle-mounted millimeter wave radar to distinguish ground metal reflectors (such as manhole covers, metal seams on viaducts, etc.) from stationary vehicles. At present, millimeter wave radars produced by most vehicle-mounted radar manufacturers have the defect that ground metal reflectors and static vehicles cannot be distinguished accurately, and the ground metal reflectors represented by metal ground seams on an inspection well cover and a viaduct are strong in reflection of radar transmitted waves and static relative to the ground, so that the ground metal reflectors are easy to detect and are mistakenly identified as the static vehicles, and the problems that an automatic Emergency Braking system (AEB) is started mistakenly and the like are caused.
At present, in order to accurately identify the ground metal reflector and the stationary vehicle, the following scheme can be generally adopted, namely the scheme I: the pitching receiving channel is added, so that the radar has pitching angle measuring capability, however, the complexity of antenna design and algorithm complexity are increased, the size of the radar needs to be increased, a chip with stronger computing capability is selected, the hardware cost of the radar is obviously increased, the installation convenience of the radar is reduced, and the pitching included angle between a ground metal reflector and the vehicle-mounted radar is very small, so that the radar is accurate in a very close distance even if the scheme is used, and the use scene is limited; scheme II: the ground metal reflector and the static vehicle are distinguished by adding the scheme of fusing the camera and the radar, but the cost is greatly increased, and the reliability of the camera in the environment with bad weather and poor light is greatly reduced, so that the method has certain limitation. Therefore, how to improve the accuracy of identifying the object in front of the vehicle on the premise of not increasing the hardware cost so as to reduce the false triggering of the automatic emergency braking system becomes an urgent problem to be solved.
Disclosure of Invention
The embodiment of the invention discloses an object identification method, a millimeter wave radar and a vehicle, which are used for improving the accuracy of identifying an object in front of the vehicle on the premise of not increasing the hardware cost so as to reduce the false triggering of an automatic emergency braking system.
The first aspect of the embodiment of the invention discloses an object identification method, which is applied to a millimeter wave radar and comprises the following steps:
acquiring detection information of an object to be identified;
determining feature information of the object to be identified according to the detection information, wherein the feature information comprises at least one of the following: the distance-reflection intensity slope of radar transmitted waves, the ground metal reflector evaluation value and the reflection intensity fading value of the radar transmitted waves;
and identifying the object to be identified by utilizing the characteristic information.
A second aspect of an embodiment of the present invention discloses a millimeter wave radar, including: a processor and a memory, wherein:
the memory for storing a computer program comprising program instructions;
the processor is used for executing the following steps when calling the program instruction:
acquiring detection information of an object to be identified;
determining feature information of the object to be identified according to the detection information, wherein the feature information comprises at least one of the following: the distance-reflection intensity slope of radar transmitted waves, the ground metal reflector evaluation value and the reflection intensity fading value of the radar transmitted waves;
and identifying the object to be identified by utilizing the characteristic information.
The third aspect of the embodiment of the present invention discloses an object recognition apparatus, which is applied to a millimeter wave radar, and the apparatus includes:
the acquisition module is used for acquiring the detection information of the object to be identified;
a determining module, configured to determine feature information of the object to be identified according to the detection information, where the feature information includes at least one of: the distance-reflection intensity slope of radar transmitted waves, the ground metal reflector evaluation value and the reflection intensity fading value of the radar transmitted waves;
and the identification module is used for identifying the object to be identified by utilizing the characteristic information.
A fourth aspect of the present invention discloses a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the object identification method according to the first aspect.
The embodiment of the invention can acquire the detection information of the object to be identified, and determine the characteristic information of the object to be identified according to the detection information, wherein the characteristic information of the object to be identified can comprise at least one of the following information: the distance-reflection intensity slope of the radar transmitted wave, the ground metal reflector evaluation value and the reflection intensity fading value of the radar transmitted wave are further identified by utilizing the characteristic information, so that the accuracy of identifying the object in front of the vehicle can be improved without adding extra hardware, and the false triggering of an automatic emergency braking system is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic flow chart of an object identification method according to an embodiment of the present invention;
FIG. 2a is a schematic diagram of a reflection path of a radar transmission wave according to an embodiment of the present invention;
FIG. 2b is a graph showing a distance-reflection intensity characteristic according to an embodiment of the present invention;
FIG. 2c is a schematic diagram of a reflection path of another radar-transmitted wave according to the embodiment of the present invention;
FIG. 2d is a schematic illustration of another distance versus reflected intensity characteristic disclosed in an embodiment of the present invention;
FIG. 2e is a schematic flow chart illustrating object recognition using a state machine according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an object recognition device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a millimeter wave radar disclosed in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The object identification method provided by the embodiment of the invention can be applied to scenes such as advanced auxiliary driving, automatic driving and the like, and is used for improving the accuracy of identifying the object in front of the vehicle so as to reduce the false triggering of an automatic emergency braking system and avoid adding extra hardware.
The millimeter wave radar described in the embodiment of the present invention may specifically be a vehicle-mounted control terminal.
Fig. 1 is a schematic flow chart of an object identification method according to an embodiment of the present invention. The object identification method described in the present embodiment may include the steps of:
101. and acquiring the detection information of the object to be identified.
Wherein the detection information includes at least one of: the reflection intensity of the object to be identified to the radar transmitted wave and the distance between the object to be identified and the object to be identified.
Specifically, the millimeter wave radar may periodically detect the object to be recognized, for example, detect the object to be recognized once every 500ms, that is, transmit the millimeter wave to the object to be recognized once every 500ms to detect, and receive the reflected wave of the object to be recognized, and according to the reflection condition of the object to be recognized on the radar transmitted wave, may determine the reflection intensity of the object to be recognized on the radar transmitted wave and/or the detection information such as the distance from the object to be recognized.
102. Determining feature information of the object to be identified according to the detection information, wherein the feature information comprises at least one of the following: the distance-reflection intensity slope of the radar transmitted wave, the ground metal reflector evaluation value and the reflection intensity fading value of the radar transmitted wave.
Specifically, the millimeter wave radar utilizes the detection information of the object to be identified to obtain the characteristic information of the object to be identified, the characteristic information reflects the inherent characteristic of the object to be identified when the radar transmitting wave is reflected, and the characteristic information specifically can include: at least one of a distance-reflection intensity slope of the radar transmission wave, a ground metal reflector evaluation value, and a reflection intensity fading value of the radar transmission wave.
For a stationary vehicle, as shown in fig. 2a, which is a schematic diagram of the reflection path of the radar transmission wave from the stationary vehicle, it can be seen that, for the stationary vehicle in front of the radar, since the vehicle has a certain height from the ground, there are two paths for the radar reflection wave: one returns along the direction of the radar transmitted wave, and the other returns to the radar after ground refraction, which is called ground multipath effect.
Accordingly, as shown in fig. 2b, which is a schematic diagram of the distance-reflection intensity characteristic curve of the stationary vehicle, it can be seen that the stationary vehicle has a distinct reflection intensity fall-off region in the distance-reflection intensity characteristic curve with different distances due to the fact that the energy of the two reflection paths is vector-superposed because of the ground multipath effect of the vehicle.
As for the ground metal reflector, as shown in fig. 2c, the reflection path of the ground metal reflector to the radar transmitted wave is schematically illustrated, and it can be seen that there is only one reflection path, that is, only one path returning in the direction of the transmitted wave, and there is no reflection path refracted through the ground since there is almost no height difference between the ground metal reflector and the ground.
Accordingly, as shown in fig. 2d, which is a schematic diagram of the distance-reflection intensity characteristic curve of the ground metal reflector, it can be seen that, since the ground metal reflector does not have ground multipath effect, the distance-reflection intensity characteristic curve of the ground metal reflector is a distinct straight line, and there is no reflection intensity decay region.
It can be seen that, due to the existence of the ground multipath effect, the reflection characteristics of the radar transmission wave when the object to be recognized is a stationary vehicle and the reflection characteristics of the radar transmission wave when the object to be recognized is a ground metal reflector are obviously different, so that the distance-reflection intensity slope of the radar transmission wave, the ground metal reflector evaluation value, the radar transmission wave reflection intensity fading value and other characteristic information can be used for accurately recognizing whether the object to be recognized is a stationary vehicle or a ground metal reflector.
103. And identifying the object to be identified by utilizing the characteristic information.
Specifically, the millimeter wave radar can identify whether the object to be identified is a stationary vehicle or a ground metal reflector by using characteristic information such as a distance-reflection intensity slope of the object to be identified to radar transmission waves, a ground metal reflector evaluation value, a reflection intensity fading value of the radar transmission waves, and the like.
In the embodiment of the present invention, the millimeter wave radar may obtain detection information of an object to be identified, and determine feature information of the object to be identified according to the detection information, where the feature information of the object to be identified may include at least one of: the distance-reflection intensity slope of radar transmitted waves, the ground metal reflector evaluation value and the reflection intensity fading value of the radar transmitted waves are further identified by utilizing the characteristic information, and the ground metal reflectors and the static vehicles are distinguished by utilizing different characteristics of ground multipath effects of the ground metal reflectors and the static vehicles, so that the accuracy of identifying the objects in front of the vehicles can be improved without adding extra hardware, and the false triggering of an automatic emergency braking system is reduced.
Optionally, the specific manner of the millimeter wave radar recognizing the object to be recognized by using the characteristic information may be: the millimeter wave radar introduces a state machine, the state machine judges whether an object to be identified is a static vehicle by utilizing characteristic information and the state machine, the state machine comprises four states of undetermined static vehicle, determined static vehicle, undetermined ground metal reflector and determined ground metal reflector, namely, the object to be identified is determined to meet the state of the state machine according to the characteristic information, and then the judgment whether the object to be identified is the static vehicle is made, the four states comprise undetermined state and determined state, and if the object to be identified is the static vehicle, the judgment process of undetermined static vehicle and determined static vehicle at least needs to be carried out.
Optionally, the specific manner of determining the distance-reflection intensity slope of the object to be identified to the radar transmission wave and the evaluation value of the ground metal reflector by the millimeter wave radar may be as follows: the millimeter wave radar calculates the distance-reflection intensity slope of the object to be recognized to the radar transmission wave according to the reflection intensity of the object to be recognized to the radar transmission wave and the distance between the object to be recognized and the object to be recognized, and then determines the ground metal reflector evaluation value of the object to be recognized according to the distance-reflection intensity slope of the object to be recognized to the radar transmission wave and the first slope threshold value.
Specifically, the distance-reflection intensity slope of the object to be identified to the radar transmission wave is recorded as kd-pAnd the distance between the ith detection and the object to be recognized is recorded as DiAnd recording the reflection intensity of the object to be identified to the radar transmitted wave obtained by the ith detection as PiAnd the number of times of detection until the current time is recorded as n, namely the current detection is the nth detection, then kd-pThe calculation formula of (a) is as follows:
Figure BDA0002762824730000061
further, the evaluation value of the ground metal reflector obtained after the detection is recorded as a maholenAnd the evaluation value of the ground metal reflector obtained after the last detection is recorded as a Manholen-1And the increment of the evaluation value of the ground metal reflector is recorded as ManholeaddAnd the maximum evaluation value of the ground metal reflector is recorded as ManholemaxThe first slope threshold is denoted as kadd_criAnd the reduction of the evaluation value of the ground metal reflector is recorded as the value of ManholeminusThe specific way for the millimeter wave radar to determine the evaluation value of the ground metal reflector of the object to be recognized according to the slope of the distance-reflection intensity of the object to be recognized to the radar transmission wave and the first slope threshold may be:
if the distance of the object to be identified to the radar emission wave-reflection intensity slope kd-pLess than a first slope threshold kadd_criThen, the millimeter wave radar may utilize the historical evaluation value of the ground metal reflector (i.e. the evaluation value of the ground metal reflector after the last detection, which is the evaluation value of the ground metal reflector after the last detection, whichn-1) Ground metal reflector evaluation value increase value ManholeaddAnd ground metal reflector maximum evaluation value ManholemaxCalculating the ground metal reflector evaluation value (Manhole) of the object to be identifiedn. Wherein, the ground metal reflector evaluation value of the object to be identified is ManholenThe method can be specifically a ground metal reflector historical evaluation value Manholen-1And ground metal reflector evaluation value increase value ManholeaddSum of them and maximum evaluation value of ground metal reflector, ManholemaxThe larger of these.
If the distance of the object to be identified to the radar emission wave-reflection intensity slope kd-pGreater than or equal to a first slope threshold kadd_criThen the millimeter wave radar can utilize the historical evaluation value of the ground metal reflector, namely, the thresholdn-1And ground metal reflector evaluation value reduction value ManholeminusCalculating the ground metal reflector evaluation value (Manhole) of the object to be identifiedn. Wherein, the ground metal reflector evaluation value of the object to be identified is ManholenThe method can be specifically a ground metal reflector historical evaluation value Manholen-1Reduction value of ground metal reflector evaluation value ManholeminusThe smaller of the difference and 0.
In addition, as can be seen from fig. 2b and 2d, the distance-reflection intensity slope of the ground metal reflector to the radar transmission wave is relatively gentle and stable, while the distance-reflection intensity slope of the stationary vehicle to the radar transmission wave is relatively steep and has large variation.
Wherein, the ground metal reflector evaluation value of the object to be identified is ManholenThe specific calculation formula of (a) may be as follows:
Manholen＝max(Manholen-1+|Manholeadd|,Manholemax)if kd-p<kadd_cri
Manholen＝min(Manholen-1-|Manholeminus|,0)otherwise
it will be appreciated that according to ManholenCan know if (if) the distance of the object to be identified to the radar emission wave-reflection intensity slope kd-pSmaller, e.g. kd-pLess than a first slope threshold kadd_criAccording to the increment value Manhole of the evaluation value of the ground metal reflectoraddIncrease the historical evaluation value of ground metal reflector, named Manholen-1The increased result and the maximum evaluation value of the ground metal reflector are processed to be ManholemaxComparing, and taking a larger value, namely increasing the score that the object to be identified is the ground metal reflector; otherwise (otherwise), i.e. if the distance of the object to be identified to the radar emission-reflection intensity slope kd-pLarger, e.g. kd-pGreater than or equal to a first slope threshold kadd_criThen according to the ground metal reflector evaluation value decrease value ManholeminusMethod for reducing historical evaluation value of ground metal reflectorn-1Comparing the result with 0, and taking the smaller value, namely the score of the object to be identified as the ground metal reflector, and the distance-reflection intensity slope kd-pThe ground metal reflector evaluation value is reduced to 0 or a value less than 0 when larger.
Wherein the initial value of the evaluation value of the ground metal reflector may be set to 0, and when the evaluation value of the ground metal reflector of the object is 0 or less than 0, it is determined that the object is not a ground metal reflector, kadd_criThe specific value of (A) is related to the characteristics of the radar used, ManholeaddCan be set to 3 minutes, thresholdmaxCan be set to 7Minute, ManholeminusIt can be set to 1 point and these values can be set according to actual requirements and/or radar characteristics.
Optionally, the specific manner of determining the reflection intensity fading value of the object to be identified to the radar transmission wave by the millimeter wave radar may be: the millimeter wave radar acquires a maximum value of the reflection intensity of the object to be identified to the radar transmitted wave, and then the reflection intensity fading value of the object to be identified to the radar transmitted wave is calculated according to the reflection intensity of the object to be identified to the radar transmitted wave and the maximum value of the reflection intensity.
Specifically, the maximum reflection intensity value is the maximum value among the plurality of already detected reflection intensities, and the maximum reflection intensity value obtained after the current detection is referred to as PmaxnAnd recording the maximum value of the reflection intensity obtained after the last detection as Pmaxn-1And the reflection intensity obtained by the detection is marked as PnThe maximum value Pmax of the reflection intensitynThe specific calculation formula of (a) may be as follows:
Pmaxn＝Pn if Pmaxn-1<Pn
Pmaxn＝Pmaxn-1otherwise
it can be seen that if the maximum value of the reflection intensity obtained after the last detection (if) is recorded as Pmaxn-1Less than the reflection intensity P obtained by the detectionnThen P will benAs Pmaxn(ii) a Otherwise (otherwise), i.e. Pmaxn-1Greater than or equal to PnThen Pmax will ben-1As PmaxnSo as to calculate the maximum value Pmax of the reflection intensity obtained after the detectionn。
Further, the maximum value Pmax of the reflection intensity obtained after the current detection is obtainednThe reflection intensity P obtained by the detectionnObtaining the reflection intensity fading value of the object to be identified to the radar transmitted wave by differencing, and recording the reflection intensity fading value obtained after the detection as PgapnThen the reflection intensity fading value PgapnThe specific calculation formula of (a) may be as follows:
Pgapn＝Pmaxn-Pn
optionallyThe specific manner of the millimeter wave radar determining whether the object to be identified is a stationary vehicle by using the characteristic information and the state machine may be: setting the initial state of the state machine as the undetermined state of the stationary vehicle by the millimeter wave radar, and if the reflection intensity fading value Pgap is detectednGreater than the reflection intensity fading threshold (denoted Pgap)cri) Or, distance-reflection intensity slope kd-pGreater than a second slope threshold (denoted as k)car_cri) And the millimeter wave radar switches the state of the state machine from the stationary vehicle to be determined and judges that the object to be identified is the stationary vehicle.
Optionally, the millimeter wave radar sets the initial state of the state machine as a stationary vehicle pending, if the ground metal reflector evaluation value, normalnGreater than a first evaluation threshold (denoted as threshold)on) Then the millimeter wave radar switches the state of the state machine from the state of the stationary vehicle to the state of the ground metal reflector, if the distance (marked as D)n) Less than a distance threshold (denoted as D)cri) And the millimeter wave radar switches the state of the state machine from the ground metal reflector to be determined and judges that the object to be identified is the ground metal reflector.
Optionally, the millimeter wave radar sets the initial state of the state machine as a stationary vehicle pending, if the ground metal reflector evaluation value, normalnGreater than a first evaluation threshold value, thresholdonIf the state of the state machine is switched to be undetermined from the state of the stationary vehicle by the millimeter wave radar, updating the evaluation value of the ground metal reflector by the millimeter wave radar, and if the updated evaluation value of the ground metal reflector is smaller than a second evaluation threshold (marked as threshold)off) Then, the state of the state machine is switched from the undetermined state of the ground metal reflector to the undetermined state of the stationary vehicle, then the reflection intensity fading value and the distance-reflection intensity slope are updated, and if the updated reflection intensity fading value is larger than the reflection intensity fading threshold PgapcriOr, the updated range-reflected intensity slope is greater than a second slope threshold kcar_criAnd if so, switching the state of the state machine from the stationary vehicle to be determined, and determining that the object to be identified is the stationary vehicle.
Optionally, as shown in fig. 2e, the process is a schematic diagram of object recognition by using a state machine, and the corresponding conversion conditions are shown in the following table.
Figure BDA0002762824730000091
Wherein the reflection intensity fading threshold PgapcriCan be set to 20dB, distance threshold DcriIt may be set to 10m, and the conversion condition d means that if the distance from the radar to the object to be recognized is already close, only 10m remains, but it cannot be determined that the object to be recognized is a stationary vehicle, the object to be recognized is determined to be a ground metal reflector.
Of course, PgapcriAnd DcriThese values can be set according to actual requirements and/or radar characteristics.
Therefore, the ground metal reflector and the static vehicle can be distinguished by fully utilizing different characteristics of ground multipath effects of the ground metal reflector and the static vehicle through four states of the state machine and set conversion conditions, so that the accuracy of identifying an object in front of the vehicle can be improved without adding extra hardware, and the false triggering of an automatic emergency braking system is reduced.
Fig. 3 is a schematic structural diagram of an object recognition device according to an embodiment of the present invention. The object recognition apparatus includes:
an obtaining module 301, configured to obtain detection information of an object to be identified;
a determining module 302, configured to determine feature information of the object to be identified according to the detection information, where the feature information includes at least one of: the distance-reflection intensity slope of radar transmitted waves, the ground metal reflector evaluation value and the reflection intensity fading value of the radar transmitted waves;
an identifying module 303, configured to identify the object to be identified by using the feature information.
Optionally, the detection information includes at least one of the following: the reflection intensity of the object to be identified to radar transmitted waves and the distance between the object to be identified and the object to be identified.
Optionally, the identifying module 303 is specifically configured to:
and judging whether the object to be identified is a static vehicle or not by utilizing the characteristic information and a state machine, wherein the state machine comprises four states of undetermined static vehicle, determined static vehicle, undetermined ground metal reflector and determined ground metal reflector.
Optionally, the determining module 302 is specifically configured to:
calculating the distance-reflection intensity slope of the object to be identified to the radar emission wave according to the reflection intensity and the distance;
and determining the evaluation value of the ground metal reflector of the object to be identified according to the distance-reflection intensity slope of the object to be identified to the radar emission wave and a first slope threshold value.
Optionally, the determining module 302 is specifically configured to:
and if the distance-reflection intensity slope of the object to be recognized to the radar emission wave is smaller than a first slope threshold value, calculating the ground metal reflector evaluation value of the object to be recognized by utilizing the ground metal reflector historical evaluation value, the ground metal reflector evaluation value increment and the ground metal reflector maximum evaluation value.
Optionally, the evaluation value of the ground metal reflector of the object to be recognized is a larger value of the sum of the historical evaluation value of the ground metal reflector and the increment of the evaluation value of the ground metal reflector and the maximum evaluation value of the ground metal reflector.
Optionally, the determining module 302 is specifically configured to:
and if the distance-reflection intensity slope of the object to be recognized to the radar emission wave is greater than or equal to a first slope threshold value, calculating the ground metal reflector evaluation value of the object to be recognized by utilizing the ground metal reflector history evaluation value and the ground metal reflector evaluation value reduction amount.
Optionally, the evaluation value of the ground metal reflector of the object to be recognized is a smaller value of a difference between the historical evaluation value of the ground metal reflector and the reduction amount of the evaluation value of the ground metal reflector and 0.
Optionally, the determining module 302 is specifically configured to:
acquiring a maximum value of the reflection intensity of the object to be identified to radar transmitted waves;
and calculating the reflection intensity fading value of the object to be identified to the radar transmitted wave according to the reflection intensity of the object to be identified to the radar transmitted wave and the maximum value of the reflection intensity.
Optionally, the identifying module 303 is specifically configured to:
setting the initial state of a state machine as a static vehicle to be determined;
and if the reflection intensity fading value is greater than the reflection intensity fading threshold value, or the distance-reflection intensity slope is greater than a second slope threshold value, switching the state of the state machine from a stationary vehicle to be determined to a stationary vehicle, and determining that the object to be identified is the stationary vehicle.
Optionally, the identifying module 303 is further specifically configured to:
if the evaluation value of the ground metal reflector is larger than a first evaluation threshold value, switching the state of the state machine from the state of a stationary vehicle to be determined to the state of the ground metal reflector to be determined;
and if the distance is smaller than the distance threshold, switching the state of the state machine from the ground metal reflector to be determined, and judging that the object to be identified is the ground metal reflector.
Optionally, the identifying module 303 is further specifically configured to:
if the evaluation value of the ground metal reflector is larger than a first evaluation threshold value, switching the state of the state machine from the state of a stationary vehicle to be determined to the state of the ground metal reflector to be determined;
updating the evaluation value of the ground metal reflector, and switching the state of the state machine from the state of the ground metal reflector to be determined to be a static vehicle to be determined if the updated evaluation value of the ground metal reflector is smaller than a second evaluation threshold;
and updating the reflection intensity fading value and the distance-reflection intensity slope, and if the updated reflection intensity fading value is greater than the reflection intensity fading threshold value, or the updated distance-reflection intensity slope is greater than the second slope threshold value, determining that the state of the state machine is to be switched from a stationary vehicle to a stationary vehicle, and determining that the object to be identified is the stationary vehicle.
It can be understood that the functions of the functional modules of the object identification device in the embodiment of the present invention can be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process may refer to the related description of the foregoing method embodiment, which is not described herein again.
In this embodiment of the present invention, the obtaining module 301 may obtain detection information of an object to be identified, and the determining module 302 determines feature information of the object to be identified according to the detection information, where the feature information of the object to be identified may include at least one of the following: the distance-reflection intensity slope of the radar transmitted wave, the ground metal reflector evaluation value and the reflection intensity fading value of the radar transmitted wave are identified by the identification module 303 by using the characteristic information, so that the accuracy of identifying the object in front of the vehicle can be improved without adding extra hardware, and the false triggering of an automatic emergency braking system is reduced.
Fig. 4 is a schematic structural diagram of a millimeter wave radar according to an embodiment of the present invention. The millimeter wave radar described in the present embodiment includes: a processor 401 and a memory 402. The processor 401 and the memory 402 are connected by a bus.
The Processor 401 may be a Central Processing Unit (CPU), and may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 402 may include both read-only memory and random access memory, and provides program instructions and data to the processor 401. A portion of the memory 402 may also include non-volatile random access memory. Wherein the processor 401, when calling the program instruction, is configured to perform:
acquiring detection information of an object to be identified;
determining feature information of the object to be identified according to the detection information, wherein the feature information comprises at least one of the following: the distance-reflection intensity slope of radar transmitted waves, the ground metal reflector evaluation value and the reflection intensity fading value of the radar transmitted waves;
and identifying the object to be identified by utilizing the characteristic information.
Optionally, the detection information includes at least one of the following: the reflection intensity of the object to be identified to radar transmitted waves and the distance between the object to be identified and the object to be identified.
Optionally, the processor 401 is specifically configured to:
and judging whether the object to be identified is a static vehicle or not by utilizing the characteristic information and a state machine, wherein the state machine comprises four states of undetermined static vehicle, determined static vehicle, undetermined ground metal reflector and determined ground metal reflector.
Optionally, the processor 401 is specifically configured to:
calculating the distance-reflection intensity slope of the object to be identified to the radar emission wave according to the reflection intensity and the distance;
and determining the evaluation value of the ground metal reflector of the object to be identified according to the distance-reflection intensity slope of the object to be identified to the radar emission wave and a first slope threshold value.
Optionally, the processor 401 is specifically configured to:
and if the distance-reflection intensity slope of the object to be recognized to the radar emission wave is smaller than a first slope threshold value, calculating the ground metal reflector evaluation value of the object to be recognized by utilizing the ground metal reflector historical evaluation value, the ground metal reflector evaluation value increment and the ground metal reflector maximum evaluation value.
Optionally, the evaluation value of the ground metal reflector of the object to be recognized is a larger value of the sum of the historical evaluation value of the ground metal reflector and the increment of the evaluation value of the ground metal reflector and the maximum evaluation value of the ground metal reflector.
Optionally, the processor 401 is specifically configured to:
and if the distance-reflection intensity slope of the object to be recognized to the radar emission wave is greater than or equal to a first slope threshold value, calculating the ground metal reflector evaluation value of the object to be recognized by utilizing the ground metal reflector history evaluation value and the ground metal reflector evaluation value reduction amount.
Optionally, the evaluation value of the ground metal reflector of the object to be recognized is a smaller value of a difference between the historical evaluation value of the ground metal reflector and the reduction amount of the evaluation value of the ground metal reflector and 0.
Optionally, the processor 401 is specifically configured to:
acquiring a maximum value of the reflection intensity of the object to be identified to radar transmitted waves;
and calculating the reflection intensity fading value of the object to be identified to the radar transmitted wave according to the reflection intensity of the object to be identified to the radar transmitted wave and the maximum value of the reflection intensity.
Optionally, the processor 401 is specifically configured to:
setting the initial state of a state machine as a static vehicle to be determined;
and if the reflection intensity fading value is greater than the reflection intensity fading threshold value, or the distance-reflection intensity slope is greater than a second slope threshold value, switching the state of the state machine from a stationary vehicle to be determined to a stationary vehicle, and determining that the object to be identified is the stationary vehicle.
Optionally, the processor 401 is specifically configured to:
if the evaluation value of the ground metal reflector is larger than a first evaluation threshold value, switching the state of the state machine from the state of a stationary vehicle to be determined to the state of the ground metal reflector to be determined;
and if the distance is smaller than the distance threshold, switching the state of the state machine from the ground metal reflector to be determined, and judging that the object to be identified is the ground metal reflector.
Optionally, the processor 401 is specifically configured to:
if the evaluation value of the ground metal reflector is larger than a first evaluation threshold value, switching the state of the state machine from the state of a stationary vehicle to be determined to the state of the ground metal reflector to be determined;
updating the evaluation value of the ground metal reflector, and switching the state of the state machine from the state of the ground metal reflector to be determined to be a static vehicle to be determined if the updated evaluation value of the ground metal reflector is smaller than a second evaluation threshold;
and updating the reflection intensity fading value and the distance-reflection intensity slope, and if the updated reflection intensity fading value is greater than the reflection intensity fading threshold value, or the updated distance-reflection intensity slope is greater than the second slope threshold value, determining that the state of the state machine is to be switched from a stationary vehicle to a stationary vehicle, and determining that the object to be identified is the stationary vehicle.
In a specific implementation, the processor 401 and the memory 402 described in this embodiment of the present invention may execute the implementation manner described in the object identification method provided in fig. 1 in the embodiment of the present invention, and may also execute the implementation manner of the object identification device described in fig. 3 in the embodiment of the present invention, which is not described herein again.
In this embodiment of the present invention, the processor 401 may obtain detection information of an object to be identified, and determine feature information of the object to be identified according to the detection information, where the feature information of the object to be identified may include at least one of: the distance-reflection intensity slope of the radar transmitted wave, the ground metal reflector evaluation value and the reflection intensity fading value of the radar transmitted wave are further identified by utilizing the characteristic information, so that the accuracy of identifying the object in front of the vehicle can be improved without adding extra hardware, and the false triggering of an automatic emergency braking system is reduced.
The embodiment of the invention also provides a vehicle which comprises a vehicle body and the millimeter wave radar arranged on the vehicle body, wherein the millimeter wave radar can adopt the structures of the above embodiments.
An embodiment of the present invention further provides a computer storage medium, where program instructions are stored in the computer storage medium, and when the program is executed, some or all of the steps of the object identification method in the embodiment shown in fig. 1 may be included.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The object identification method, the millimeter wave radar and the vehicle provided by the embodiment of the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (25)

1. An object identification method applied to a millimeter wave radar, the method comprising:
acquiring detection information of an object to be identified;
determining feature information of the object to be identified according to the detection information, wherein the feature information comprises at least one of the following: the distance-reflection intensity slope of radar transmitted waves, the ground metal reflector evaluation value and the reflection intensity fading value of the radar transmitted waves;
and identifying the object to be identified by utilizing the characteristic information.
2. The method of claim 1, wherein the detection information comprises at least one of: the reflection intensity of the object to be identified to radar transmitted waves and the distance between the object to be identified and the object to be identified.
3. The method according to claim 1 or 2, wherein the identifying the object to be identified by using the characteristic information comprises:
and judging whether the object to be identified is a static vehicle or not by utilizing the characteristic information and a state machine, wherein the state machine comprises four states of undetermined static vehicle, determined static vehicle, undetermined ground metal reflector and determined ground metal reflector.
4. The method according to claim 2 or 3, wherein the determining the characteristic information of the object to be recognized according to the detection information comprises:
calculating the distance-reflection intensity slope of the object to be identified to the radar emission wave according to the reflection intensity and the distance;
and determining the evaluation value of the ground metal reflector of the object to be identified according to the distance-reflection intensity slope of the object to be identified to the radar emission wave and a first slope threshold value.
5. The method of claim 4, wherein determining the ground metal reflector evaluation value of the object to be identified according to the distance-reflection intensity slope of the object to be identified to the radar transmission wave and a first slope threshold comprises:
and if the distance-reflection intensity slope of the object to be recognized to the radar emission wave is smaller than a first slope threshold value, calculating the ground metal reflector evaluation value of the object to be recognized by utilizing the ground metal reflector historical evaluation value, the ground metal reflector evaluation value increment and the ground metal reflector maximum evaluation value.
6. The method according to claim 5, wherein the ground metal reflector evaluation value of the object to be recognized is a larger value of the sum of the ground metal reflector history evaluation value and the ground metal reflector evaluation value increase amount and the ground metal reflector maximum evaluation value.
7. The method of claim 4, wherein determining the ground metal reflector evaluation value of the object to be identified according to the distance-reflection intensity slope of the object to be identified to the radar transmission wave and a first slope threshold comprises:
and if the distance-reflection intensity slope of the object to be recognized to the radar emission wave is greater than or equal to a first slope threshold value, calculating the ground metal reflector evaluation value of the object to be recognized by utilizing the ground metal reflector history evaluation value and the ground metal reflector evaluation value reduction amount.
8. The method according to claim 7, wherein the ground metal reflector evaluation value of the object to be recognized is the smaller of a difference between the ground metal reflector history evaluation value and the ground metal reflector evaluation value reduction amount and 0.
9. The method according to claim 2 or 3, wherein the determining the characteristic information of the object to be recognized according to the detection information comprises:
acquiring a maximum value of the reflection intensity of the object to be identified to radar transmitted waves;
and calculating the reflection intensity fading value of the object to be identified to the radar transmitted wave according to the reflection intensity of the object to be identified to the radar transmitted wave and the maximum value of the reflection intensity.
10. The method of claim 3, wherein the determining whether the object to be identified is a stationary vehicle using the characterization information and a state machine comprises:
setting the initial state of a state machine as a static vehicle to be determined;
and if the reflection intensity fading value is greater than the reflection intensity fading threshold value, or the distance-reflection intensity slope is greater than a second slope threshold value, switching the state of the state machine from a stationary vehicle to be determined to a stationary vehicle, and determining that the object to be identified is the stationary vehicle.
11. The method of claim 10, further comprising:
if the evaluation value of the ground metal reflector is larger than a first evaluation threshold value, switching the state of the state machine from the state of a stationary vehicle to be determined to the state of the ground metal reflector to be determined;
and if the distance is smaller than the distance threshold, switching the state of the state machine from the ground metal reflector to be determined, and judging that the object to be identified is the ground metal reflector.
12. The method of claim 10, further comprising:
if the evaluation value of the ground metal reflector is larger than a first evaluation threshold value, switching the state of the state machine from the state of a stationary vehicle to be determined to the state of the ground metal reflector to be determined;
updating the evaluation value of the ground metal reflector, and switching the state of the state machine from the state of the ground metal reflector to be determined to be a static vehicle to be determined if the updated evaluation value of the ground metal reflector is smaller than a second evaluation threshold;
and updating the reflection intensity fading value and the distance-reflection intensity slope, and if the updated reflection intensity fading value is greater than the reflection intensity fading threshold value, or the updated distance-reflection intensity slope is greater than the second slope threshold value, determining that the state of the state machine is to be switched from a stationary vehicle to a stationary vehicle, and determining that the object to be identified is the stationary vehicle.
13. A millimeter-wave radar characterized by comprising: a processor and a memory, wherein:
the memory for storing a computer program comprising program instructions;
the processor is used for executing the following steps when calling the program instruction:
acquiring detection information of an object to be identified;
determining feature information of the object to be identified according to the detection information, wherein the feature information comprises at least one of the following: the distance-reflection intensity slope of radar transmitted waves, the ground metal reflector evaluation value and the reflection intensity fading value of the radar transmitted waves;
and identifying the object to be identified by utilizing the characteristic information.
14. The millimeter wave radar according to claim 13, wherein the detection information includes at least one of: the reflection intensity of the object to be identified to radar transmitted waves and the distance between the object to be identified and the object to be identified.
15. The millimeter wave radar of claim 13 or 14, wherein the processor is specifically configured to:
and judging whether the object to be identified is a static vehicle or not by utilizing the characteristic information and a state machine, wherein the state machine comprises four states of undetermined static vehicle, determined static vehicle, undetermined ground metal reflector and determined ground metal reflector.
16. The millimeter wave radar of claim 14 or 15, wherein the processor is specifically configured to:
calculating the distance-reflection intensity slope of the object to be identified to the radar emission wave according to the reflection intensity and the distance;
and determining the evaluation value of the ground metal reflector of the object to be identified according to the distance-reflection intensity slope of the object to be identified to the radar emission wave and a first slope threshold value.
17. The millimeter wave radar of claim 16, wherein the processor is specifically configured to:
and if the distance-reflection intensity slope of the object to be recognized to the radar emission wave is smaller than a first slope threshold value, calculating the ground metal reflector evaluation value of the object to be recognized by utilizing the ground metal reflector historical evaluation value, the ground metal reflector evaluation value increment and the ground metal reflector maximum evaluation value.
18. The millimeter-wave radar according to claim 17, wherein the ground-metal-reflector evaluation value of the object to be recognized is a larger value of the sum of the ground-metal-reflector-history evaluation value and the ground-metal-reflector-evaluation-value increase amount and the ground-metal-reflector-maximum evaluation value.
19. The millimeter wave radar of claim 16, wherein the processor is specifically configured to:
and if the distance-reflection intensity slope of the object to be recognized to the radar emission wave is greater than or equal to a first slope threshold value, calculating the ground metal reflector evaluation value of the object to be recognized by utilizing the ground metal reflector history evaluation value and the ground metal reflector evaluation value reduction amount.
20. The millimeter wave radar according to claim 19, wherein the ground metal reflector evaluation value of the object to be recognized is the smaller of a difference between the ground metal reflector history evaluation value and the ground metal reflector evaluation value reduction amount and 0.
21. The millimeter wave radar of claim 14 or 15, wherein the processor is specifically configured to:
acquiring a maximum value of the reflection intensity of the object to be identified to radar transmitted waves;
and calculating the reflection intensity fading value of the object to be identified to the radar transmitted wave according to the reflection intensity of the object to be identified to the radar transmitted wave and the maximum value of the reflection intensity.
22. The millimeter wave radar of claim 15, wherein the processor is specifically configured to:
setting the initial state of a state machine as a static vehicle to be determined;
and if the reflection intensity fading value is greater than the reflection intensity fading threshold value, or the distance-reflection intensity slope is greater than a second slope threshold value, switching the state of the state machine from a stationary vehicle to be determined to a stationary vehicle, and determining that the object to be identified is the stationary vehicle.
23. The millimeter wave radar of claim 22, wherein the processor is further configured to:
if the evaluation value of the ground metal reflector is larger than a first evaluation threshold value, switching the state of the state machine from the state of a stationary vehicle to be determined to the state of the ground metal reflector to be determined;
and if the distance is smaller than the distance threshold, switching the state of the state machine from the ground metal reflector to be determined, and judging that the object to be identified is the ground metal reflector.
24. The millimeter wave radar of claim 22, wherein the processor is further configured to:
if the evaluation value of the ground metal reflector is larger than a first evaluation threshold value, switching the state of the state machine from the state of a stationary vehicle to be determined to the state of the ground metal reflector to be determined;
updating the evaluation value of the ground metal reflector, and switching the state of the state machine from the state of the ground metal reflector to be determined to be a static vehicle to be determined if the updated evaluation value of the ground metal reflector is smaller than a second evaluation threshold;
and updating the reflection intensity fading value and the distance-reflection intensity slope, and if the updated reflection intensity fading value is greater than the reflection intensity fading threshold value, or the updated distance-reflection intensity slope is greater than the second slope threshold value, determining that the state of the state machine is to be switched from a stationary vehicle to a stationary vehicle, and determining that the object to be identified is the stationary vehicle.
25. A vehicle applied to a millimeter wave radar, characterized by comprising:
a vehicle body;
the millimeter wave radar according to any one of claims 1 to 24, mounted on the vehicle body.
CN201980030581.4A 2019-06-28 2019-06-28 Object identification method, millimeter wave radar and vehicle Pending CN112119329A (en)

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