CN113820704A - Method and device for detecting moving target and electronic equipment - Google Patents
Method and device for detecting moving target and electronic equipment Download PDFInfo
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- CN113820704A CN113820704A CN202010564380.7A CN202010564380A CN113820704A CN 113820704 A CN113820704 A CN 113820704A CN 202010564380 A CN202010564380 A CN 202010564380A CN 113820704 A CN113820704 A CN 113820704A
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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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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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
- 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
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- G06F18/23—Clustering techniques
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Abstract
The embodiment of the application provides a method and a device for detecting a moving target and electronic equipment, wherein the device for detecting the moving target comprises: the first processing unit is used for obtaining a frame distance-azimuth distribution diagram corresponding to a period of time according to multi-antenna echo signals received at a plurality of moments within the period of time; a second processing unit, configured to obtain a set of extreme points of a multi-frame range-azimuth profile within a first time period, where the first time period includes a plurality of the periods, and each period corresponds to one frame of range-azimuth profile; the third processing unit is used for clustering the set of the extreme points to obtain clusters of the extreme points; and a fourth processing unit that determines the position of each moving object based on the center position of each cluster.
Description
Technical Field
The present application relates to the field of electronic information technology.
Background
The current social aging trend is aggravated, the health care demand of the old is more and more strong along with the aging trend which is more and more serious, and the method has important significance for providing effective health monitoring service for the old. In health monitoring services, how to accurately detect a moving target is an important issue.
Currently, the position of a target can be detected by analyzing a monitored image; or, the position of the target is detected by a sensor worn on the body of the detected object; still alternatively, the position of the target may be detected based on the wireless signal. The method for detecting the target based on the wireless signal has high accuracy and is convenient for protecting the personal privacy of the detected object.
It should be noted that the above background description is only for the convenience of clear and complete description of the technical solutions of the present application and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the present application.
Disclosure of Invention
The target detection method based on wireless signals generally uses a reflected point cloud output by a radar to obtain the position of a target, and has some limitations, such as: when the radar is not sensitive to target movement, for example, when a target moves tangentially relative to the radar, clustering failure is easy to occur in reflected point cloud output by the radar, so that the problems of tracking track interruption and missed detection are caused; alternatively, when the target moves slowly, for example, when the elderly walk slowly, the tracking trajectory may be interrupted and missed.
To overcome the above limitation, a Range-Azimuth profile may be obtained using radar echo signals, and a moving target may be detected based on the Range-Azimuth profile.
The inventors of the present application have found that, when detecting a moving target according to a Range-Azimuth profile, a false detection may occur, for example, due to the environment where the detected target is located reflecting radar waves, or the radar waves experiencing multipath reflection, interference points may occur in the Range-Azimuth profile, and these interference points may reduce the accuracy of target detection.
The embodiment of the application provides a method, a device and an electronic device for detecting a moving target, wherein the method detects the target based on a multi-frame Range-Azimuth distribution map in a first time period, so that the detection accuracy is higher.
According to a first aspect of embodiments of the present application, there is provided a method for detecting a moving object, including:
obtaining a Range-Azimuth distribution map of a frame corresponding to a period of time according to multi-antenna echo signals received at a plurality of moments within the period of time;
obtaining a set of extreme points of a Range-Azimuth profile for a plurality of frames over a first time period (i.e., a longer time, such as 10 frames), wherein the first time period includes a plurality of the periods, each of the periods corresponding to a frame of the Range-Azimuth profile;
clustering the set of extreme points to obtain clusters of the extreme points; and
and determining the position of each moving target according to the central position of each cluster.
According to a second aspect of embodiments of the present application, there is provided an apparatus for detecting a moving object, including:
a first processing unit, which obtains a Range-Azimuth distribution map of a frame corresponding to a period of time according to multi-antenna echo signals received at a plurality of moments within the period of time;
a second processing unit, configured to obtain a set of extreme points of a Range-Azimuth profile for a plurality of frames over a first time period (i.e., a longer time, such as 10 frames), wherein the first time period includes a plurality of the periods, and each period corresponds to a frame of Range-Azimuth profile;
the third processing unit is used for clustering the set of the extreme points to obtain clusters of the extreme points; and
and the fourth processing unit determines the position of each moving target according to the central position of each cluster.
According to a third aspect of the present embodiment, there is provided an electronic device including the apparatus for detecting a moving object of the second aspect of the present embodiment.
The beneficial effect of this application lies in: the target is detected based on a multi-frame Range-Azimuth (Range-Azimuth) profile in the first period of time, and thus the accuracy of the detection is higher.
Specific embodiments of the present invention are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not so limited in scope. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is a schematic diagram of a wireless signal transceiving apparatus of a first aspect of an embodiment of the present application;
fig. 2 is a schematic diagram of a method of detecting a moving object according to a first aspect of an embodiment of the present application;
FIG. 3 is a schematic diagram of a frame range-azimuth profile;
FIG. 4 is a schematic illustration of the identification of extremum points in a graph reflecting planar distances;
FIG. 5 is a schematic diagram of one embodiment of operation 205;
FIG. 6 is a schematic diagram of one embodiment of operation 207;
FIG. 7 is a schematic diagram of a method of generating a frame range-azimuth profile in operation 201;
FIG. 8 is a schematic diagram of an apparatus for detecting moving objects in accordance with a second aspect of an embodiment of the present application;
fig. 9 is a schematic configuration diagram of an electronic apparatus according to the third aspect of the embodiment.
Detailed Description
The foregoing and other features of the invention will become apparent from the following description taken in conjunction with the accompanying drawings. In the description and drawings, particular embodiments of the invention have been disclosed in detail as being indicative of some of the embodiments in which the principles of the invention may be employed, it being understood that the invention is not limited to the embodiments described, but, on the contrary, is intended to cover all modifications, variations, and equivalents falling within the scope of the appended claims.
In the embodiments of the present application, the terms "first", "second", and the like are used for distinguishing different elements by reference, but do not denote a spatial arrangement, a temporal order, or the like of the elements, and the elements should not be limited by the terms. The term "and/or" includes any and all combinations of one or more of the associated listed terms. The terms "comprising," "including," "having," and the like, refer to the presence of stated features, elements, components, and do not preclude the presence or addition of one or more other features, elements, components, and elements.
In the embodiments of the present application, the singular forms "a", "an", and the like include the plural forms and are to be construed broadly as "a" or "an" and not limited to the meaning of "a" or "an"; furthermore, the term "the" should be understood to include both the singular and the plural, unless the context clearly dictates otherwise. Further, the term "according to" should be understood as "at least partially according to … …," and the term "based on" should be understood as "based at least partially on … …," unless the context clearly dictates otherwise.
First aspect of the embodiments
A first aspect of embodiments of the present application provides a method for detecting a moving object.
In the first aspect of the embodiments of the present application, the method for detecting a moving object may perform detection according to a wireless signal, and the transmission and reception of the wireless signal may be implemented by a wireless signal transceiver.
Fig. 1 is a schematic diagram of a wireless signal transceiver, and as shown in fig. 1, a wireless signal transceiver 100 may have a wireless signal transmitting device 101 and a wireless signal receiving device 102.
In the first aspect of the embodiment of the present application, the wireless signal transmitting apparatus 101 may transmit a wireless signal such as an electromagnetic wave to the subject, and the wireless signal receiving apparatus 102 receives a reflected signal formed by the subject and other objects in the surrounding environment reflecting the wireless signal.
In the first aspect of the embodiments of the present application, the radio signal may be, for example, a radio signal based on a Frequency Modulated Continuous Wave (FMCW) modulation scheme. The radio signal transmitting device 101 and the radio signal receiving device 102 may be implemented by, for example, a microwave radar, which may employ, for example, a linear array antenna array or an area array antenna array.
In the first aspect of the embodiments of the present application, the parameter settings of the microwave radar may be as follows: the frame rate of the transmitted wireless signals based on the FMCW modulation mode is 15-25 Hz, one frame comprises 64-256 chirp (chirp) signals, the distance resolution is 8-20 cm, the speed resolution is 0.05-0.15 m/s, and the range of the distance measurement is 5-10 m. It should be noted that the above parameter settings are only examples, and the present embodiment is not limited thereto.
Fig. 2 is a schematic diagram of a method for detecting a moving object according to a first aspect of an embodiment of the present application, as shown in fig. 2, the method includes:
In the first aspect of the embodiment of the present application, clustering is performed based on extreme points in a multi-frame distance-Azimuth (Range-Azimuth) distribution diagram in a first time period to obtain clusters of the extreme points, and a position of a moving target is determined according to each cluster. Therefore, the method of the first aspect of the embodiment of the present application can reduce the influence of the interference signal on the detection result, and improve the accuracy of the detection.
In the first aspect of the embodiments of the present application, the wireless signal transmitting apparatus and the wireless signal receiving apparatus may be respectively implemented by the wireless signal transmitting apparatus 101 and the wireless signal receiving apparatus 102 shown in fig. 1.
In the first aspect of the embodiment of the present application, the wireless signal receiving apparatus 102 may be installed indoors, and the wireless signal transmitting apparatus 101 may transmit a wireless signal into a detection area including a doorway of the room, and the wireless signal receiving apparatus 102 may receive a reflected signal reflected from the detection area.
In operation 201, a period of time may correspond to a frame of Range-Azimuth distribution. Fig. 3 is a schematic diagram of a frame distance-azimuth distribution diagram, and as shown in fig. 3, in a frame distance-azimuth distribution diagram 300, the vertical axis represents distance frequency points, and the horizontal axis represents azimuth frequency points, where points 301 and 302 with higher brightness are extreme points in the diagram. The details of the calculation method of the luminance of each point in the figure, the distance bin, the azimuth bin, and the like are described later in this application.
In operation 202, the multiple frames of Range-Azimuth profiles obtained during the first time period are merged to obtain a set of extreme points of the multiple frames of Range-Azimuth profiles obtained during the first time period. The plurality of periods of time included in the first period of time may be a plurality of periods of time that are consecutive. The first period of time includes, for example, 10 of the periods of time.
In operation 202, the method for combining the multi-frame range-azimuth profiles may be: merging all extreme points in the multiple frames of Range-Azimuth distribution maps in the first time period, for example, calculating the extreme points in each frame of Range-Azimuth distribution map, and merging all the extreme points in the multiple frames of Range-Azimuth distribution maps, so that the merging result can be more accurate; alternatively, some of the extreme points are merged, for example, the extreme points in each of the range-azimuth profiles are calculated, and the extreme points with the brightness higher than a predetermined threshold value among the extreme points of the range-azimuth profiles of the plurality of frames are merged, so that the number of the extreme points to be merged can be reduced, thereby reducing the calculation amount of the subsequent operation.
In addition, in operation 202, the extreme points after merging may be represented in a frame range-azimuth profile, or the frame range-azimuth profile may be converted into a map reflecting the plane distance.
For example, FIG. 4 is a schematic illustration of identifying extremum points in a graph reflecting planar distances. As shown in fig. 4, in the graph 400 reflecting the plane distance, the horizontal axis represents the position in the X direction in meters, the vertical axis represents the position in the Y direction in meters, and the origin of the graph 400 represents the position of the wireless signal receiving apparatus 102. The X direction is perpendicular to the Y direction, and both the X direction and the Y direction are parallel to the horizontal direction. As shown in fig. 4, 401 indicates the extreme point after merging.
In operation 203, the set of extreme points obtained in operation 202 by merging is clustered, and clusters of the extreme points are obtained. For example, the clustering process uses an extreme point with similar characteristics as a cluster, and the similarity of the characteristics may be, for example, that the position of the extreme point is within a preset condition. For example, a Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm may be used for the Clustering process, or another Clustering algorithm may be used, which is not limited in this embodiment.
As shown in fig. 4, a plurality of extreme points 401 surrounded by a dotted circle 402 constitute one cluster.
In operation 204, the position of the moving object is determined based on the center position of each cluster. For example, in fig. 4, the center point of a cluster constituted by a plurality of extreme points 401 in a dotted circle 402 is 403, and thus the coordinates of the center point 403 in the X direction and the Y direction in the diagram 400 represent the position of one moving object in the horizontal direction.
As shown in fig. 2, the method may further include:
and operation 205, determining whether the moving object with the determined position is the moving object to be tracked.
In operation 205, if there is no existing moving target within a predetermined range of the center point of the cluster corresponding to the moving target whose position is determined in operation 204 and the center point of the cluster corresponding to the moving target whose position is determined exists at a predetermined position, the moving target whose position is determined as the moving target to be tracked. Wherein, the predetermined range of the center point of the cluster is, for example: the radius of the range with the center point as the center may be r, which may be a predetermined value. The predetermined positions are for example: the position in the range corresponding to the portal is detected. Thus, the moving object entering the detection range from the doorway can be tracked.
Further, in operation 205, if there is an existing moving target within the predetermined range of the center point of the cluster corresponding to the moving target whose position is determined in operation 204, or there is no existing moving target within the predetermined range of the center point of the cluster corresponding to the moving target whose position is determined and the center point of the cluster corresponding to the moving target whose position is determined does not exist at the predetermined position, the moving target whose position is determined is not determined as the moving target to be tracked.
FIG. 5 is a schematic diagram of one embodiment of operation 205, and as shown in FIG. 5, operation 205 includes the following operations:
As shown in fig. 2, the method further comprises:
and operation 206, performing trajectory tracking on the known moving target to be tracked, and acquiring the moving trajectory information of the known moving target to be tracked.
In operation 206, performing trajectory tracking on the known moving target to be tracked may include: the position of the moving target is detected through operations 201 to 204, and if the moving target is a known moving target to be tracked, the detected position information is used as the position information of the known moving target to be tracked, so that the motion track of the known moving target to be tracked is formed. In addition, other ways of tracking the known moving target to be tracked can also be used.
As shown in fig. 2, the method further comprises:
in operation 207, for the known moving object to be tracked, it is determined to continue performing the trajectory tracking on the known moving object to be tracked or to stop performing the trajectory tracking on the known moving object to be tracked.
According to operation 207, trajectory tracking for certain targets can be stopped in time, thereby reducing the amount of computation; besides, the track tracking of some targets is kept, and the accuracy of track tracking can be ensured.
In operation 207, on the one hand: if the motion track of the known moving target to be tracked starts from a preset position, the maximum fluctuation value in the distance-azimuth distribution diagram corresponding to the distance frequency point near the distance frequency point at the previous moment of the known moving target to be tracked is larger than a first threshold value, and the duration of the motion track of the known moving target to be tracked is larger than a second threshold value, the known moving target to be tracked is judged to be reserved; in operation 207, the position of the known moving object to be tracked at the current time may also be calculated according to the position of the maximum value of fluctuation in the Range-Azimuth profile, so that, when the position of the known moving object to be tracked at the current time cannot be determined (for example, the position of the moving object to be tracked at the current time cannot be determined according to operations 201 to 204), the position of the current time may be calculated according to the position of the maximum value of fluctuation in the Range-Azimuth profile.
In operation 207, wherein the predetermined location is, for example: and detecting the position corresponding to the door opening in the range. The distance bin at the previous time of the known moving object to be tracked is represented as range _ index, for example, and the distance bins near the range _ index may be distance bins within a distance bin section [ range _ index-m1, range _ index + m2], where m1 and m2 are both natural numbers, for example.
In operation 207, on the other hand: if the motion track of the known motion target to be tracked does not start from the preset position; or, if the motion trajectory of the known moving target to be tracked starts from the predetermined position, the maximum fluctuation value in the distance-azimuth distribution map corresponding to the distance frequency point near the distance frequency point at the previous moment of the known moving target to be tracked is greater than a first threshold, the duration of the motion trajectory of the moving target to be tracked is less than or equal to a second threshold, and the duration of the motion trajectory of the moving target to be tracked is less than or equal to a third threshold, determining to stop performing trajectory tracking on the known moving target to be tracked, and further, stopping performing trajectory tracking on the known moving target to be tracked. Wherein the third threshold is smaller than the second threshold, and the third threshold is, for example, a time period corresponding to a Range-Azimuth distribution map of 10 consecutive frames.
In operation 207, it is considered that the moving object does not suddenly appear at the middle position of the detected area, but the moving object is about to enter the detected area from the doorway of the detected area, and in the case that the wireless signal transmitting device 101 and the wireless signal receiving device 102 are always in the operating state, it can be generally detected that the moving object enters the detected area from the doorway, so whether the known moving track of the moving object to be tracked starts from the doorway is taken as a condition for judging whether the moving track is reserved, and it is convenient to judge whether the moving track is a normal moving track or a track obtained by false detection.
In operation 207, taking the comparison result of the duration of the motion trajectory of the known motion target to be tracked and the second threshold and the third threshold as another condition for determining whether the motion trajectory is reserved can avoid taking a motion target that appears in a short time as the motion target to be tracked, thereby reducing the amount of calculation.
FIG. 6 is a schematic diagram of one embodiment of operation 207, and as shown in FIG. 6, operation 207 includes the following operations:
in operation 601, the known distance frequency point of the moving target to be tracked at the previous time is range _ index, and the known motion track of the moving target to be tracked is stored;
Next, a method of generating a Range-Azimuth (Range-Azimuth) profile for one frame in operation 201 is described.
Fig. 7 is a schematic diagram of a method of generating a frame range-azimuth profile in operation 201, and as shown in fig. 7, the method of generating a frame range-azimuth profile includes:
In operation 701, the multi-antenna Range FFT data obtained at time t may be represented as a matrix Rt，RtThe expression of (a) is as follows:
wherein R istThe ith row of (a) represents Range FFT data, R, of the ith antenna at time ttThe j-th column of (a) indicates Range FFT data of the j-th Range bin at time t. In the period (0, T), the multi-antenna Range FFT data at a plurality of time instants is represented as R ═ (R)0,R1,……，RT)。
In operation 702, R may be utilizedtThe Angle (Angle) FFT is carried out on the jth column of data (namely, Range FFT data of the jth distance frequency point at the time t), and an Angle FFT amplitude matrix A of the jth distance frequency point is obtainedt，AtThe expression of (a) is as follows:
wherein A istThe h-th row of the table represents Angle FFT data with the vertical direction Angle frequency point h corresponding to the jth distance frequency point at the t moment; a. thetThe kth column of (a) represents Angle FFT data with a horizontal direction Angle frequency point k corresponding to the jth distance frequency point at the time t, and k is less than or equal to q.
In operation 703, in the Angle FFT magnitude matrix corresponding to each distance bin at each time: and for each horizontal direction angular frequency point, calculating the maximum value or the average value of the amplitudes of the vertical direction angular frequency points corresponding to the horizontal direction angular frequency point as the first amplitude, so that a plurality of horizontal direction angular frequency points have a plurality of first amplitudes, and the first amplitudes corresponding to the horizontal direction angular frequency points form a vector.
In operation 704, for each distance bin, standard deviations of all the first amplitudes of the horizontal direction angle bins corresponding to the distance bin in the period of time are calculated, and since one distance bin corresponds to q horizontal direction angle bins, one distance bin corresponds to q standard deviations. In operation 704, a Range-Azimuth (Range-Azimuth) distribution map is generated according to the distance frequency points, the horizontal direction angular frequency points, and the standard deviations corresponding to the distance frequency points and the horizontal direction angular frequency points. As shown in fig. 3, in one frame of the distance-azimuth distribution diagram 300, the vertical axis represents distance bins, and the horizontal axis represents azimuth bins (i.e., horizontal direction angle bins), and the values of the standard deviation correspond to the brightness of each point in the diagram 300.
In the first aspect of the embodiment of the present application, clustering is performed based on extreme points in a multi-frame distance-Azimuth (Range-Azimuth) distribution diagram in a first time period to obtain clusters of the extreme points, and a position of a moving target is determined according to each cluster. Therefore, the method of the first aspect of the embodiment of the present application can reduce the influence of the interference signal on the detection result, and improve the accuracy of the detection.
Second aspect of the embodiments
A second aspect of the embodiments of the present application provides an apparatus for detecting a moving object, which corresponds to the method for detecting a moving object of the first aspect of the embodiments of the present application.
Fig. 8 is a schematic diagram of an apparatus for detecting a moving object according to a second aspect of an embodiment of the present application, and as shown in fig. 8, the apparatus 800 for detecting a moving object includes:
a first processing unit 801, configured to obtain a Range-Azimuth distribution map (Range-Azimuth) of a frame corresponding to a period of time according to multi-antenna echo signals received at multiple times within the period of time;
a second processing unit 802, which obtains a set of extreme points of a Range-Azimuth profile for a plurality of frames over a first time period (i.e. a longer time, such as 10 frames), wherein the first time period includes a plurality of the periods, and each period corresponds to a frame of Range-Azimuth profile;
a third processing unit 803, which performs clustering processing on the set of extreme points to obtain clusters of extreme points; and
a fourth processing unit 804, which determines the position of each moving object according to the center position of each cluster.
As shown in fig. 8, the apparatus 800 further includes:
and a fifth processing unit 805 which determines whether the moving object of which the position is determined is the moving object to be tracked.
As shown in fig. 8, the apparatus 800 further includes: and a sixth processing unit 806, configured to perform trajectory tracking on a known moving target to be tracked, and acquire motion trajectory information of the known moving target to be tracked.
As shown in fig. 8, the apparatus 800 further includes: a seventh processing unit 807, configured to determine, for the known moving object to be tracked, whether to continue or stop performing trajectory tracking on the known moving object to be tracked.
In the second aspect of the embodiments of the present application, with regard to the detailed description of the units in the apparatus 800 for detecting a moving object, reference may be made to the detailed description of the operations in the method for detecting a moving object in the first aspect of the embodiments of the present application.
In the second aspect of the embodiment of the present application, clustering is performed based on extreme points in a multi-frame distance-Azimuth (Range-Azimuth) distribution diagram in a first time period to obtain clusters of the extreme points, and a position of a moving target is determined according to each cluster. Therefore, the apparatus of the second aspect of the embodiments of the present application can reduce the influence of the interference signal on the detection result, and improve the accuracy of the detection.
Third aspect of the embodiments
A third aspect of an embodiment of the present application provides an electronic device, including: an apparatus for detecting a moving object as described in the second aspect of the embodiments.
Fig. 9 is a schematic configuration diagram of an electronic apparatus according to the third aspect of the embodiment. As shown in fig. 9, the electronic device 900 may include: a Central Processing Unit (CPU)901 and a memory 902; the memory 902 is coupled to the central processor 901. Wherein the memory 902 can store various data; a program for performing control is also stored, and is executed under the control of the central processor 901.
In one embodiment, the functions in the apparatus 800 for detecting a moving object may be integrated into the central processor 901.
The central processor 901 may be configured to execute the method for detecting a moving object according to the first aspect of the embodiment.
Further, as shown in fig. 9, the electronic device 900 may further include: an input/output unit 903, a display unit 904, and the like; the functions of the above components are similar to those of the prior art, and are not described in detail here. It is noted that the electronic device 900 does not necessarily include all of the components shown in FIG. 9; furthermore, the electronic device 900 may also comprise components not shown in fig. 9, reference being made to the prior art.
For example, the electronic device 900 may have the wireless signal transceiving apparatus 100 of fig. 1 so as to have a function of transmitting and receiving a wireless signal. Thus, the functions of the wireless signal transmitting and receiving device 100 and the function of the device 800 for detecting a moving object can be integrated into the electronic apparatus 900.
Embodiments of the present application further provide a computer-readable program, where when the program is executed in an apparatus or an electronic device for detecting a moving object, the program causes the apparatus or the electronic device for detecting a moving object to execute the method for detecting a moving object according to the first aspect of the embodiments.
The present invention further provides a storage medium storing a computer-readable program, where the storage medium stores the computer-readable program, and the computer-readable program enables an apparatus or an electronic device for detecting a moving object to execute the method for detecting a moving object according to the first aspect of the embodiments.
The measurement devices described in connection with the embodiments of the invention may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. For example, one or more of the functional block diagrams and/or one or more combinations of the functional block diagrams illustrated in the figures may correspond to individual software modules, or may correspond to individual hardware modules of a computer program flow. These software modules may correspond to the respective steps shown in embodiment 1. These hardware modules may be implemented, for example, by solidifying these software modules using a Field Programmable Gate Array (FPGA).
A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium; or the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The software module may be stored in the memory of the mobile terminal or in a memory card that is insertable into the mobile terminal. For example, if the electronic device employs a MEGA-SIM card with a larger capacity or a flash memory device with a larger capacity, the software module may be stored in the MEGA-SIM card or the flash memory device with a larger capacity.
One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described with respect to the figures may be implemented as a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof designed to perform the functions described herein. One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described with respect to the figures may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP communication, or any other such configuration.
The present application has been described in conjunction with specific embodiments, but it should be understood by those skilled in the art that these descriptions are intended to be illustrative, and not limiting. Various modifications and adaptations of the present application may occur to those skilled in the art based on the teachings herein and are within the scope of the present application.
With respect to the embodiments including the above embodiments, the following remarks are also disclosed:
1. an apparatus for detecting a moving object, the apparatus comprising:
a first processing unit, which obtains a Range-Azimuth distribution map of a frame corresponding to a period of time according to multi-antenna echo signals received at a plurality of moments within the period of time;
a second processing unit, configured to obtain a set of extreme points of a Range-Azimuth profile for a plurality of frames over a first time period (i.e., a longer time, such as 10 frames), wherein the first time period includes a plurality of the periods, and each period corresponds to a frame of Range-Azimuth profile;
the third processing unit is used for clustering the set of the extreme points to obtain clusters of the extreme points; and
and the fourth processing unit determines the position of each moving target according to the central position of each cluster.
2. The apparatus for detecting a moving object according to supplementary note 1, wherein the apparatus further comprises:
and the fifth processing unit judges whether the moving target with the determined position is the moving target to be tracked.
3. The apparatus for detecting a moving object according to supplementary note 2, wherein judging whether the moving object whose position is determined is a moving object to be tracked includes:
and if the existing moving target does not exist in the preset range of the central point of the cluster corresponding to the moving target with the determined position, and the central point of the cluster corresponding to the moving target with the determined position exists in a preset position (the preset position is a position corresponding to the portal for example), judging the moving target with the determined position as the moving target to be tracked.
4. The apparatus for detecting a moving object according to supplementary note 2, wherein determining whether the moving object whose position is determined is a moving object to be tracked includes:
if there is an existing moving object within a predetermined range of the center point of the cluster corresponding to the moving object whose position is determined, or there is no existing moving object within a predetermined range of the center point of the cluster corresponding to the moving object whose position is determined and the center point of the cluster corresponding to the moving object whose position is determined does not exist at a predetermined position (the predetermined position is, for example, "a position corresponding to a portal"),
and not judging the moving target with the determined position as the moving target to be tracked.
5. The apparatus for detecting a moving object according to supplementary note 1, wherein the apparatus further comprises:
and the sixth processing unit is used for tracking the known moving target to be tracked and acquiring the moving track information of the known moving target to be tracked.
6. The apparatus for detecting a moving object according to supplementary note 5, wherein the apparatus further comprises:
and the seventh processing unit is used for judging whether to continue track-tracking the known moving target to be tracked or stop track-tracking the known moving target to be tracked (and deleting the moving track of the known moving target to be tracked) for the known moving target to be tracked.
7. The apparatus for detecting a moving object according to supplementary note 6, wherein determining whether to continue or stop tracking the known moving object to be tracked includes:
if the motion trajectory of the known moving object to be tracked starts from a predetermined position (the predetermined position is, for example, "a position corresponding to a portal"), the maximum fluctuation value in the range-azimuth distribution map corresponding to a range bin (i.e., within a predetermined range) near the range bin at the previous time of the known moving object to be tracked is greater than a first threshold, and the duration of the motion trajectory of the known moving object to be tracked is greater than a second threshold,
then the track tracking of the known moving target to be tracked is determined to be continued.
8. The apparatus for detecting a moving object described in supplementary note 7, wherein the seventh processing unit is further configured to:
and calculating the position of the known moving target to be tracked at the current moment according to the position of the fluctuation maximum value corresponding to the nearby distance frequency point in a distance-Azimuth distribution map.
9. The apparatus for detecting a moving object according to supplementary note 6, wherein determining whether to continue or stop tracking the known moving object to be tracked includes:
if the motion trajectory of the known moving object to be tracked does not start from a predetermined position (the predetermined position is, for example, "a position corresponding to a portal"); alternatively, the first and second electrodes may be,
if the known motion trajectory of the moving object to be tracked starts from a predetermined position (the predetermined position is, for example, "a position corresponding to a portal"), the maximum fluctuation value in the range-azimuth distribution map corresponding to a distance frequency point (i.e., within a predetermined range) near the distance frequency point at the previous time of the known moving object to be tracked is greater than a first threshold value, the duration of the motion trajectory of the moving object to be tracked is less than or equal to a second threshold value, and the duration of the motion trajectory of the moving object to be tracked is less than or equal to a third threshold value,
then the track tracking of the known moving target to be tracked is determined to stop.
10. The apparatus for detecting a moving object according to supplementary note 1, wherein a Range-Azimuth (Range-Azimuth) distribution map of a frame corresponding to a period of time is obtained according to multi-antenna echo signals received at a plurality of time points within the period of time, comprising:
performing Range (Range) FFT on multi-antenna echo signals received at a plurality of moments in a period of time to acquire multi-antenna Range FFT data at the plurality of moments in the period of time;
performing Angle (Angle) FFT on Range FFT data at each distance frequency point in the multi-antenna Range FFT data to obtain Angle FFT amplitudes at all the distance frequency points, wherein the Angle FFT amplitude corresponding to each distance frequency point at one moment is an Angle FFT amplitude matrix, and the Angle FFT amplitude matrix comprises the amplitudes of all the Angle frequency points in the horizontal direction and the amplitudes of all the Angle frequency points in the vertical direction;
calculating a first amplitude corresponding to each horizontal direction angular frequency point corresponding to each distance frequency point at each moment according to an Angle FFT amplitude matrix corresponding to each distance frequency point at each moment; and
for each distance frequency point, calculating the standard deviation of all the first amplitudes of each horizontal direction angle frequency point corresponding to the distance frequency point in the period of time (if one distance frequency point corresponds to n horizontal direction angle frequency points, n standard deviations can be obtained), and generating a Range-Azimuth angle (Range-Azimuth) distribution graph according to each distance frequency point, each horizontal direction angle frequency point and the standard deviations corresponding to the distance frequency point and the horizontal direction angle frequency point.
11. The apparatus for detecting a moving object according to supplementary note 10, wherein calculating a first amplitude corresponding to each horizontal direction angular frequency point corresponding to each distance frequency point at each time according to an Angle FFT amplitude matrix corresponding to each distance frequency point at each time includes:
and in an Angle FFT amplitude matrix corresponding to each distance frequency point in each moment, calculating the maximum value or the average value of the amplitudes of the vertical direction Angle frequency points corresponding to each horizontal direction Angle frequency point as the first amplitude for each horizontal direction Angle frequency point.
12. An electronic apparatus having the device for detecting a moving object described in any of supplementary notes 1 to 11.
13. A method of detecting a moving object, comprising:
obtaining a Range-Azimuth distribution map of a frame corresponding to a period of time according to multi-antenna echo signals received at a plurality of moments within the period of time;
obtaining a set of extreme points of a Range-Azimuth profile for a plurality of frames over a first time period (i.e., a longer time, such as 10 frames), wherein the first time period includes a plurality of the periods, each of the periods corresponding to a frame of the Range-Azimuth profile;
clustering the set of extreme points to obtain clusters of the extreme points; and
and determining the position of each moving target according to the central position of each cluster.
14. The method of detecting a moving object described in supplementary note 13, wherein the method further comprises:
and judging whether the moving target with the determined position is the moving target to be tracked or not.
15. The method for detecting a moving object described in supplementary note 14, wherein determining whether or not the moving object whose position is determined is a moving object to be tracked includes:
and if the existing moving target does not exist in the preset range of the central point of the cluster corresponding to the moving target with the determined position, and the central point of the cluster corresponding to the moving target with the determined position exists in a preset position (the preset position is a position corresponding to the portal for example), judging the moving target with the determined position as the moving target to be tracked.
16. The method for detecting a moving object described in supplementary note 14, wherein determining whether the moving object whose position is determined is a moving object to be tracked includes:
if there is an existing moving object within a predetermined range of the center point of the cluster corresponding to the moving object whose position is determined, or there is no existing moving object within a predetermined range of the center point of the cluster corresponding to the moving object whose position is determined and the center point of the cluster corresponding to the moving object whose position is determined does not exist at a predetermined position (the predetermined position is, for example, "a position corresponding to a portal"),
and not judging the moving target with the determined position as the moving target to be tracked.
17. The method of detecting a moving object described in supplementary note 13, wherein the method further comprises:
and tracking the known moving target to be tracked to obtain the moving track information of the known moving target to be tracked.
18. The method of detecting a moving object described in supplementary note 17, wherein the method further comprises:
and for the known moving target to be tracked, judging whether to continue to track the known moving target to be tracked or stop tracking the known moving target to be tracked (and deleting the moving track of the known moving target to be tracked).
19. The method for detecting a moving object according to supplementary note 18, wherein determining to continue or stop tracking the known moving object to be tracked includes:
if the motion trajectory of the known moving object to be tracked starts from a predetermined position (the predetermined position is, for example, "a position corresponding to a portal"), the maximum fluctuation value in the range-azimuth distribution map corresponding to a range bin (i.e., within a predetermined range) near the range bin at the previous time of the known moving object to be tracked is greater than a first threshold, and the duration of the motion trajectory of the known moving object to be tracked is greater than a second threshold,
then the track tracking of the known moving target to be tracked is determined to be continued.
20. The method of detecting a moving object described in supplementary note 19, wherein the method further comprises:
and calculating the position of the known moving target to be tracked at the current moment according to the position of the fluctuation maximum value corresponding to the nearby distance frequency point in a distance-Azimuth distribution map.
Claims (10)
1. An apparatus for detecting a moving object, the apparatus comprising:
the first processing unit is used for obtaining a frame distance-azimuth distribution diagram corresponding to a period of time according to multi-antenna echo signals received at a plurality of moments within the period of time;
a second processing unit, configured to obtain a set of extreme points of a multi-frame range-azimuth profile within a first time period, where the first time period includes a plurality of the periods, and each period corresponds to one of the range-azimuth profiles;
the third processing unit is used for clustering the set of the extreme points to obtain clusters of the extreme points; and
and the fourth processing unit determines the position of each moving target according to the central position of each cluster.
2. The apparatus for detecting a moving object of claim 1, wherein the apparatus further comprises:
and the fifth processing unit judges whether the moving target with the determined position is the moving target to be tracked.
3. The apparatus for detecting a moving object according to claim 2, wherein the determining whether the moving object whose position is determined is the moving object to be tracked includes:
and if the existing moving target does not exist in the preset range of the central point of the cluster corresponding to the moving target with the determined position, and the central point of the cluster corresponding to the moving target with the determined position exists in a preset position, judging the moving target with the determined position as the moving target to be tracked.
4. The apparatus for detecting a moving object according to claim 2, wherein the determining whether the moving object whose position is determined is the moving object to be tracked includes:
if there is an existing moving object in the predetermined range of the center point of the cluster corresponding to the moving object whose position is determined, or there is no existing moving object in the predetermined range of the center point of the cluster corresponding to the moving object whose position is determined and the center point of the cluster corresponding to the moving object whose position is determined does not exist in the predetermined position,
and not judging the moving target with the determined position as the moving target to be tracked.
5. The apparatus for detecting a moving object of claim 1, wherein the apparatus further comprises:
and the sixth processing unit is used for tracking the known moving target to be tracked and acquiring the moving track information of the known moving target to be tracked.
6. The apparatus for detecting a moving object of claim 5, wherein the apparatus further comprises:
and the seventh processing unit judges whether to continue the track tracking of the known moving target to be tracked or stop the track tracking of the known moving target to be tracked for the known moving target to be tracked.
7. The apparatus for detecting a moving object as claimed in claim 6, wherein the determining to continue or stop the trajectory tracking of the known moving object to be tracked comprises:
if the motion track of the known moving target to be tracked starts from a preset position, the maximum fluctuation value in the distance-azimuth distribution diagram corresponding to the distance frequency point near the distance frequency point at the previous moment of the known moving target to be tracked is larger than a first threshold value, and the duration of the motion track of the known moving target to be tracked is larger than a second threshold value,
then the track tracking of the known moving target to be tracked is determined to be continued.
8. The apparatus for detecting a moving object of claim 7, wherein the seventh processing unit is further configured to:
and calculating the position of the known moving target to be tracked at the current moment according to the position of the fluctuation maximum value corresponding to the nearby distance frequency point in the distance-azimuth distribution diagram.
9. The apparatus for detecting a moving object as claimed in claim 6, wherein the determining to continue or stop the trajectory tracking of the known moving object to be tracked comprises:
if the motion track of the known motion target to be tracked does not start from the preset position; alternatively, the first and second electrodes may be,
if the motion track of the known moving target to be tracked starts from a preset position, the maximum fluctuation value in the distance-azimuth distribution diagram corresponding to the distance frequency point near the distance frequency point at the previous moment of the known moving target to be tracked is larger than a first threshold value, the duration of the motion track of the moving target to be tracked is smaller than or equal to a second threshold value, and the duration of the motion track of the moving target to be tracked is smaller than or equal to a third threshold value,
then the track tracking of the known moving target to be tracked is determined to stop.
10. An electronic device having the apparatus for detecting a moving object of any one of claims 1-9.
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