CN117872353A

CN117872353A - Target object detection method, target object detection device, electronic equipment and storage medium

Info

Publication number: CN117872353A
Application number: CN202311685921.1A
Authority: CN
Inventors: 赵端
Original assignee: Anhui Ousiwei Technology Co ltd
Current assignee: Anhui Ousiwei Technology Co ltd
Priority date: 2023-12-06
Filing date: 2023-12-06
Publication date: 2024-04-12

Abstract

The embodiment of the application discloses a target object detection method, a target object detection device, electronic equipment and a storage medium, wherein the target object detection method comprises the following steps: controlling the first radar to transmit a first transmission signal; the second radar is controlled to receive a first reflection signal corresponding to the first transmission signal, the first reflection signal is analyzed to obtain first real-time channel information, and the first transmission process is a process that the first transmission signal is transmitted to an object and then reflected to the second radar by the object; controlling the first radar to receive a second reflected signal corresponding to the first transmitted signal, analyzing the second reflected signal to obtain second real-time channel information, wherein the second transmission process is a process that the first transmitted signal is transmitted to an object and then reflected to the first radar by the object; and determining a first target object detection result according to the first real-time channel information and the second real-time channel information. By implementing the embodiment of the application, the detection range of the radar can be enlarged, the detection blind area of the radar is reduced, and the accuracy of the radar on target object detection is improved.

Description

Target object detection method, target object detection device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of signal processing technologies, and in particular, to a target object detection method, a device, an electronic device, and a storage medium.

Background

The radar is an electronic device that detects a target using electromagnetic waves, and transmits electromagnetic waves to the target and receives echoes thereof, thereby obtaining information of a distance, a speed, an angle, and the like from the target to an electromagnetic wave transmission point. The radar is divided into a beyond-the-horizon radar, a microwave radar, a millimeter wave radar, a laser radar and the like according to the frequency range of the radar. With the continuous progress of technology and the continuous change of customer demands, the application of civil radars is more and more extensive, and the application of the civil radars is mainly applied to the fields of automobile radars, air traffic control radars, weather radars and the like. Taking an automobile radar as an example, the radar can be arranged in a vehicle, and the radar is used for monitoring the condition of an object in the vehicle, but when the radar is applied to the vehicle for detecting a target, more detection dead zones exist, so that the detection result of the target object is inaccurate.

Disclosure of Invention

The embodiment of the application discloses a target object detection method, a target object detection device, electronic equipment and a storage medium, which can enlarge the detection range of a radar and reduce the detection blind area of the radar, thereby improving the accuracy of the radar on target object detection.

The embodiment of the application discloses a target object detection method which is applied to control equipment, wherein the control equipment is in communication connection with a radar module, and the radar module at least comprises a first radar and a second radar; the method comprises the following steps:

controlling the first radar to transmit a first transmission signal;

controlling the second radar to receive a first reflected signal corresponding to the first transmitted signal, and analyzing the first reflected signal to obtain first real-time channel information, wherein the first real-time channel information is used for reflecting channel attenuation and distortion conditions corresponding to the first transmitted signal in a first transmission process, and the first transmission process is a process that the first transmitted signal is transmitted to an object and then reflected to the second radar by the object;

controlling the first radar to receive a second reflected signal corresponding to the first transmitted signal, and analyzing the second reflected signal to obtain second real-time channel information, wherein the second real-time channel information is used for reflecting the channel attenuation and distortion conditions corresponding to the first transmitted signal in a second transmission process, and the second transmission process is a process that the first transmitted signal is transmitted to an object and then reflected to the first radar by the object;

And determining a first target object detection result according to the first real-time channel information and the second real-time channel information.

In the embodiment of the application, under the condition that the first radar sends the first sending signal, the first radar and the second radar respectively receive the reflected signal of the first sending signal after being reflected by the object, and a plurality of real-time channel information is obtained based on analysis of the reflected signals respectively received by the first radar and the second radar, so that a target detection result can be determined by combining the plurality of real-time channel information, the detection area of the radar is enlarged, the detection blind area of the radar is reduced, and the accuracy of the radar on target object detection is improved.

As an optional implementation manner, the second radar and the first radar are located in the same spatial area, and before determining the first target object detection result according to the first real-time channel information and the second real-time channel information, the method further includes:

acquiring first standard channel information and second standard channel information; the first standard channel information is real-time channel information corresponding to a first transmission signal sent by the first radar in the first transmission process under the condition that the space region is in a stable state; the second standard channel information is real-time channel information corresponding to a first transmission signal sent by the first radar in the second transmission process under the condition that the space region is in a stable state;

The determining a first target object detection result according to the first real-time channel information and the second real-time channel information includes:

and determining a first target object detection result according to a first difference condition between the first standard channel information and the first real-time channel information and a second difference condition between the second standard channel information and the second real-time channel information.

According to the embodiment, the target detection result can be accurately and efficiently determined according to the first difference condition between the first standard channel information and the first real-time channel information acquired in the stable state of the space region and the second difference condition between the second standard information and the second real-time channel information acquired in the stable state of the space region, so that the accuracy and the efficiency of the radar on target object detection are improved; and the target detection result is determined by combining a plurality of difference conditions, so that the area of radar signals can be enlarged, and the detection blind area of the radar is reduced.

As an optional implementation manner, before the acquiring the first standard channel information and the second standard channel information, the method further includes:

analyzing real-time channel information corresponding to a first transmission signal sent by the first radar in the first transmission process to obtain a first change characteristic corresponding to a channel impulse response, and analyzing real-time channel information corresponding to the first transmission signal sent by the first radar in the second transmission process to obtain a second change characteristic corresponding to the channel impulse response;

And under the condition that the first change characteristic and the second change characteristic are determined to be in accordance with the preset change characteristic, determining that the space region is in a stable state, determining real-time channel information corresponding to the first change characteristic as first standard channel information, and determining real-time channel information corresponding to the second change characteristic as second standard channel information.

By the embodiment, whether the space region is in a stable state can be accurately determined according to the change characteristics corresponding to the channel impulse response contained in the real-time channel information, so that standard channel information for determining the target detection result can be obtained, and the accuracy and the efficiency for determining the target detection result are improved.

As an alternative embodiment, the second radar is in the same spatial region as the first radar; the determining a first target object detection result according to the first real-time channel information and the second real-time channel information includes:

determining whether a target object exists in the space region according to first change information corresponding to the first real-time channel information, wherein the first change information comprises one or more of an amplitude change value, a time delay change value and a phase change value corresponding to channel impulse response; and/or the number of the groups of groups,

And determining whether a target object exists in the space region according to second change information corresponding to the second real-time channel information, wherein the second change information comprises one or more of an amplitude change value, a time delay change value and a phase change value corresponding to channel impulse response.

By the above embodiment, since the spatial region may include living objects and non-living objects, the influence of each object on the real-time channel information is different, so that the type of the object in the spatial region can be determined according to the change information corresponding to the channel impulse response included in the real-time channel information, so that whether the target object exists can be accurately and efficiently, and the accuracy and efficiency of the target object detection can be improved.

As an alternative embodiment, the target object includes a living object; the determining whether the target object exists in the space area according to the first change information corresponding to the first real-time channel information includes:

under the condition that the first change information corresponding to the first real-time channel information accords with a preset vital sign, determining that a living object exists in the space region; the preset vital sign is a change feature generated after the first transmission signal is reflected by the living body object;

The determining whether the target object exists in the space area according to the second change information corresponding to the second real-time channel information includes:

determining that a living object exists in the space region under the condition that second change information corresponding to the second real-time channel information accords with a preset vital sign; the preset vital sign is a change feature generated after the first transmission signal is reflected by the living object.

Through the embodiment, whether living objects exist in the space area or not can be accurately judged according to whether the change information corresponding to the real-time channel information accords with the preset vital signs or not, the detection area of radar signals is enlarged, the detection blind area of the radar is reduced, the accuracy of detecting the living objects by the radar is improved, the existence of living objects in a vehicle can be accurately detected under the application scene of the closed space such as the vehicle, and the safety of the child can be improved under the condition that the living objects such as the child or the pet exist.

As an optional implementation manner, after the analyzing the first reflected signal to obtain first real-time channel information, the method further includes:

Detecting a peak of a channel impulse response contained in the first real-time channel information;

if any wave crest exists between the first time and the second time, acquiring a third time corresponding to the wave crest between the first time and the second time; the first time is the time when the first radar sends a first transmission signal, and the second time is the time when the second radar receives a first reflection signal corresponding to the first transmission signal;

determining a distance between the first radar and the object according to a time difference between the first time and the third time; and/or determining a distance between the second radar and the object according to a time difference between the third moment and the second moment.

Through the embodiment, the third moment when the first transmitting signal is reflected by the object can be determined directly according to the peak of the channel impulse response contained in the real-time channel information, so that the distance measurement between the first radar and the object is realized based on the time difference between the first moment and the third moment, and the distance measurement between the second radar and the object is realized based on the time difference between the third moment and the second moment, and the distance measurement can be realized efficiently and accurately; and the radar target object detection function and the ranging function are integrated, so that the power consumption of a radar system is reduced, and the instantaneity of the radar target object detection function and the ranging function is improved.

As an optional implementation manner, after the determining the first target object detection result according to the first real-time channel information and the second real-time channel information, the method further includes:

controlling the second radar to send a second transmission signal;

controlling the first radar to receive a third reflected signal corresponding to the second transmitted signal, and analyzing the third reflected signal to obtain third real-time channel information, wherein the third real-time channel information is used for reflecting the channel attenuation and distortion conditions corresponding to the second transmitted signal in a third transmission process, and the third transmission process is a process that the second transmitted signal is transmitted to an object and then reflected to the first radar by the object;

controlling the second radar to receive a fourth reflected signal corresponding to the second transmitted signal, and analyzing the fourth reflected signal to obtain fourth real-time channel information, wherein the fourth real-time channel information is used for reflecting the channel attenuation and distortion conditions corresponding to the second transmitted signal in a fourth transmission process, and the fourth transmission process is a process that the second transmitted signal is transmitted to an object and then reflected to the second radar by the object;

And determining a second target object detection result according to the third real-time channel information and the fourth real-time channel information.

According to the embodiment, under the condition that the first radar sends the first sending signal, the first radar and the second radar respectively receive the reflected signals of the first sending signal after being reflected by the object, and a plurality of real-time channel information are obtained through analysis based on the reflected signals respectively received by the first radar and the second radar, so that the first target detection result can be determined by combining the plurality of real-time channel information; then, the first radar and the second radar switch the receiving and transmitting modes, the second radar sends a second transmitting signal, the first radar and the second radar respectively receive a reflected signal of the second transmitting signal after being reflected by an object, and a plurality of real-time channel information is obtained based on analysis of the reflected signals respectively received by the first radar and the second radar, so that a second target detection result can be determined by combining the plurality of real-time channel information, a plurality of target detection results are obtained through switching the receiving and transmitting modes of the first radar and the second radar, the detection area of the radar is enlarged, the detection blind area of the radar is reduced, and the accuracy of the radar on target object detection is improved.

The embodiment of the application discloses a target object detection device which is applied to control equipment, wherein the control equipment is in communication connection with a radar module, and the radar module at least comprises a first radar and a second radar; the device comprises:

the transmitting module is used for controlling the first radar to transmit a first transmitting signal;

the first receiving module is used for controlling the second radar to receive a first reflected signal corresponding to the first transmitting signal, analyzing the first reflected signal to obtain first real-time channel information, wherein the first real-time channel information is used for reflecting the channel attenuation and distortion conditions corresponding to the first transmitting signal in a first transmission process, and the first transmission process is a process that the first transmitting signal is transmitted to an object and then reflected to the second radar by the object;

the second receiving module is used for controlling the first radar to receive a second reflected signal corresponding to the first transmitting signal, analyzing the second reflected signal to obtain second real-time channel information, wherein the second real-time channel information is used for reflecting the channel attenuation and distortion conditions corresponding to the first transmitting signal in a second transmission process, and the second transmission process is a process that the first transmitting signal is transmitted to an object and then reflected to the first radar by the object;

And the determining module is used for determining a first target object detection result according to the first real-time channel information and the second real-time channel information.

The embodiment of the application discloses electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to realize the method in any embodiment disclosed in the embodiment of the application.

The present application discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to perform the method of any of the embodiments disclosed in the present application.

Compared with the related art, the embodiment of the application discloses a target object detection method, a target object detection device, electronic equipment and a storage medium, and the method has the following beneficial effects:

controlling a first radar to send a first transmission signal, controlling a second radar to receive a first reflection signal corresponding to the first transmission signal, and analyzing the first reflection signal to obtain first real-time channel information, wherein the first real-time channel information can reflect channel attenuation and distortion conditions corresponding to the first transmission signal in a first transmission process, and the first transmission process is a process that the first transmission signal is transmitted to an object and then reflected to the second radar by the object; controlling the first radar to receive a second reflected signal corresponding to the first transmitted signal, and analyzing the second reflected signal to obtain second real-time channel information, wherein the second real-time channel information can reflect the channel attenuation and distortion conditions corresponding to the first transmitted signal in a second transmission process, and the second transmission process is a process that the first transmitted signal is transmitted to an object and then reflected to the first radar by the object; and determining a first target object detection result according to the first real-time channel information and the second real-time channel information. In the embodiment of the application, under the condition that the first radar sends the first sending signal, the first radar and the second radar respectively receive the reflected signal of the first sending signal after being reflected by the object, and a plurality of real-time channel information is obtained based on analysis of the reflected signals respectively received by the first radar and the second radar, so that a target detection result can be determined by combining the plurality of real-time channel information, the detection area of the radar is enlarged, the detection blind area of the radar is reduced, and the accuracy of the radar on target object detection is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed 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 application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an application scenario of a target object detection method in one embodiment;

FIG. 2 is a flow diagram of a method of target object detection in one embodiment;

FIG. 3 is a flow chart of a method of detecting a target object in another embodiment;

FIG. 4a is a schematic diagram of a channel impulse response in one embodiment;

FIG. 4b is a schematic diagram of a channel impulse response in another embodiment;

FIG. 5a is a schematic diagram of the operation of a first radar and a second radar in one embodiment;

FIG. 5b is a schematic diagram of the operation of the first radar and the second radar in another embodiment;

FIG. 6 is a flow chart of a method of detecting a target object in another embodiment;

FIG. 7 is a flow chart of a method of detecting a target object in another embodiment;

FIG. 8 is a schematic diagram of a structure of a target object detection apparatus in one embodiment;

Fig. 9 is a schematic diagram of the structure of an electronic device in one embodiment.

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments and figures herein are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

In the related art, radar technology may be applied to child presence detection (Child Presence Detection, CPD), and radar may be used to detect the presence of a child or other organism inside a vehicle. Radar systems use radio waves to detect objects and can identify small movements, such as breathing or heart beats. The radar transmitter emits radio waves. When these radio waves encounter objects, they are reflected back to the radar receiver. By analyzing these reflected waves, the radar can determine the position, size, and motion of the object.

Unlike optical sensors or cameras, radar can penetrate some objects, such as carpets or infant seats, to more accurately detect children in a vehicle. Radar systems typically consume less power than other solutions, which means that they can be operated for a long period of time after the vehicle is shut down or locked without having a significant impact on the vehicle battery. Compared with a camera or other vision systems, the radar cannot capture images, so that the privacy of passengers in the vehicle is protected.

In summary, radar technology provides an efficient, accurate and privacy-friendly solution for child presence detection, helping to improve the safety inside the vehicle. Among the many radar schemes, ultra-Wideband (UWB) -based schemes have unique advantages. UWB can be used for both vehicle security keys, radar applications, and child presence detection, so vehicle manufacturers can save cost and space by integrating these functions, rather than installing separate hardware for each function. Since UWB can meet the needs of multiple applications, this can simplify the system integration and design of the vehicle, thereby reducing complexity and potential points of failure.

However, due to the limitation of antenna layout, the conventional UWB radar has a dead angle for detection in the application in the vehicle, and in order to increase the detection range, only a plurality of nodes can be arranged, which brings about an increase in cost and a waste of space.

The embodiment of the application discloses a target object detection method, a target object detection device, electronic equipment and a storage medium, which can reduce detection blind areas of a radar and improve the accuracy of the radar on target object detection. The following will describe in detail.

Referring to fig. 1, fig. 1 is a schematic diagram of an application scenario of a target object detection method in an embodiment. As shown in fig. 1, taking an automotive radar application scenario as an example, a vehicle may be provided with a control device 10 and a radar module, where the control device 10 may be communicatively connected to the radar module, and the radar module may include a plurality of radars.

Each of the radars in the radar module may include an ultrasonic radar, a millimeter wave radar, an Ultra-Wideband (UWB) radar, and the like. The UWB radar determines the position and speed of a target by transmitting an ultra-wideband pulse signal and measuring the time delay and amplitude of the ultra-wideband pulse signal. The ultra-wideband pulse signal has very wide bandwidth, very short pulse width and very high peak power, and can penetrate through obstacles and be detected in complex environments.

In some embodiments, the radar module includes at least a first radar 20 and a second radar 30. The first radar 20 and the second radar are any one of the radar modules.

The first radar 20 and the second radar 30 may transmit transmission signals in different directions, respectively, to detect whether a dynamic target object such as a person, a pet, etc. exists inside the vehicle.

The control device 10 is an electronic device for controlling each radar in the radar module to transmit a transmission signal and receive a reflection signal. Alternatively, the control device 10 may be a controller dedicated to controlling and managing the radar system in the vehicle; alternatively, the control device 10 may be a vehicle electronic control unit (Electronic Control Unit, ECU), which is a kind of microcontroller that can be used to manage the electronic system of the whole vehicle and participate in the control of the radar system, without limitation in particular.

The control device 10 may be communicatively coupled to each of the radars in the radar module via an electrical connection that allows the control device 10 to send commands to the radar and receive data or feedback data from the radar, which may include a cable connection, or via a serial communication protocol, such as via a controller area network (Controller Area Network, CAN), local interconnect network (Local Interconnect Network, LIN), ethernet (Ethernet), or the like.

In some embodiments, the control device 10 is communicatively connected to a radar module comprising at least a first radar 20 and a second radar 30; the control device 10 controls the first radar 20 to transmit a first transmission signal; the control device 10 controls the second radar 30 to receive a first reflected signal corresponding to the first transmitted signal, and analyzes the first reflected signal to obtain first real-time channel information, where the first real-time channel information is used to reflect channel attenuation and distortion conditions corresponding to the first transmitted signal in a first transmission process, and the first transmission process is a process that the first transmitted signal is transmitted to an object and then reflected to the second radar 30 by the object; the control device 10 controls the first radar 20 to receive a second reflected signal corresponding to the first transmitted signal, and analyzes the second reflected signal to obtain second real-time channel information, where the second real-time channel information is used to reflect channel attenuation and distortion conditions corresponding to the first transmitted signal in a second transmission process, and the second transmission process is a process that the first transmitted signal is transmitted to an object and then reflected to the first radar 20 by the object; the control device 10 determines a first target object detection result according to the first real-time channel information and the second real-time channel information.

Referring further to fig. 2, fig. 2 is a flow chart illustrating a method for detecting a target object according to an embodiment; the target object detection method can be applied to the control equipment, and the control equipment is in communication connection with the radar module which at least comprises a first radar and a second radar. As shown in fig. 2, the target object detection method may include the steps of:

201. the first radar is controlled to transmit a first transmit signal.

The first transmit signal is a transmit signal transmitted by the first radar. The kind of the transmission signal is determined according to the type of the first radar, which may be an ultra wideband pulse signal, for example, UWB.

The first transmitted signal from the first radar is reflected by the object in case of an impact on the object. Taking a radar module disposed in a vehicle as an example, a first transmission signal sent by a first radar in the radar module may be reflected by an object in the vehicle, such as an inner wall of the vehicle, a seat, a door, a floor, and a person, an animal, etc. in the vehicle.

202. And controlling the second radar to receive a first reflected signal corresponding to the first transmitted signal, and analyzing the first reflected signal to obtain first real-time channel information.

The control device may send control instructions to the second radar to control the second radar to switch the operating mode, such as from a transmitting mode to a receiving mode. The transmitting mode is a mode for transmitting a transmitting signal, and the receiving mode is a mode for receiving a reflected signal.

In the case that the second radar is switched to the receiving mode, the second radar may receive a first reflected signal corresponding to the first transmitted signal.

The first reflected signal is a signal that is reflected by the object and received by the second radar, and may also be referred to as an echo signal, and refers to a signal that returns after being reflected, scattered, or absorbed by the object after the first reflected signal interacts with the object.

The control device may analyze the first reflected signal received by the second radar to obtain first real-time channel information. The first real-time channel information may be used to reflect the channel attenuation and distortion of the first transmit signal corresponding to the first transmit signal during the first transmission process, where the first transmit signal is transmitted to the object and then reflected by the object to the second radar. The channel attenuation and distortion conditions may include conditions in which the first transmit signal is affected by noise, fading, multipath effects, and the like during the first transmission.

By analyzing the first real-time channel information, the propagation delay, the fading degree and the influence degree of multipath effect on the signal in the channel can be known.

The first real-time channel information may include real-time channel information such as signal delay, signal amplitude, signal phase, etc. In some embodiments, the first real-time channel information may include a channel impulse response (Channel Impulse Response, CIR), which refers to the response of a channel to a pulse signal when the pulse signal is input in the channel. In general, the response of a channel is influenced by noise, fading, multipath effect and other factors in the transmission process of the signal, and the propagation delay, the fading degree and the influence degree of multipath effect on the signal in the channel can be known through analysis of the CIR. The CIR may be expressed as a function in the time domain describing the time-varying characteristics of the channel to the signal. In the time domain, the CIR may be represented by a series of pulse functions. By observing the pulse position in the CIR, the time required for the signal to traverse the channel can be determined, thereby estimating the propagation delay of the signal; by observing the amplitude value change of the pulse in the CIR, the fading condition of the signal in the transmission process can be determined; by observing the multiple pulses in the CIR, the multipath effects of the channel can be analyzed, i.e., the effects of multiple paths to which the signal is subjected during transmission are known.

203. And controlling the first radar to receive a second reflected signal corresponding to the first transmitted signal, and analyzing the second reflected signal to obtain second real-time channel information.

The control device may send control instructions to the first radar to control the first radar to switch the operating mode, such as from a transmitting mode to a receiving mode.

In the case that the first radar is switched to the receiving mode, the first radar may receive a second reflected signal corresponding to the first transmitted signal.

The second reflected signal is a signal received by the first radar after the first transmitted signal is reflected by the object.

The control device may analyze the second reflected signal received by the first radar to obtain second real-time channel information. The second real-time channel information is used for reflecting the corresponding channel attenuation and distortion conditions of the first transmission signal in a second transmission process, and the second transmission process is a process that the first transmission signal is transmitted to an object and then reflected to the first radar by the object. The channel attenuation and distortion conditions may include conditions in which the first transmit signal is affected by noise, fading, multipath effects, and the like during the second transmission.

By analyzing the second real-time channel information, the propagation delay, the fading degree and the influence degree of multipath effect on the signal in the channel can be known.

The second real-time channel information may include real-time channel information such as signal delay, signal amplitude, signal phase, etc. In some embodiments, the second real-time channel information may include a channel impulse response (Channel Impulse Response, CIR), and for a specific description of the CIR, reference is made to the description in the above embodiments, which is not repeated.

204. And determining a first target object detection result according to the first real-time channel information and the second real-time channel information.

The first target object detection result may include an object existing around the first radar and the second radar, a distance between the object and the radar, a state of the object (a moving state or a stationary state), a kind of the object (a living body or a non-living body), and the like.

It is assumed that in a first transmission process in which a first transmission signal is transmitted to an object and then reflected by the object to a second radar, the first radar and the second radar are fixed in layout, the respective objects are fixed in layout, no dynamic object exists, and the like, and the first real-time channel information is relatively stable in performance and does not change greatly. If additional objects are present during the first transmission, the first real-time channel information may exhibit a large change, such that it may be determined that additional objects are present around the first radar and the second radar. Further, according to the position corresponding to the larger change of the first real-time channel information, the distance between the object and each radar can be determined; and further analyzing the change condition of the first real-time channel information, the state of the object and the type of the object can be determined.

Similarly, it is assumed that in the second transmission process in which the first transmission signal is transmitted to the object and then reflected by the object to the first radar, the layout of the first radar and the second radar is fixed, the layout of each object is fixed, there is no dynamic object, and the like, and the second real-time channel information is relatively stable in performance and does not have great variation. If additional objects are present during the second transmission, the second real-time channel information will show a larger change, so that it can be determined that additional objects are present or moving objects are present around the first radar and the second radar. Further, according to the position corresponding to the larger change of the second real-time channel information, the distance between the object and each radar can be determined; and further analyzing the change condition of the second real-time channel information, the state of the object and the type of the object can be determined.

In the embodiment of the application, under the condition that the first radar sends the first sending signal, the first radar and the second radar respectively receive the reflected signal of the first sending signal after being reflected by the object, and a plurality of real-time channel information is obtained based on analysis of the reflected signals respectively received by the first radar and the second radar, so that a target detection result can be determined by combining the plurality of real-time channel information, the detection area of the radar signal is enlarged, the detection blind area of the radar is reduced, and the accuracy of the radar on target object detection is improved.

Referring to fig. 3, fig. 3 is a flow chart of a target object detection method according to another embodiment; the target object detection method can be applied to the control equipment, and the control equipment is in communication connection with the radar module which at least comprises a first radar and a second radar. As shown in fig. 3, the target object detection method may include the steps of:

301. the first radar is controlled to transmit a first transmit signal.

Wherein the second radar is in the same spatial region as the first radar.

The same spatial region may refer to a region within a certain distance around the first radar and the second radar. Alternatively, the same spatial region may refer to the same vehicle interior, the same aircraft interior, the same room interior, etc., or may refer to an area other than a vehicle, etc.

302. And controlling the second radar to receive a first reflected signal corresponding to the first transmitted signal, and analyzing the first reflected signal to obtain first real-time channel information.

The first real-time channel information is used for reflecting the corresponding channel attenuation and distortion conditions of the first transmitting signal in a first transmission process, and the first transmission process is a process that the first transmitting signal is transmitted to an object and then reflected to the second radar by the object.

303. And controlling the first radar to receive a second reflected signal corresponding to the first transmitted signal, and analyzing the second reflected signal to obtain second real-time channel information.

The second real-time channel information is used for reflecting the corresponding channel attenuation and distortion conditions of the first transmission signal in a second transmission process, and the second transmission process is a process that the first transmission signal is transmitted to an object and then reflected to the first radar by the object.

For the specific implementation of steps 301 to 303, reference may be made to the above embodiments, and details are not repeated.

304. First standard channel information and second standard channel information are acquired.

The first standard channel information is real-time channel information corresponding to a first transmitting signal sent by the first radar in a first transmission process under the condition that a space area is in a stable state; and the second standard channel information is real-time channel information corresponding to the first transmission signal sent by the first radar in the second transmission process under the condition that the space region is in a stable state.

In some embodiments, the steady state includes one or more of the following states: the position of each radar in the space region is fixed, the position of each object in the space region is fixed, and no dynamic object exists in the space region.

In some embodiments, before acquiring the first standard channel information and the second standard channel information, the method further comprises the steps of:

analyzing real-time channel information corresponding to a first transmission signal sent by a first radar in a first transmission process to obtain a first change characteristic corresponding to a channel impulse response, and analyzing real-time channel information corresponding to the first transmission signal sent by the first radar in a second transmission process to obtain a second change characteristic corresponding to the channel impulse response; under the condition that the first change characteristic and the second change characteristic are determined to be consistent with the preset change characteristic, determining that the space region is in a stable state, determining real-time channel information corresponding to the first change characteristic as first standard channel information, and determining real-time channel information corresponding to the second change characteristic as second standard channel information.

In some embodiments, the real-time channel information may include a Channel Impulse Response (CIR). The first variation characteristic may refer to a variation characteristic of the channel impulse response during the first transmission, and the second variation characteristic may refer to a variation characteristic of the channel impulse response during the second transmission, and the variation characteristic may include one or more of an amplitude variation characteristic, a delay variation characteristic, and a phase variation characteristic of the channel impulse response.

If the spatial region is in a steady state, i.e. there is no dynamic target in the spatial region and the respective radar is also stationary, the channel impulse response comprised by the real-time channel information will typically exhibit a dominant peak, which represents the situation where the first transmitted signal is reflected by a direct path and returned to the radar receiver (either the first radar or the second radar). As shown in fig. 4a, fig. 4a is a schematic diagram of the channel impulse response in one embodiment. In some embodiments, the predetermined variation characteristic may be a variation characteristic of the channel impulse response as shown in fig. 4 a.

If there is a dynamic object or moving object in the spatial region, the channel impulse response will typically show multiple peaks, as shown in fig. 4b, and fig. 4b is a schematic diagram of the channel impulse response in another embodiment. These additional peaks may represent the case where multiple reflection paths return to the radar receiver, i.e., multipath effects, the presence of dynamic objects may cause the first transmitted signal to reflect, refract or scatter through multiple different paths and then return to the radar receiver, which reflected signals may be superimposed to form different peaks.

Therefore, under the condition that the first change characteristic and the second change characteristic are determined to be consistent with the preset change characteristic, the space region is determined to be in a stable state. The first standard information corresponding to the first variation characteristic can be used for representing real-time channel information corresponding to the first transmission signal in the first transmission process under the condition that the space region is in a stable state; the second standard information corresponding to the second variation characteristic may be used to characterize real-time channel information corresponding to the first transmission signal in the second transmission process in the case that the spatial region is in a stable state.

305. And determining a first target object detection result according to a first difference condition between the first standard channel information and the first real-time channel information and a second difference condition between the second standard channel information and the second real-time channel information.

The first difference condition is a difference condition between the first standard channel information and the first real-time channel information, and the second difference condition is a difference condition between the second standard channel information and the second real-time channel information. The difference conditions may include, among others, the shape of the channel impulse response, the number of peaks, as well as peak positions, amplitude differences, delay differences, phase differences, etc.

For example, if the first standard channel information is shown in fig. 4a, the first real-time channel information is shown in fig. 4b, which indicates that the first standard channel information and the first real-time channel information are very different, and the peak numbers are inconsistent, which indicates that there are additional objects around the first radar and the second radar or that moving objects are present. For another example, if the number of peaks in the first standard channel information is identical to that of peaks in the first real-time channel information, and the amplitudes of the peaks are similar, but the positions of the peaks are not identical, it may be described that the positions of objects around the first radar and the second radar are changed.

The above embodiments will be described with reference to fig. 5a and 5B, where fig. 5a is a schematic diagram illustrating the operation of the first radar and the second radar in one embodiment, and radar a is the first radar and radar B is the second radar. Taking an automotive radar application scenario as an example, the first radar and the second radar both support 2 different radar modes, including a passive radar mode and an active radar mode.

The passive radar mode is based on UWB positioning, and under the condition that the layout of radar nodes is fixed, basic information of a channel is obtained through CIR information obtained when each radar node communicates with each other. In the case of stable channels (fixed node layout, fixed in-vehicle layout, no dynamic targets, etc.), the channel conditions will not change. If additional targets (e.g., people, items, etc.) are present in the channel at this time, some variation will occur based on the stable channel CIR. The CIR of the new target can be obtained by comparison with the stable channel CIR. The passive radar mode may result in a diffuse reflected signal after radar illumination, such as path 3 and path 4 in fig. 5 a.

Each radar node also adopts an active radar mode, and the active radar mode is that each radar node adopts a spontaneous self-receiving mode to transmit radar signals, and each signal is received by the same radar node after being reflected by a target. In the active radar mode received, the CIR is also available. In this mode, if the environment around the radar node is stable, the CIR is also stable. If the target is within the illumination range of the active radar mode, the target may be detected at the corresponding CIR. The active radar mode may obtain direct reflected signals after active radar illumination, such as path 1 and path 2 in fig. 5 a.

Therefore, each radar simultaneously supports an active radar mode and a passive radar mode, so that the availability and accuracy of the radar can be increased, and the detection range of the radar can be improved. Fig. 5b is a schematic diagram showing the operation of the first radar and the second radar in another embodiment, as shown in fig. 5 b. If there is an obstacle, the radar B is information that there is no way to see the target. Moreover, the radar a has limited information about the target TAG (the sharp angle of the target in fig. 5B) due to the angle problem, so that the complete information can be detected only by the reflection path from a to B.

Therefore, the mode of combining active radar and passive radar is adopted, the deep measurement range of radar signals is increased, and possible blind areas are reduced.

In the embodiment of the application, under the condition that the first radar sends the first sending signal, the first radar and the second radar respectively receive the reflected signal of the first sending signal after being reflected by the object, and a plurality of real-time channel information is obtained based on analysis of the reflected signals respectively received by the first radar and the second radar, so that the target detection result is accurately and efficiently determined according to difference comparison between each real-time channel information and the corresponding standard channel information, the detection area of the radar signal is enlarged, the detection blind area of the radar is reduced, and the accuracy of the radar on target object detection is improved.

Referring to fig. 6, fig. 6 is a flow chart of a target object detection method according to another embodiment; the target object detection method can be applied to the control equipment, and the control equipment is in communication connection with the radar module which at least comprises a first radar and a second radar. As shown in fig. 6, the target object detection method may include the steps of:

601. the first radar is controlled to transmit a first transmit signal.

Wherein the second radar is in the same spatial region as the first radar.

602. And controlling the second radar to receive a first reflected signal corresponding to the first transmitted signal, and analyzing the first reflected signal to obtain first real-time channel information.

603. And controlling the first radar to receive a second reflected signal corresponding to the first transmitted signal, and analyzing the second reflected signal to obtain second real-time channel information.

For the specific implementation of steps 601 to 603, reference may be made to the above embodiments, and details are not repeated.

604. And determining whether a target object exists in the space region according to the first change information corresponding to the first real-time channel information.

The first variation information comprises one or more of an amplitude variation value, a time delay variation value and a phase variation value corresponding to the channel impulse response.

605. And determining whether a target object exists in the space region according to second change information corresponding to the second real-time channel information.

The second variation information comprises one or more of an amplitude variation value, a time delay variation value and a phase variation value corresponding to the channel impulse response.

The objects in the spatial region may include living objects (e.g., human, pet, etc.) as well as non-living objects (boxes, baby chairs, etc.), and in some embodiments, the target object may include a living object. Taking an automobile radar application scene as an example, according to first change information corresponding to the first real-time channel information and second change information corresponding to the second real-time channel information, whether children or other organisms exist in the automobile can be detected, so that people can be reminded of wearing safety belts, children, pets and the like can be prevented from forgetting in the automobile, and children or pets can be prevented from choking and killing in the automobile due to the fact that automobile doors and windows are closed, the temperature in the automobile is too high, the oxygen is thin and the like.

Because vital signs of a living body, such as micro-vibration of a body caused by respiratory rate and heart rate, can bring certain changes to the first real-time channel information and the second real-time channel information, the changes of the amplitude, the time delay, the phase and the like of channel impulse responses respectively contained in the first real-time channel information and the second real-time channel information are particularly embodied.

In some embodiments, the target object comprises a living object; determining whether a target object exists in the space region according to first change information corresponding to the first real-time channel information, wherein the method comprises the following steps of:

under the condition that the first change information corresponding to the first real-time channel information accords with the preset vital sign, determining that a living object exists in the space region; the preset vital sign is a change feature generated after the first transmission signal is reflected by the living object.

The preset vital sign is a change feature such as a minute phase change, an amplitude change, and a time-lapse change, which occur due to minute movements (such as respiration and heartbeat) of the living subject after the first transmission signal is reflected by the living subject. Therefore, time domain analysis, frequency domain analysis and the like can be performed on the amplitude variation value, the time delay variation value and the phase variation value corresponding to the channel impulse response in the first real-time channel information, so as to determine whether the first variation information corresponding to the first real-time channel information accords with the preset vital sign. The time domain analysis method may include a template matching algorithm, a variation modal decomposition algorithm (VMD), and an empirical modal decomposition algorithm (EMD), and may separate a vital signal waveform (respiratory signal, heartbeat signal, etc.) from first variation information corresponding to the first real-time channel information, and may determine that the first variation information corresponding to the first real-time channel information corresponds to a preset vital characteristic in case of separating the vital signal waveform; the frequency domain analysis method may include fourier transform and wavelet transform techniques, short-time fourier transform (STFT), and some frequency domain features, such as Residual Phase Cepstrum Coefficient (RPCC) and Mel Frequency Cepstrum Coefficient (MFCC), which may extract a micro-doppler spectrum of human motion, and may determine that first variation information corresponding to the first real-time channel information corresponds to a preset vital sign when the micro-doppler spectrum of human motion is extracted.

Determining whether a target object exists in the space region according to second change information corresponding to second real-time channel information, wherein the method comprises the following steps of:

under the condition that the second change information corresponding to the second real-time channel information accords with the preset vital sign, determining that a living object exists in the space region; the preset vital sign is a change feature generated after the first transmission signal is reflected by the living object.

The method for determining whether the second change information corresponding to the second real-time channel information accords with the preset vital sign may refer to the above-mentioned method for determining whether the first change information corresponding to the first real-time channel information accords with the preset vital sign, which is not described in detail.

In the embodiment of the application, under the condition that the first radar sends the first sending signal, the first radar and the second radar respectively receive the reflected signal of the first sending signal after being reflected by the object, and a plurality of real-time channel information is obtained based on analysis of the reflected signals respectively received by the first radar and the second radar, so that the change information respectively corresponding to the plurality of real-time channel information can be combined, whether a living object exists in a space area can be determined, the detection area of the radar signal is enlarged, the detection blind area of the radar is reduced, the accuracy of the radar on the living object detection is improved, the existence of a living body in a vehicle can be accurately detected under the application scene of a closed space such as a vehicle, and the safety of the child can be improved under the condition that the living body such as a child or a pet exists.

Referring to fig. 7, fig. 7 is a flowchart of a target object detection method according to another embodiment; the target object detection method can be applied to the control equipment, and the control equipment is in communication connection with the radar module which at least comprises a first radar and a second radar. As shown in fig. 7, the target object detection method may include the steps of:

701. the first radar is controlled to transmit a first transmit signal.

702. And controlling the second radar to receive a first reflected signal corresponding to the first transmitted signal, and analyzing the first reflected signal to obtain first real-time channel information.

In some embodiments, after resolving the first reflected signal to obtain the first real-time channel information, the following steps are further performed:

detecting a peak of a channel impulse response contained in the first real-time channel information; if any wave crest exists between the first time and the second time, acquiring a third time corresponding to the wave crest between the first time and the second time; the first time is the time when the first radar transmits the first transmission signal, and the second time is the time when the second radar receives the first reflection signal corresponding to the first transmission signal;

Determining a distance between the first radar and the object according to a time difference value between the first moment and the third moment; and/or determining a distance between the second radar and the object based on a time difference between the third time and the second time.

The position of the peak of the channel impulse response is the position of the first transmitting signal reflected by the object, and if any peak exists between the first time and the second time, the time of the first transmitting signal reflected by the object in the first transmission process is the third time of the peak.

The radar may calculate the distance between the radar and the target by Time of Flight (TOF) using the Time of Flight of the measured signal in combination with the known signal propagation velocity. The signal propagation speed is usually close to the speed of light, and therefore, a value of the speed of light is desirable.

Thus, from the time difference between the first time instant and the third time instant, and the signal propagation speed, the distance between the first radar and the object can be determined.

Similarly, the distance between the first radar and the object may be determined based on the time difference between the third time and the second time, and the signal propagation speed.

Therefore, in the above embodiment, through the integration of the radar mode and the ranging mode, the power consumption of the system is reduced, and the real-time performance of the radar and the ranging functions is improved.

703. And controlling the first radar to receive a second reflected signal corresponding to the first transmitted signal, and analyzing the second reflected signal to obtain second real-time channel information.

704. And determining a first target object detection result according to the first real-time channel information and the second real-time channel information.

For the specific implementation of steps 701 to 704, reference may be made to the above embodiments, and details are not repeated.

705. The second radar is controlled to transmit a second transmit signal.

The second transmit signal is a transmit signal transmitted by the second radar. The kind of the transmission signal is determined according to the type of the first radar, which may be an ultra wideband pulse signal, for example, UWB.

The second transmitted signal from the second radar is reflected by the object in case of an impact on the object. Taking a radar module disposed in the vehicle as an example, the second transmitting signal sent by the second radar in the radar module may be reflected by an object in the vehicle, such as an inner wall of the vehicle, a seat, a door, a floor, and a person, an animal, etc. in the vehicle.

706. And controlling the first radar to receive a third reflection signal corresponding to the second transmission signal, and analyzing the third reflection signal to obtain third real-time channel information.

In the case that the first radar is switched to the reception mode, the first radar may receive a third reflection signal corresponding to the second transmission signal.

The third reflected signal is a signal which is received by the first radar after the second transmitted signal is reflected by the object.

The control device may parse the third reflected signal received by the first radar to obtain third real-time channel information. The third real-time channel information is used for reflecting the corresponding channel attenuation and distortion conditions of the second transmitting signal in a third transmission process, and the third transmission process is a process that the second transmitting signal is transmitted to the object and then reflected to the first radar by the object. The channel attenuation and distortion conditions may include conditions in which the second transmitted signal is affected by noise, fading, multipath effects, and the like during the third transmission.

By analyzing the third real-time channel information, the propagation delay, the fading degree and the influence degree of multipath effect on the signal in the channel can be known.

The third real-time channel information may include real-time channel information such as signal delay, signal amplitude, signal phase, etc. In some embodiments, the third real-time channel information may include a channel impulse response (Channel Impulse Response, CIR), and for a specific description of the CIR, reference is made to the description in the above embodiments, which is not repeated.

707. And controlling the second radar to receive a fourth reflected signal corresponding to the second transmitting signal, and analyzing the fourth reflected signal to obtain fourth real-time channel information.

The control device may send control instructions to the second radar to control the second radar to switch the operating mode, such as from a transmitting mode to a receiving mode.

In the case that the second radar is switched to the receiving mode, the second radar may receive a fourth reflected signal corresponding to the second transmitted signal.

The fourth reflected signal is a signal which is received by the second radar after the second transmitted signal is reflected by the object.

The control device may analyze the fourth reflected signal received by the second radar to obtain fourth real-time channel information. The fourth real-time channel information is used for reflecting the corresponding channel attenuation and distortion conditions of the second transmitting signal in a fourth transmission process, and the fourth transmission process is a process that the second transmitting signal is transmitted to the object and then reflected to the second radar by the object. The channel attenuation and distortion conditions may include conditions in which the second transmission signal is affected by noise, fading, multipath effects, and the like during the fourth transmission.

By analyzing the fourth real-time channel information, the propagation delay, the fading degree and the influence degree of multipath effect on the signal in the channel can be known.

The fourth real-time channel information may include real-time channel information such as signal delay, signal amplitude, signal phase, etc. In some embodiments, the fourth real-time channel information may include a channel impulse response (Channel Impulse Response, CIR), and for a specific description of the CIR, reference is made to the description in the above embodiments, which is not repeated.

708. And determining a second target object detection result according to the third real-time channel information and the fourth real-time channel information.

The second target object detection result may include an object existing around the first radar and the second radar, a distance between the object and the radar, a state of the object (a moving state or a stationary state), a kind of the object (a living body or a non-living body), and the like.

It is assumed that in the third transmission process in which the second transmission signal is transmitted to the object and then reflected to the first radar by the object, the layout of the first radar and the second radar is fixed, the layout of each object is fixed, there is no dynamic object, etc., the third real-time channel information is relatively stable in performance and does not have a great change. If additional objects are present during the third transmission, the third real-time channel information will show a larger variation, so that it can be determined that additional objects are present around the first radar and the second radar. Further, according to the position corresponding to the larger change of the third real-time channel information, the distance between the object and each radar can be determined; and further analyzing the change condition of the third real-time channel information, the state of the object and the type of the object can be determined.

Similarly, it is assumed that in the fourth transmission process in which the second transmission signal is transmitted to the object and then reflected by the object to the second radar, the layout of the first radar and the second radar is fixed, the layout of each object is fixed, there is no dynamic object, and the like, and the fourth real-time channel information is relatively stable in performance and does not have a great change. If additional objects are present during the fourth transmission, the fourth real-time channel information may exhibit a large change, so that it may be determined that additional objects are present around the first radar and the second radar or that moving objects are present. Further, according to the position corresponding to the larger change of the fourth real-time channel information, the distance between the object and each radar can be determined; and further analyzing the change condition of the fourth real-time channel information, the state of the object and the type of the object can be determined.

Therefore, in the embodiment of the present application, each radar (node) may be switched between transmitting and receiving states of two transmitting and receiving nodes (the first radar and the second radar) through multiple rounds based on a point-to-point (one-to-one) or point-to-multiple (one-to-multiple) mode, so that real-time channel information corresponding to each received reflected signal can be obtained, and a time of flight (TOF) between the nodes can be calculated through a timestamp of a channel impulse response in each real-time channel information, so as to obtain a distance between the nodes. And this mode can be integrated into a complete UWB radar ranging process.

The following describes the ranging procedure of the radar a and the radar B in fig. 5a, and the ranging procedure may include:

(a) When the radar a transmits a ranging initial packet (init), a transmits B receives. A simultaneously opens the active radar receiving mode, so that A can obtain a direct reflection signal in the irradiation range of A. Meanwhile, B turns on a passive radar mode based on a standard communication flow, so that B can obtain a passive CIR when B receives under the irradiation of A.

(b) When radar B transmits a ranging feedback packet (response), a receives B transmission. B simultaneously turns on the active radar receiving mode, so that B can obtain a direct reflection signal in the irradiation range of B. Meanwhile, A turns on a passive radar mode based on a standard communication flow, so that A can obtain a passive CIR when A receives under B irradiation.

(c) When the radar a transmits the final ranging completion packet, a transmits B receives, for example, the mode in (a) or the standard communication mode may be used.

Under the UWB integration scheme, each radar (node) can obtain the direct reflection CIR and the indirect CIR, and meanwhile, the standard ranging flow can be completed. Each radar mode can obtain target information in the current radar mode, and a plurality of nodes are combined, so that the detection area of radar signals can be enlarged, and meanwhile, the ranging function is guaranteed.

In the embodiment of the application, under the condition that the first radar sends the first sending signal, the first radar and the second radar respectively receive the reflected signal of the first sending signal after being reflected by the object, and a plurality of real-time channel information is obtained by analyzing the reflected signals respectively received by the first radar and the second radar, so that a first target detection result can be determined by combining the plurality of real-time channel information; then, the first radar and the second radar switch the receiving and transmitting modes, the second radar sends a second transmitting signal, the first radar and the second radar respectively receive a reflected signal of the second transmitting signal after being reflected by an object, and a plurality of real-time channel information is obtained based on analysis of the reflected signals respectively received by the first radar and the second radar, so that a second target detection result can be determined by combining the plurality of real-time channel information, a plurality of target detection results are obtained through switching the receiving and transmitting modes of the first radar and the second radar, the detection area of the radar is enlarged, the detection blind area of the radar is reduced, and the accuracy of the radar on target object detection is improved.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a target object detection device in an embodiment; the target object detection device can be applied to the control equipment, the control equipment is in communication connection with the radar module, and the radar module at least comprises a first radar and a second radar. As shown in fig. 8, the target object detection apparatus 800 may include: a transmitting module 810, a first receiving module 820, a second receiving module 830, and a determining module 840.

A transmitting module 810, configured to control the first radar to transmit a first transmission signal;

the first receiving module 820 is configured to control the second radar to receive a first reflected signal corresponding to the first transmission signal, and parse the first reflected signal to obtain first real-time channel information, where the first real-time channel information is used to reflect channel attenuation and distortion conditions corresponding to the first transmission signal in a first transmission process, and the first transmission process is a process that the first transmission signal is transmitted to an object and then reflected to the second radar by the object;

the second receiving module 830 is configured to control the first radar to receive a second reflected signal corresponding to the first transmission signal, and parse the second reflected signal to obtain second real-time channel information, where the second real-time channel information is used to reflect a channel attenuation and distortion condition corresponding to the first transmission signal in a second transmission process, and the second transmission process is a process that the first transmission signal is transmitted to an object and then reflected to the first radar by the object;

the determining module 840 is configured to determine a first target object detection result according to the first real-time channel information and the second real-time channel information.

In one embodiment, the second radar is in the same spatial region as the first radar; the target object detection apparatus 800 further includes: an acquisition module;

the acquisition module is used for acquiring the first standard channel information and the second standard channel information; the first standard channel information is real-time channel information corresponding to a first transmitting signal sent by a first radar in a first transmission process under the condition that a space area is in a stable state; the second standard channel information is real-time channel information corresponding to a first transmitting signal sent by the first radar in a second transmission process under the condition that the space area is in a stable state;

the determining module 840 is further configured to determine a first target object detection result according to a first difference condition between the first standard channel information and the first real-time channel information, and a second difference condition between the second standard channel information and the second real-time channel information.

In one embodiment, the obtaining module is further configured to analyze real-time channel information corresponding to a first transmission signal sent by the first radar in a first transmission process, to obtain a first variation feature corresponding to a channel impulse response, and to analyze real-time channel information corresponding to a first transmission signal sent by the first radar in a second transmission process, to obtain a second variation feature corresponding to the channel impulse response;

Under the condition that the first change characteristic and the second change characteristic are determined to be consistent with the preset change characteristic, determining that the space region is in a stable state, determining real-time channel information corresponding to the first change characteristic as first standard channel information, and determining real-time channel information corresponding to the second change characteristic as second standard channel information.

In one embodiment, the second radar is in the same spatial region as the first radar; the determining module 840 is further configured to determine whether a target object exists in the spatial area according to first change information corresponding to the first real-time channel information, where the first change information includes one or more of an amplitude change value, a delay change value, and a phase change value corresponding to the channel impulse response; and/or determining whether the target object exists in the space region according to second change information corresponding to the second real-time channel information, wherein the second change information comprises one or more of an amplitude change value, a time delay change value and a phase change value corresponding to the channel impulse response.

In one embodiment, the target object comprises a living object; the determining module 840 is further configured to determine that a living object exists in the spatial region if it is determined that the first change information corresponding to the first real-time channel information accords with a preset vital sign; the preset vital sign is a change feature generated after the first transmission signal is reflected by the living object;

The determining module 840 is further configured to determine that a living object exists in the spatial region if it is determined that the second change information corresponding to the second real-time channel information accords with the preset vital sign; the preset vital sign is a change feature generated after the first transmission signal is reflected by the living object.

In one embodiment, the target object detection apparatus 800 further includes: a ranging module;

the ranging module is used for detecting the peak of the channel impulse response contained in the first real-time channel information; if any wave crest exists between the first time and the second time, acquiring a third time corresponding to the wave crest between the first time and the second time; the first time is the time when the first radar transmits the first transmission signal, and the second time is the time when the second radar receives the first reflection signal corresponding to the first transmission signal; determining a distance between the first radar and the object according to a time difference value between the first moment and the third moment; and/or determining a distance between the second radar and the object based on a time difference between the third time and the second time.

In one embodiment, the transmitting module 810 is further configured to control the second radar to transmit a second transmission signal;

The second receiving module 830 is further configured to control the first radar to receive a third reflected signal corresponding to the second transmitting signal, and parse the third reflected signal to obtain third real-time channel information, where the third real-time channel information is used to reflect channel attenuation and distortion conditions corresponding to the second transmitting signal in a third transmission process, and the third transmission process is a process that the second transmitting signal is transmitted to the object and then reflected to the first radar by the object;

the first receiving module 820 is further configured to control the second radar to receive a fourth reflected signal corresponding to the second transmission signal, and parse the fourth reflected signal to obtain fourth real-time channel information, where the fourth real-time channel information is used to reflect channel attenuation and distortion conditions corresponding to the second transmission signal in a fourth transmission process, and the fourth transmission process is a process that the second transmission signal is transmitted to the object and then reflected to the second radar by the object;

the determining module 840 is further configured to determine a second target object detection result according to the third real-time channel information and the fourth real-time channel information.

Referring to fig. 9, fig. 9 is a schematic structural diagram of an electronic device in one embodiment. As shown in fig. 9, the electronic device 900 may include: a memory 910 storing executable program code; a processor 920 coupled with the memory 910; wherein the processor 920 invokes executable program code stored in the memory 910 to perform any of the target object detection methods disclosed in the embodiments of the present application.

The embodiment of the application discloses a computer readable storage medium storing a computer program, wherein the computer program, when executed by the processor, causes the processor to implement any one of the target object detection methods disclosed in the embodiment of the application.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments and that the acts and modules referred to are not necessarily required in the present application.

In various embodiments of the present application, it should be understood that the size of the sequence numbers of the above processes does not mean that the execution sequence of the processes is necessarily sequential, and the execution sequence of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application. The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment. In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-accessible memory. Based on such understanding, the technical solution of the present application, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a memory, including several requests for a computer device (which may be a personal computer, a server or a network device, etc., in particular may be a processor in the computer device) to perform part or all of the steps of the above-mentioned method of the various embodiments of the present application.

Those of ordinary skill in the art will appreciate that all or part of the steps of the various methods of the above embodiments may be implemented by a program that instructs associated hardware, the program may be stored in a computer readable storage medium including Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disk Memory, magnetic disk Memory, tape Memory, or any other medium that can be used for carrying or storing data that is readable by a computer.

The foregoing describes in detail a target object detection method, apparatus, electronic device and storage medium disclosed in the embodiments of the present application, and specific examples are applied to illustrate the principles and implementation manners of the present application, where the foregoing description of the embodiments is only used to help understand the method and core idea of the present application. Meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. The target object detection method is characterized by being applied to control equipment, wherein the control equipment is in communication connection with a radar module, and the radar module at least comprises a first radar and a second radar; the method comprises the following steps:

controlling the first radar to transmit a first transmission signal;

2. The method of claim 1, wherein the second radar is in a same spatial region as the first radar, and wherein prior to said determining a first target object detection result from the first real-time channel information and the second real-time channel information, the method further comprises:

3. The method of claim 2, wherein prior to said obtaining the first standard channel information and the second standard channel information, the method further comprises:

4. The method of claim 1, wherein the second radar is in the same spatial region as the first radar; the determining a first target object detection result according to the first real-time channel information and the second real-time channel information includes:

5. The method of claim 4, wherein the target object comprises a living object; the determining whether the target object exists in the space area according to the first change information corresponding to the first real-time channel information includes:

6. The method of claim 1, wherein after said parsing the first reflected signal to obtain first real-time channel information, the method further comprises:

7. The method of claim 1, wherein after said determining a first target object detection result based on said first real-time channel information and said second real-time channel information, said method further comprises:

controlling the second radar to send a second transmission signal;

8. The target object detection device is characterized by being applied to control equipment, wherein the control equipment is in communication connection with a radar module, and the radar module at least comprises a first radar and a second radar; the device comprises:

9. An electronic device comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to implement the method of any of claims 1 to 7.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method according to any of claims 1 to 7.