CN111045010B - Environment reconstruction method and device based on shipborne radar - Google Patents
Environment reconstruction method and device based on shipborne radar Download PDFInfo
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- CN111045010B CN111045010B CN201911304877.9A CN201911304877A CN111045010B CN 111045010 B CN111045010 B CN 111045010B CN 201911304877 A CN201911304877 A CN 201911304877A CN 111045010 B CN111045010 B CN 111045010B
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Abstract
The application is suitable for the technical field of environment reconstruction, and provides an environment reconstruction method based on a shipborne radar, which comprises the following steps: the method comprises the steps of obtaining radar point cloud data of any period, carrying out coordinate conversion, obtaining converted point cloud data, establishing an environment map according to the converted point cloud data, calculating the coincidence degree of the point cloud data of any single echo block at the moment i and the point cloud data at the moment i-1, identifying the type of the single echo block according to the coincidence degree, carrying out separation processing, updating the environment map, processing any echo block in the environment map according to a preset method, and obtaining the processed environment map. According to the method and the device, the periodic radar point cloud data are acquired and subjected to unified coordinate conversion, the environment map is established, the interference signals in the point cloud data are identified and separated, the echo blocks are processed through a preset processing method, the environment map is updated, the accuracy of the data is improved, the environment reconstruction can be accurately carried out, and the safety and the stability of automatic obstacle avoidance and unmanned driving of the ship are improved.
Description
Technical Field
The application belongs to the technical field of environment reconstruction, and particularly relates to an environment reconstruction method and device based on a shipborne radar.
Background
In recent years, the application of technologies such as unmanned driving, automatic obstacle avoidance and the like is more and more extensive, such as unmanned vehicles, automatic obstacle avoidance robots, unmanned ships and the like. As is well known, the above techniques are based on both environment recognition techniques and environment reconstruction techniques.
However, during the sailing process of the ship, various factors such as wind, waves, currents and gushes affect the ship in various aspects, the ship is difficult to keep a stable state, data obtained by the ship is unstable, and meanwhile the data cannot be corrected and checked in time. In addition, various interference signals exist on the sea, which cause interference to ship navigation, so that the ship is difficult to accurately reconstruct the environment, and therefore, the autonomous obstacle avoidance function of the ship is difficult to realize.
Disclosure of Invention
The embodiment of the application provides an environment reconstruction method and device based on a shipborne radar, and the problem that the ship is difficult to accurately reconstruct the environment can be solved.
In a first aspect, an embodiment of the present application provides an environment reconstruction method based on a ship-borne radar, including:
acquiring radar point cloud data of any period, and performing coordinate conversion on the radar point cloud data to obtain converted point cloud data;
establishing an environment map according to the converted point cloud data;
calculating the contact ratio of the point cloud data of any single echo block at the moment i and the point cloud data of the moment i-1, identifying the type of the single echo block according to the contact ratio, carrying out separation processing, and updating the environment map;
and processing any echo block in the environment map according to a preset method to obtain a processed environment map.
In a second aspect, an embodiment of the present application provides an environment reconstruction apparatus based on a ship-borne radar, including:
the acquisition module is used for acquiring radar point cloud data of any period and carrying out coordinate conversion on the radar point cloud data to obtain converted point cloud data;
the establishing module is used for establishing an environment map according to the converted point cloud data;
the separation module is used for calculating the contact ratio of point cloud data of any single echo block at the moment i and point cloud data of the moment i-1, identifying the type of the single echo block according to the contact ratio, carrying out separation processing and updating the environment map;
and the processing module is used for processing any echo block in the environment map according to a preset method to obtain a processed environment map.
In a third aspect, an embodiment of the present application provides a server, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor, when executing the computer program, implements the method for reconstructing an environment based on an onboard radar according to any one of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for reconstructing an environment based on an on-board radar according to any one of the first aspect is implemented.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the shipborne radar-based environment reconstruction method according to any one of the first aspects.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
According to the method and the device, the periodic radar point cloud data are acquired and are subjected to unified coordinate conversion, the corresponding environment map is established, meanwhile, interference signals in the point cloud data are identified and separated, the echo blocks are processed through a preset processing method, the map is updated, the accuracy of the data is improved, environment reconstruction can be accurately carried out, and the safety and the stability of automatic obstacle avoidance and unmanned driving of the ship are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments or the prior art description 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 for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic flowchart of an environment reconstruction method based on a ship-borne radar according to an embodiment of the present application;
fig. 2 is a schematic flowchart of an environment reconstruction method based on a ship-borne radar according to an embodiment of the present application;
fig. 3 is a schematic flowchart of an environment reconstruction method based on a ship-borne radar according to an embodiment of the present application;
FIG. 4 is a schematic flowchart of an environment reconstruction method based on a ship-borne radar according to an embodiment of the present application;
fig. 5 is a schematic view of an application scenario of an edge dilation process of an environment reconstruction method based on a ship-borne radar according to an embodiment of the present application;
fig. 6 is a schematic view of an application scenario of a fusion process of an environment reconstruction method based on a ship-borne radar according to an embodiment of the present application;
FIG. 7 is a schematic diagram of an application scenario of edge erosion processing of an environment reconstruction method based on a ship-borne radar according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an environment reconstruction apparatus based on a ship-borne radar according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a server according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing a relative importance or importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather mean "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The environment reconstruction method based on the shipborne radar can be applied to terminal equipment such as vehicle-mounted equipment, shipborne equipment, a server connected with the radar and the like, and the specific type of the terminal equipment is not limited at all in the embodiment of the application.
Fig. 1 shows a schematic flow chart of an environment reconstruction method based on an onboard radar provided by the present application, which may be applied to an onboard device by way of example and not limitation.
S101, radar point cloud data of any period are obtained, coordinate conversion is carried out on the radar point cloud data, and converted point cloud data are obtained.
In specific application, the point cloud data of the radar in any period is obtained, and unified coordinate conversion is carried out on the radar point cloud data in the period to obtain converted point cloud data. One cycle of the radar is the time required to rotate 360 degrees, typically the speed of rotation of the radar is typically 24/36rpm (i.e. 24 or 36 revolutions per minute, corresponding to 2.5 or 1.67 seconds for each cycle).
In this embodiment, the coordinate transformation of the radar point cloud data in any period includes:
storing original point cloud data at any moment in any period;
calculating a coordinate transformation relation matrix corresponding to the original point cloud data at the moment according to the pose information of the current ship;
and when the coordinate transformation relation matrixes at all the moments in the period are obtained through calculation, carrying out unified coordinate transformation on the coordinate transformation relation matrixes at all the moments in the period to obtain point cloud data in the period after coordinate transformation.
The time quantity of the point cloud data in any period changes according to the rotation speed of the radar. Taking a radar with a rotation speed of 36rpm as an example, the raw data of the radar includes 64 sectors, so that a cycle generates point cloud data at 64 moments.
And S102, establishing an environment map according to the converted point cloud data.
S103, calculating the coincidence degree of the point cloud data of any single echo block at the moment i and the point cloud data at the moment i-1, identifying the type of the single echo block according to the coincidence degree, performing separation processing, and updating the environment map.
In a particular application, the type of any single echo block includes static obstacles, dynamic obstacles, or clutter signals. The point cloud data of the moment i refers to the point cloud data of the current sector, and the point cloud data of the moment i-1 refers to the point cloud data of the previous sector. For example, if the point cloud data at the time of the single echo block i is the point cloud data of the second sector, the point cloud data at the time of the single echo block i-1 is the point cloud data of the first sector. Wherein i is greater than or equal to 2 and less than or equal to the number of sectors of the radar.
And S104, processing any echo block in the environment map according to a preset method to obtain a processed environment map.
In specific applications, the predetermined methods include, but are not limited to, edge dilation, fusion, and edge erosion processes.
In one embodiment, step S101 includes:
acquiring radar point cloud data at any moment in any period, and storing a corresponding coordinate transformation matrix;
when the coordinate transformation matrixes corresponding to all the moments in any period are obtained, the coordinate transformation matrixes corresponding to all the moments in any period are subjected to unified coordinate transformation, and transformed point cloud data are obtained.
According to the method, the periodic radar point cloud data are acquired and subjected to unified coordinate conversion, the environment map is established, the interference signals in the point cloud data are identified and separated, the echo blocks are processed through a preset processing method, the environment map is updated, the accuracy of the data is improved, the environment reconstruction can be accurately carried out, and the safety and the stability of automatic obstacle avoidance and unmanned driving of the ship are improved.
Example two
As shown in fig. 2, this embodiment is a further description of the method steps in the first embodiment. In this embodiment, step S103 includes:
and S1031, acquiring the coincidence degree of the point cloud data of any single echo block i and the point cloud data of the single echo block i-1.
S1032, if the contact ratio is larger than a preset first threshold value, increasing a preset first probability value and reducing a preset second probability value.
In a specific application, if the contact ratio is greater than a preset first threshold, the preset first probability value is increased by a preset value, and the preset second probability value is decreased by the preset value.
The preset first probability value is a probability value that the single echo block is a static obstacle, and the preset second probability value is a probability value that the single echo block is a dynamic obstacle.
The initial value of the preset first probability value and the initial value of the preset second probability value can be specifically set according to actual conditions. The preset first threshold and the preset value may be specifically set according to actual conditions, for example, the preset value is a contact ratio. If the coincidence degree is 0.3, the preset first threshold value is 0.2, the initial value of the preset first probability value is 0.6, and the initial value of the preset second probability value is 0.5, the preset first probability value is increased to 0.9, and the preset second threshold value is decreased to 0.2.
Or setting a preset numerical value as a difference value between the contact ratio and a preset first threshold, if the contact ratio is 0.3, the preset first threshold is 0.2, the initial value of the preset first probability value is 0.6, and the initial value of the preset second probability value is 0.5, increasing the preset first probability value to 0.7, and reducing the preset second threshold to 0.4.
S1033, if the coincidence degree is smaller than the first threshold, decreasing the first probability value and increasing the second probability value.
S1034, determining a first size relation between the first probability value and a preset second threshold value and a second size relation between the second probability value and a preset third threshold value.
In a specific application, the first probability value is compared with a preset second threshold value, a first size relation between the first probability value and the preset second threshold value is determined, the second probability value is compared with a preset third threshold value, and a second size relation between the second probability value and the preset third threshold value is determined.
The preset second threshold is a probability threshold that the single echo block is a static obstacle, and the preset third threshold is a probability threshold that the single echo block is a dynamic obstacle or a clutter signal.
In this embodiment, the preset second threshold is set to be greater than the preset third threshold. For example, if the preset second threshold is 1, the preset third threshold should be smaller than 1.
S1035, according to the first size relation and the second size relation, identifying the type of the single echo block and separating the single echo block.
In particular applications, the type of single echo block includes, but is not limited to, static obstructions, dynamic obstructions, or clutter signals. And if the first size relationship is that the first probability value is greater than a second threshold value, determining that the single echo block is a static obstacle, and if the first size relationship is that the first probability value is less than the second threshold value and the second size relationship is that the second probability value is greater than a third threshold value, determining that the single echo block is a dynamic obstacle or a clutter signal.
And S1036, updating the environment map.
According to the method, the single echo block is judged according to the contact ratio of the single echo block in the point cloud data at two moments, and the single echo block is separated according to the type in a preset sequence one by one, so that interference signals of different types in the whole radar point cloud data can be effectively separated, and the stability of environment reconstruction is improved.
EXAMPLE III
As shown in fig. 3, this embodiment is a further description of the method steps in the first embodiment. In this embodiment, step S1034 includes:
s10341, if the first magnitude relation indicates that the first probability value is greater than the second threshold value, determining that the single echo block is a static obstacle.
In specific application, the point cloud data reflected back by the static obstacle is relatively stable compared with the point cloud data reflected back by the dynamic obstacle and the clutter signal, and the point cloud data reflected back by the dynamic obstacle conforms to a certain rule relative to the clutter,
the point cloud data reflected by the static obstacle can be extracted and separated from the whole radar echo signal, then the point cloud data reflected by the dynamic obstacle is extracted and separated from the whole radar echo signal, and meanwhile, the clutter signal is deleted.
S10342, separating the static obstacle.
In a specific application, a grid probability map with radar as a center point is established, and if point cloud data corresponding to any grid is received, the grid probability value of the grid is increased (in this embodiment, an initial value of the grid probability value of any grid is set to be 0). And calculating and obtaining the accumulated value of the grid probability value of any grid, comparing the accumulated value of the grid probability value with a preset fourth threshold value, and if the accumulated value of the grid probability value is greater than the fourth threshold value, filling the static obstacle into the corresponding grid to achieve the effect of separating the point cloud data returned by the static obstacle from the whole radar point cloud data. The preset fourth threshold is a value greater than 0, and may be specifically set according to an actual situation, for example, the preset fourth threshold is set to be 1.
By way of example and not limitation, it may be set that, each time point cloud data corresponding to a certain grid is received, the grid probability value of the grid is increased by a preset increment, for example, the preset increment is set to 0.1, and if point cloud data corresponding to a certain grid is received 5 times in an accumulated manner, the accumulated value of the grid probability value of the grid is 0.5.
S10343, if the first size relationship is that the first probability value is smaller than the second threshold value, and the second size relationship is that the second probability value is larger than the third threshold value, determining that the single echo block is a dynamic obstacle or a clutter signal.
S10344, separating the dynamic obstacle or the clutter signals.
In the specific application, the motion information of the single echo block is obtained, the motion state of the single echo block is identified according to the motion information of the single echo block, whether the motion state of the single echo block accords with a preset motion rule or not is judged, if the single echo block accords with the preset motion rule, the single echo block is judged to be a dynamic obstacle, the dynamic obstacle is separated out and dynamic tracking is carried out, and therefore the purpose of separating point cloud data returned by the dynamic obstacle from the whole radar data is achieved.
And if the motion state of the single echo block does not accord with the preset motion rule, judging the single echo block as a clutter signal, and deleting the clutter signal to eliminate the influence of the clutter signal on the environment reconstruction.
In one embodiment, step S10342, comprises:
establishing a grid probability map; wherein a central point of the grid probability map is the radar;
if any point cloud data is received, increasing the grid probability value of the grid corresponding to the point cloud data;
acquiring a grid probability value accumulated value of any grid;
comparing the grid probability value accumulated value with a preset fourth threshold value;
and if the grid probability value accumulation value is larger than the fourth threshold value, filling the static obstacle into the corresponding grid.
In one embodiment, step S10344 includes:
acquiring motion information of the single echo block;
judging whether the motion state of the single echo block conforms to a preset operation rule or not according to the motion information;
if the motion state of the single echo block conforms to a preset operation rule, judging that the single echo block is a dynamic obstacle, separating the dynamic obstacle and carrying out dynamic tracking;
and if the motion state of the single echo block does not accord with the preset operation rule, judging that the single echo block is a clutter signal, and deleting the clutter signal.
In a particular application, the motion information includes, but is not limited to, at least one of acceleration, angular velocity, and velocity. The preset operation rule refers to a real-time operation rule of the current ship body.
Judging whether the motion state of the single echo block conforms to a preset operation rule or not according to the motion information comprises the following steps: and judging at least one of whether the acceleration of the ship body is smaller than an acceleration threshold value, whether the angular velocity is smaller than an angular velocity threshold value or whether the velocity is smaller than a velocity threshold value.
And if any motion information is smaller than the corresponding threshold value, judging that the motion state of the single echo block conforms to a preset operation rule.
According to the method and the device, different types of interference signals are correspondingly separated through different separation means, so that the separation technology is optimized, the accuracy of the radar point cloud data is improved, and the environment map with higher reliability is updated and obtained.
Example four
As shown in fig. 4, this embodiment is a further description of the method steps in the first embodiment. In this embodiment, step S104 includes:
and S1041, performing edge expansion processing on any single echo block in the environment map to obtain a single echo block subjected to edge expansion processing.
As shown in fig. 5, an application scenario diagram of an edge dilation process of an environment reconstruction method based on an onboard radar is exemplarily shown.
In fig. 5, specifically, the single echo block after edge dilation processing is obtained after edge dilation processing is performed on any single echo block in the environment map.
S1042, taking the single echo block after any edge expansion processing as a center echo block, and acquiring all edge expansion processed single echo blocks with the distance between the single echo block and the center echo block smaller than a preset distance as edge echo blocks.
In a specific application, due to the characteristics of the shipborne navigation radar, an echo of a large obstacle may be dispersed into a plurality of small echo blocks, so that the phenomenon that a large-area obstacle is perceived as a plurality of small obstacles is easily caused. Meanwhile, the ship sailing at sea has different heights at different positions due to the upper-layer buildings, so that the dispersion degree of the small echo blocks is increased, and the difficulty in building an environment map is increased.
The single echo block after any edge expansion processing, in which the distance between the single echo block and the central echo block is smaller than the preset distance, may be one of several small echo blocks into which the echo of a certain larger obstacle is dispersed.
The preset distance can be specifically set according to actual conditions, for example, the preset distance is set to be 10 m.
And S1043, carrying out fusion processing on the central echo block and the edge echo block, and obtaining an echo block after the fusion processing.
In specific application, the central echo block and the edge echo block are subjected to fusion processing, so that the phenomenon that a large-area obstacle is perceived as a plurality of small obstacles can be avoided, and the difficulty and the calculated amount for establishing an environment map are reduced.
As shown in fig. 6, an application scenario diagram of a fusion process of an environment reconstruction method based on a ship-borne radar is exemplarily shown.
In fig. 6, a single echo block after fusion processing is obtained after fusion processing is performed on any central echo block and all edge echo blocks around the central echo block.
And S1044, performing edge corrosion treatment on any echo block subjected to fusion treatment to obtain a treated environment map.
As shown in fig. 7, an application scenario diagram of the edge erosion processing of the shipborne radar-based environment reconstruction method is exemplarily shown.
In fig. 7, a processed single echo block is obtained by performing edge erosion processing on any echo block after fusion processing.
In the embodiment, the single echo block is subjected to targeted processing by various preset processing methods, so that the influence on environment reconstruction caused by echo block dispersion is avoided, and the difficulty in establishing an environment map is simplified.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not constitute any limitation to the implementation process of the embodiments of the present application.
EXAMPLE five
Fig. 8 shows a block diagram of an environment reconstruction apparatus 100 based on a ship-borne radar provided in an embodiment of the present application, corresponding to the environment reconstruction method based on a ship-borne radar described in the foregoing embodiment, and only the parts related to the embodiment of the present application are shown for convenience of illustration.
Referring to fig. 8, the apparatus 100 includes:
the acquisition module 101 is configured to acquire radar point cloud data of any period, and perform coordinate conversion on the radar point cloud data to obtain converted point cloud data;
the establishing module 102 is used for establishing an environment map according to the converted point cloud data;
the separation module 103 is used for calculating the contact ratio of the point cloud data of any single echo block at the moment i and the point cloud data of the moment i-1, identifying the type of the single echo block according to the contact ratio, performing separation processing, and updating the environment map;
and the processing module 104 is configured to process any echo block in the environment map according to a preset method to obtain a processed environment map.
According to the method, the periodic radar point cloud data are acquired and subjected to unified coordinate conversion, the environment map is established, the interference signals in the point cloud data are identified and separated, the echo blocks are processed through a preset processing method, the environment map is updated, the accuracy of the data is improved, the environment reconstruction can be accurately carried out, and the safety and the stability of automatic obstacle avoidance and unmanned driving of the ship are improved.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
EXAMPLE six
Fig. 9 shows an example of a server 200, and the server 200 may include a processor 201, a memory 202, a communication module 203, a power management module 204, and the like.
The processor 201 may include one or more of a central processing unit, an Application Processor (AP), a baseband processor, and the like. The processor 201 may be the neural center and command center of a wireless router. The processor 201 may generate an operation control signal according to the instruction operation code and the timing signal, and perform instruction fetching and execution control. The memory 202 may be used to store computer-executable program code 2021, the executable program code comprising instructions. The processor 201 executes various functional applications of the server and data processing by executing instructions stored in the memory. The memory 202 may include a program storage area and a data storage area, such as data storing a sound signal to be played, and the like. For example, the memory may be a double data rate synchronous dynamic random access memory DDR or a Flash memory Flash, etc.
The communication module 203 may provide a solution for communication applied to the server, including Wireless Local Area Networks (WLANs) (e.g., Wi-Fi networks), bluetooth, Zigbee, mobile communication networks, Global Navigation Satellite Systems (GNSS), Frequency Modulation (FM), Near Field Communication (NFC), Infrared (IR), and the like. The communication module 203 may be one or more devices integrating at least one communication processing module. The communication module 203 may include an antenna, which may have only one array element, or may be an antenna array including a plurality of array elements. The communication module 203 may receive electromagnetic waves through an antenna, frequency modulate and filter electromagnetic wave signals, and send the processed signals to a processor. The communication module can also receive a signal to be sent from the processor, frequency-modulate and amplify the signal, and convert the signal into electromagnetic waves through the antenna to radiate the electromagnetic waves.
The power management module 204 may receive input from a battery and/or charger to power the processor, memory, and communication modules, etc.
It should be noted that fig. 9 does not limit the structure of the server 200, and may include more or less components than those shown, or combine some components, or different components, for example, the server 200 may further include a display screen, an indicator, a motor, a control (e.g., a key), a gyroscope, an acceleration sensor, and the like.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of the methods described above can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal device, recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunication signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In some jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and proprietary practices.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical function division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (8)
1. An environment reconstruction method based on a ship-borne radar is characterized by comprising the following steps:
acquiring radar point cloud data of any period, and performing coordinate conversion on the radar point cloud data to obtain converted point cloud data;
establishing an environment map according to the converted point cloud data;
calculating the contact ratio of the point cloud data of any single echo block at the moment i and the point cloud data of the moment i-1, identifying the type of the single echo block according to the contact ratio, carrying out separation processing, and updating the environment map, wherein the method comprises the following steps: acquiring the contact ratio of the point cloud data of any single echo block i and the point cloud data of the single echo block i-1; if the contact ratio is greater than a preset first threshold value, increasing a preset first probability value and reducing a preset second probability value; if the degree of coincidence is less than the first threshold, decreasing the first probability value and increasing the second probability value; determining a first magnitude relationship between the first probability value and a preset second threshold value, and a second magnitude relationship between the second probability value and a preset third threshold value; identifying the type of the single echo block and separating the single echo block according to the first size relation and the second size relation; updating the environment map; the preset first probability value is a probability value that the single echo block is a static obstacle, and the preset second probability value is a probability value that the single echo block is a dynamic obstacle; identifying the type of the single echo block and separating the single echo block according to the first size relationship and the second size relationship, including: if the first size relationship is that the first probability value is smaller than the second threshold value and the second size relationship is that the second probability value is larger than the third threshold value, determining that the single echo block is a dynamic obstacle or a clutter signal; separating the dynamic obstacle or the clutter signal, comprising: acquiring motion information of the single echo block; judging whether the motion state of the single echo block conforms to a preset operation rule or not according to the motion information; if the motion state of the single echo block accords with a preset operation rule, judging that the single echo block is a dynamic obstacle, separating the dynamic obstacle and carrying out dynamic tracking; if the motion state of the single echo block does not accord with the preset operation rule, judging that the single echo block is a clutter signal, and deleting the clutter signal; the preset operation rule refers to a real-time operation rule of the current ship body;
and processing any echo block in the environment map according to a preset method to obtain a processed environment map.
2. The shipborne radar-based environment reconstruction method according to claim 1, wherein the acquiring of radar point cloud data of any period and coordinate conversion of the radar point cloud data to obtain converted point cloud data comprises:
acquiring radar point cloud data at any moment in any period, and storing a corresponding coordinate transformation matrix;
and when the coordinate transformation matrixes corresponding to all the moments in any period are obtained, carrying out unified coordinate transformation on the coordinate transformation matrixes corresponding to all the moments in any period to obtain transformed point cloud data.
3. The shipborne radar-based environment reconstruction method according to claim 1, wherein identifying the type of the single-echo block and separating the single-echo block according to the first magnitude relation and the second magnitude relation comprises:
if the first magnitude relationship is that the first probability value is greater than the second threshold, determining that the single echo block is a static obstacle;
separating the static obstacle.
4. The shipboard radar-based environment reconstruction method of claim 3, wherein the separating the static obstacle comprises:
establishing a grid probability map; wherein the central point of the grid probability map is the radar;
if any point cloud data is received, increasing the grid probability value of the grid corresponding to the point cloud data;
acquiring a grid probability value accumulated value of any grid;
comparing the grid probability value accumulated value with a preset fourth threshold value;
and if the grid probability value accumulation value is larger than the fourth threshold value, filling the static obstacle into the corresponding grid.
5. The shipborne radar-based environment reconstruction method according to claim 1, wherein the processing any echo block in the environment map according to a preset method to obtain a processed environment map comprises:
performing edge expansion processing on any single echo block in the environment map to obtain a single echo block subjected to edge expansion processing;
taking the single echo block after any edge expansion processing as a central echo block, and acquiring all edge expanded single echo blocks of which the distance to the central echo block is smaller than a preset distance as edge echo blocks;
performing fusion processing on the central echo block and the edge echo block to obtain an echo block after the fusion processing;
and performing edge corrosion treatment on any echo block subjected to fusion treatment to obtain a treated environment map.
6. An environment reconstruction device based on a ship-borne radar is characterized by comprising:
the acquisition module is used for acquiring radar point cloud data of any period and carrying out coordinate conversion on the radar point cloud data to obtain converted point cloud data;
the establishing module is used for establishing an environment map according to the converted point cloud data;
the separation module is used for calculating the contact ratio of the point cloud data of any single echo block at the moment i and the point cloud data of the moment i-1, identifying the type of the single echo block according to the contact ratio, performing separation processing, and updating the environment map, and comprises the following steps: acquiring the contact ratio of the point cloud data of any single echo block at the moment i and the point cloud data of the single echo block at the moment i-1; if the contact ratio is greater than a preset first threshold value, increasing a preset first probability value and reducing a preset second probability value; if the degree of coincidence is less than the first threshold, decreasing the first probability value and increasing the second probability value; determining a first magnitude relationship between the first probability value and a preset second threshold value, and a second magnitude relationship between the second probability value and a preset third threshold value; identifying the type of the single echo block and separating the single echo block according to the first size relation and the second size relation; updating the environment map; the preset first probability value is a probability value that the single echo block is a static obstacle, and the preset second probability value is a probability value that the single echo block is a dynamic obstacle; identifying the type of the single echo block and separating the single echo block according to the first size relationship and the second size relationship, including: if the first size relationship is that the first probability value is smaller than the second threshold value and the second size relationship is that the second probability value is larger than the third threshold value, determining that the single echo block is a dynamic obstacle or a clutter signal; separating the dynamic obstacle or the clutter signal, comprising: acquiring motion information of the single echo block; judging whether the motion state of the single echo block conforms to a preset operation rule or not according to the motion information; if the motion state of the single echo block conforms to a preset operation rule, judging that the single echo block is a dynamic obstacle, separating the dynamic obstacle and carrying out dynamic tracking; if the motion state of the single echo block does not accord with the preset operation rule, judging the single echo block to be a clutter signal, and deleting the clutter signal; the preset operation rule refers to a real-time operation rule of the current ship body;
and the processing module is used for processing any echo block in the environment map according to a preset method to obtain a processed environment map.
7. A server comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 5 when executing the computer program.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 5.
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