CN111316126A

CN111316126A - Target detection method, radar, vehicle, and computer-readable storage medium

Info

Publication number: CN111316126A
Application number: CN201880069473.3A
Authority: CN
Inventors: 林立; 李怡强; 卜运成
Original assignee: SZ DJI Technology Co Ltd
Current assignee: Shenzhen Zhuoyu Technology Co ltd
Priority date: 2018-12-28
Filing date: 2018-12-28
Publication date: 2020-06-19
Also published as: WO2020133223A1

Abstract

An object detection method, a radar (71), a vehicle, and a computer-readable storage medium. Acquiring a detection signal detected by a radar (71) at the current moment, and generating detection data (101) according to the detection signal; detecting at least one first target object (102) according to the detection data (101) and the initial detection strategy, wherein the first target object (102) corresponds to the first target detection data; and adjusting a detection strategy for the detection data of the radar (71) detection signal at the next moment according to the first target detection data, and detecting at least one second target object (103) according to the adjusted detection strategy and the detection data at the next moment. Therefore, the target detection accuracy can be effectively improved, and the problem of target tracking loss caused by poor radar (71) processing capacity is avoided.

Description

Target detection method, radar, vehicle, and computer-readable storage medium

Technical Field

Embodiments of the present invention relate to the field of radar, and in particular, to a target detection method, a radar, a vehicle, and a computer-readable storage medium.

Background

The radar is a system for detecting and tracking a target by using the reflection characteristic of electromagnetic waves, and detects the target by transmitting the electromagnetic waves to acquire a detection signal generated by the target, so that information such as the distance from the target to an electromagnetic wave transmission point, the distance change rate (radial speed), the direction, the height and the like can be acquired.

After receiving the detection signal, the existing radar performs sampling, analog/digital conversion, high/low pass filtering, and fourier transform processing on the detection signal, detects all the processed detection signals, extracts a suspected target, and determines target information from the suspected target, so that the target can be tracked according to the target information.

However, when the target detection is performed by using the method, when the number of radar detection targets exceeds the system processing capacity, objects with a short distance are detected preferentially, so that target tracking of a formed flight path at a distance is lost, and further, targets acquired by a radar are not accurate enough.

Disclosure of Invention

The embodiment of the invention provides a target detection method, a radar, a vehicle and a computer readable storage medium, which are used for solving the technical problems that in the prior art, when the number of radar detection targets exceeds the system processing capacity, objects with a short distance are detected preferentially, so that the tracking of targets with formed tracks at a distance is lost, and further, the targets acquired by the radar are not accurate enough.

A first aspect of an embodiment of the present invention provides a target detection method, including:

acquiring a detection signal detected by a radar at the current moment, and generating detection data according to the detection signal;

detecting at least one first target object according to the detection data and an initial detection strategy, wherein the first target object corresponds to first target detection data;

and adjusting a detection strategy of the detection data of the radar detection signal at the next moment according to the first target detection data, and detecting at least one second target object according to the adjusted detection strategy and the detection data at the next moment.

A second aspect of an embodiment of the present invention provides a radar including: a memory, a processor, an antenna;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

acquiring a detection signal detected by the radar at the current moment through the antenna, and generating detection data according to the detection signal;

A third aspect of embodiments of the present invention provides a radar including:

the signal transmitting device is used for transmitting electromagnetic waves to detect a target object;

and a radar as described in the second aspect.

A fourth aspect of embodiments of the present invention is to provide a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the method of the first aspect.

According to the target detection method, the radar, the vehicle and the computer-readable storage medium provided by the embodiment, the detection signal detected by the radar at the current moment is obtained, and the detection data is generated according to the detection signal; detecting at least one first target object according to the detection data and an initial detection strategy, wherein the first target object corresponds to first target detection data; and adjusting a detection strategy of the detection data of the radar detection signal at the next moment according to the first target detection data, and detecting at least one second target object according to the adjusted detection strategy and the detection data at the next moment. Therefore, the target detection accuracy can be effectively improved, and the problem of target tracking loss caused by poor radar processing capacity is avoided.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a schematic flowchart of a target detection method according to an embodiment of the present invention;

fig. 2 is a schematic flowchart of a target detection method according to a second embodiment of the present invention;

fig. 3 is a schematic flowchart of a target detection method according to a third embodiment of the present invention;

fig. 4 is a schematic flowchart of a target detection method according to a fourth embodiment of the present invention;

FIG. 5 is a diagram illustrating a division of a default region according to an embodiment of the present invention;

fig. 6 is a schematic flowchart of a target detection method according to a fifth embodiment of the present invention;

fig. 7 is a schematic flowchart of a target detection method according to a sixth embodiment of the present invention;

fig. 8 is a schematic structural diagram of a radar according to a seventh embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

After receiving the detection signal, the existing radar performs sampling, analog/digital conversion, high/low pass filtering, and fourier transform processing on the detection signal, detects all the processed detection signals, extracts a suspected target, and determines target information from the suspected target, so that the target can be tracked according to the target information. However, when the target detection is performed by using the method, when the number of radar detection targets exceeds the system processing capacity, objects with a short distance are detected preferentially, so that target tracking of a formed flight path at a distance is lost, and further, targets acquired by a radar are not accurate enough. In order to solve the above technical problems, the present invention provides an object detection method, a radar, a vehicle, and a computer-readable storage medium. Optionally, the radar is a millimeter wave radar. The millimeter wave radar can be a rear-mounted millimeter wave radar and a front-mounted millimeter wave radar, or the millimeter wave radar can be integrated in the whole vehicle.

The target detection method, the radar, the vehicle and the computer readable storage medium provided by the invention can be applied to any target detection scene.

Fig. 1 is a schematic flowchart of a target detection method according to an embodiment of the present invention, applied to a radar, as shown in fig. 1, where the method includes:

step 101, acquiring a detection signal detected by a radar at the current moment, and generating detection data according to the detection signal.

The radar is a system for detecting and tracking a target by using the reflection characteristic of electromagnetic waves, detects the target by transmitting the electromagnetic waves, obtains a detection signal generated by the target, and accordingly can obtain the detection signal detected by the radar at the current moment. In order to realize the detection of the target, after the detection signal detected at the current time is acquired, the detection data may be generated according to the detection signal, so as to perform the target detection according to the detection data in the following. The radar may specifically be a Frequency Modulated Continuous Wave (FMCW) radar. The FMCW radar may include an antenna, a radio frequency front end, a modulation module, and a signal processing unit. The radio frequency front end is used for transmitting a detection signal, the detection signal is a linear frequency modulation continuous wave, namely, the frequency of the detection signal transmitted by the FMCW radar is linearly modulated. Specifically, the modulation module is used for linearly modulating the frequency of the detection signal transmitted by the FMCW radar. When the detection signal transmitted by the FMCW radar is reflected by an object around the vehicle, the antenna of the FMCW radar receives the echo signal reflected by the object. The signal processing unit of the FMCW radar may process the echo signal to obtain the detection data.

Step 102, detecting at least one first target object according to the detection data and an initial detection strategy, wherein the first target object corresponds to first target detection data.

In this embodiment, after the detection signal detected by the radar at the current time is acquired and the detection data is generated according to the detection signal, the detection data may be detected according to a preset initial detection strategy to determine whether the detection data includes the first target object. The detection of the first target object may be implemented by any one of strategies that can implement target detection based on detection data, and the present invention is not limited thereto, and for example, the detection of the first target object may be implemented by a constant false alarm detection technique. Accordingly, if it is detected that the detection data includes at least one target object, the first target detection data corresponding to the first target object may be acquired from the detection data. The first target detection data includes, but is not limited to, the current moving speed of the first target object and the current range of the first target object from the radar.

Step 103, adjusting a detection strategy for the detection data of the radar detection signal at the next moment according to the first target detection data, and detecting at least one second target object according to the adjusted detection strategy and the detection data at the next moment.

In this embodiment, if at least one first target object can be detected, it is indicated that an obstacle exists near the current radar, and therefore, in order to further improve the accuracy of detecting the target object, a detection strategy for detecting the detection data of the radar detection signal at the next time may be adjusted according to the first target detection data, and whether or not a second target object is included in the detection data at the next time may be detected according to the adjusted detection strategy and the detection data at the next time. Specifically, adjusting the detection policy may include adjusting a parameter, a region, or others in the detection policy. For example, when the detection strategy is constant false alarm detection, adjusting the detection strategy may include adjusting a threshold of constant false alarm detection or adjusting an area of constant false alarm detection. The method is different from the method for determining the target object by always adopting a preset initial detection strategy to detect each element in the detection data at the current moment, and the method can effectively solve the technical problem that when the number of radar detection targets exceeds the system processing capacity, the objects with shorter distance can be preferentially detected, and the target tracking loss of a track formed at a distance can be caused by adjusting the detection strategy at the next moment according to the first target detection data and detecting the detection data at the next moment according to the adjusted detection strategy.

In the target detection method provided by this embodiment, a detection signal detected by a radar at a current time is obtained, and detection data is generated according to the detection signal; detecting at least one first target object according to the detection data and an initial detection strategy, wherein the first target object corresponds to first target detection data; and adjusting a detection strategy of the detection data of the radar detection signal at the next moment according to the first target detection data, and detecting at least one second target object according to the adjusted detection strategy and the detection data at the next moment. Therefore, the target detection accuracy can be effectively improved, and the problem of target tracking loss caused by poor radar processing capacity is avoided.

Further, on the basis of any of the above embodiments, the method comprises:

predicting first target prediction data of the first target object relative to the radar at the next moment according to the first target detection data;

and adjusting a detection strategy of the detection data of the radar detection signal at the next moment according to the first target prediction data, and detecting at least one second target object according to the adjusted detection strategy and the detection data at the next moment.

In this embodiment, after the detection data detected by the radar at the current time is obtained, and at least one first target object is detected according to the detection data and the preset initial detection strategy, it can be understood that, if a first target object exists near the radar at the current time, the first target object is likely to exist near the radar at the next time, so that the first target prediction data of the first target object relative to the radar at the next time can be predicted according to the first target detection data corresponding to the first target object, the detection strategy at the next time can be adjusted according to the first target prediction data of the first target object relative to the radar at the next time, and a second target object is detected according to the adjusted detection strategy and the detection data at the next time. It should be noted that, in the prior art, the target object is generally detected directly according to the detection data and the initial detection strategy, so that the accuracy is low. In the method provided by this embodiment, after the target object is detected according to the detection data and the initial detection strategy, the first target detection data corresponding to the first target object is obtained, the first target prediction data of the first target object relative to the radar at the next time is predicted according to the first target detection data, the detection strategy at the next time is adjusted according to the first target prediction data at the next time, and the second target object is detected according to the adjusted detection strategy, so that the detection efficiency and the detection accuracy of the target detection can be improved.

According to the target detection method provided by this embodiment, first target prediction data of the first target object relative to the radar at the next time is predicted according to the first target detection data, and a detection strategy of detection data of the radar detection signal at the next time is adjusted according to the first target prediction data, so that detection efficiency and detection accuracy of target detection can be improved.

Fig. 2 is a schematic flow chart of a target detection method according to a second embodiment of the present invention, where on the basis of any of the above embodiments, as shown in fig. 2, the method includes:

step 201, acquiring a detection signal detected by a radar at the current moment, and generating detection data according to the detection signal;

step 202, detecting at least one first target object according to the detection data and an initial detection strategy, wherein the first target object corresponds to first target detection data;

step 203, predicting first target prediction data of the first target object relative to the radar at the next moment according to the first target detection data;

step 204, adjusting a detection strategy for detection data of the radar detection signal at the next moment according to the first target prediction data;

step 205, determining a preset area around the first target object according to the first target prediction data and the detection data at the next moment;

and step 206, detecting at least one second target object according to the adjustment detection strategy and the preset area around the first target object.

In this embodiment, after predicting the first target detection data of the first target object relative to the radar at the next time according to the first target detection data corresponding to the first target object, it can be understood that if the first target object exists near the radar at the current time, the first target object is likely to exist near the radar at the next time. Therefore, the preset area around the first target object can be determined according to the first target prediction data of the first target object relative to the radar at the next moment and the detection data of the first target object at the next moment, so that the detection of the second target object can be realized according to the preset area and the adjusted detection strategy.

In the target detection method provided in this embodiment, a preset region around the first target object is determined according to the first target prediction data and the detection data at the next time, and at least one second target object is detected according to the adjustment detection strategy and the preset region around the first target object. Therefore, the target detection accuracy can be effectively improved, and the problem of target tracking loss caused by poor radar processing capacity is avoided.

Further, on the basis of any of the above embodiments, the method comprises:

adjusting a detection strategy of detection data of the radar detection signal at the next moment according to the first target prediction data;

determining a first element corresponding to the first target prediction data in the detection data of the next moment according to the first target prediction data;

taking an area in a preset range around the first element as the preset area;

and detecting at least one second target object according to the adjustment detection strategy and a preset area around the first target object.

In this embodiment, in order to detect the second target object in the detection data at the next time, the first target prediction data of the first target object relative to the radar at the next time, which is obtained by prediction, may be combined with the detection data detected by the radar at the next time, so as to achieve the acquisition of the preset region. Specifically, the detection data may be a range-doppler (velocity) matrix, where the range-doppler (velocity) matrix may include a plurality of elements, and therefore, a first element corresponding to first target prediction data of a first target object relative to the radar at a next time may be determined in the detection data of the first target object relative to the first target prediction data of the radar at the next time according to the next time.

In the target detection method provided by this embodiment, a first element corresponding to the first target prediction data is determined in the detection data of the next time according to the first target prediction data; and taking the area in the preset range around the first element as the preset area, so that the preset area can be accurately positioned, and a basis is provided for the subsequent detection of a second target object.

Fig. 3 is a schematic flow chart of a target detection method according to a third embodiment of the present invention, where on the basis of any of the above embodiments, as shown in fig. 3, the method includes:

301, acquiring a detection signal detected by a radar at the current moment, and generating detection data according to the detection signal;

step 302, detecting at least one first target object according to the detection data and an initial detection strategy, wherein the first target object corresponds to first target detection data;

step 303, predicting first target prediction data of the first target object relative to the radar at the next moment according to the first target detection data;

step 304, adjusting a detection strategy for detection data of the radar detection signal at the next moment according to the first target prediction data;

step 305, determining a first element corresponding to the first target prediction data in the detection data of the next moment according to the first target prediction data;

step 306, taking a region in a preset range around the first element as the preset region;

step 307, preferentially detecting at least one second target object in a preset area around the first target object.

In this embodiment, the adjusted detection strategy may specifically be to perform priority detection on a preset area around the first target object. Specifically, if a first target object is detected according to the detection data at the current time, it is characterized that the first target object currently exists near the radar, and it can be understood that, at the next time, the probability that the target object appears in the preset area around the first target object is higher. Therefore, the first target prediction data of the first target object at the next time can be predicted according to the first target detection data corresponding to the first target object, the first element corresponding to the first target prediction data of the first target object at the next time is determined in the detection data of the first target object at the next time, and the area in the preset range around the first element is used as the preset area, so that the second target object can be preferentially detected in the preset area around the first target object in the target detection process. Because the probability that the target object appears in the preset area around the first target object is higher at the next moment, the detection accuracy of the target object can be improved by preferentially detecting the preset area around the first target object, the calculation amount of the radar can be reduced, and the target object can be prevented from being lost when the radar has poorer calculation capability.

In the target detection method provided by this embodiment, at least one second target object is preferentially detected in a preset region around the first target object. Therefore, the accuracy of target object detection can be improved, the calculated amount of the radar can be reduced, and the target object can be prevented from being lost when the radar has poor calculation capability.

Further, on the basis of any of the above embodiments, the method comprises:

taking an area in a preset range around the first element as the preset area;

preferentially detecting at least one second target object in a preset area around the first target object;

determining a region except a preset region around the first target object in the detection data at the next moment;

detecting at least one second target object in an area other than a preset area around the first target object in the detection data at the next time.

In this embodiment, it can be understood that, as the radar moves, a new target object may appear in the detection data at the next time, and therefore, if the calculation capability of the current radar is strong, in order to further ensure the accuracy of target object detection, after preferentially detecting the preset region around the first target object, a region other than the preset region around the first target object in the detection data at the next time may be determined, and at least one second target object may be detected in the region other than the preset region around the first target object in the detection data at the next time.

In the target detection method provided by this embodiment, a region other than a preset region around the first target object in the detection data at the next time is determined; and detecting at least one second target object in the detection data at the next moment except for the preset area around the first target object, so that the detection accuracy of the target object can be further improved, and the problem of target loss caused by poor radar computing capability is avoided.

Further, on the basis of any of the above embodiments, the method comprises:

taking an area in a preset range around the first element as the preset area;

preferentially calculating the energy intensity of each element in a preset area around the first target object;

and taking at least one element with energy intensity larger than a preset intensity threshold value as the at least one second target object.

In this embodiment, the preset region around the first target object includes a plurality of elements, where the preset region specifically includes an element corresponding to the first target object and an element corresponding to an unnecessary clutter, and it can be understood that the energy intensity of the element corresponding to the first target object is far greater than the energy intensity of the element corresponding to the clutter. Specifically, the energy intensity of each element in a preset area around the first target object may be preferentially calculated, and at least one element having an energy intensity greater than a preset intensity threshold may be used as the at least one second target object. Optionally, any signal energy intensity calculation method may be adopted to calculate the energy intensity of each element in the preset region, which is not limited herein. In addition, the preset intensity threshold may be adjusted according to the current target object detection accuracy, and the present invention is not limited herein.

In the target detection method provided by this embodiment, the energy intensity of each element in the preset region around the first target object is preferentially calculated; and at least one element with the energy intensity larger than the preset intensity threshold value is used as the at least one second target object, so that the second target object can be accurately detected, and the subsequent obstacle avoidance operation and the next-time detection of the target object are performed according to the second target object obtained by detection.

Fig. 4 is a schematic flow chart of a target detection method according to a fourth embodiment of the present invention, where on the basis of any of the foregoing embodiments, as shown in fig. 4, the method includes:

step 401, acquiring a detection signal detected by a radar at the current moment, and generating detection data according to the detection signal;

step 402, detecting at least one first target object according to the detection data and an initial detection strategy, wherein the first target object corresponds to first target detection data;

step 403, predicting first target prediction data of the first target object relative to the radar at the next moment according to the first target detection data;

step 404, adjusting a detection strategy for detection data of the radar detection signal at the next moment according to the first target prediction data;

step 405, reducing the intensity threshold of a preset area around the first target object to obtain an adjusted intensity threshold;

and 406, detecting at least one second target object in a preset area around the first target object according to the adjusted intensity threshold.

In practical applications, due to the fact that the detection signals have a flicker characteristic, that is, the energy intensities of the detection signals at different times are different, the detection method in the prior art often causes the loss of the target object. In order to further improve the accuracy of target object detection, the adjusted detection strategy may be to reduce the intensity threshold of the current target object detection. Specifically, after the detection data currently detected by the radar is obtained, the intensity threshold value of the current target object detection can be reduced, the detection of the target object in the currently detected detection data is realized through any target object detection technology, and the problem that the target tracking is lost due to the fact that the intensity threshold value is reduced, the detection signal with the current flicker characteristic is ignored in the target object detection process can be avoided.

As an implementation manner, after determining the preset area around the first target object, the detection threshold of the preset area around the first target object may be reduced, and at least one second target object may be detected in the preset area around the first target object according to the adjusted intensity threshold. So that a target object capable of ensuring a flicker characteristic can also be detected.

Optionally, the two adjusted detection strategies may be implemented individually or in combination, and when implemented individually, the disclosure in the above embodiments may be referred to, and when implemented in combination, specifically, after determining the preset area around the first target object, the detection threshold of the preset area around the first target object may be reduced, and the preset area around the first target object is preferentially detected. Therefore, when the radar computing capability is poor, the target loss caused by the flicker characteristic can be avoided on the basis of ensuring that the target object is not lost.

In the target detection method provided in this embodiment, the adjusted intensity threshold is obtained by reducing the intensity threshold of the preset region around the first target object, and at least one second target object is detected in the preset region around the first target object according to the adjusted intensity threshold. Therefore, the detection accuracy of the target object can be further improved, and the tracking loss of the target object is avoided.

Further, on the basis of any of the above embodiments, the method comprises:

determining a preset area around the first target object according to the first target prediction data and the detection data at the next moment;

multiplying the intensity threshold value by a preset coefficient to obtain the adjusted intensity threshold value; and/or;

subtracting a preset constant from the intensity threshold value to obtain the adjusted intensity threshold value; and/or;

reducing the intensity threshold value of a preset area around the first target object through an experimental calibration lookup table to obtain an adjusted intensity threshold value;

and detecting at least one second target object in a preset area around the first target object according to the adjusted intensity threshold.

In this embodiment, there are various methods for reducing the intensity threshold of the preset region around the first target object, and specifically, the adjusted intensity threshold may be obtained by multiplying the preset intensity threshold by the preset system; the adjusted intensity threshold value can also be obtained by subtracting a preset constant from a preset intensity threshold value; the intensity threshold of the preset area around the first target object can be reduced through an experimental calibration lookup table, and the adjusted intensity threshold is obtained. In practical application, the intensity threshold may be adjusted according to the accuracy of the current target detection, and specifically, the intensity threshold may be adjusted by adjusting a preset coefficient and a preset constant.

In the target detection method provided by this embodiment, the adjusted intensity threshold is obtained by multiplying the intensity threshold by a preset coefficient; and/or; subtracting a preset constant from the intensity threshold value to obtain the adjusted intensity threshold value; and/or; and reducing the intensity threshold value of the preset area around the first target object through an experimental calibration lookup table to obtain the adjusted intensity threshold value. Therefore, the detection accuracy of the target object can be further improved, and the tracking loss of the target object is avoided.

Further, on the basis of any of the above embodiments, the method comprises:

predicting first target prediction data of the first target object relative to the radar at the next moment through a Kalman filtering algorithm according to the first target detection data;

In this embodiment, first target prediction data of the first target object relative to the radar at the next time may be predicted according to the first target detection data corresponding to the first target object, so that a detection strategy of the first target object at the next time relative to the radar may be adjusted according to the first target prediction data of the first target object at the next time, and a second target object may be detected according to the adjusted detection strategy and the detection data at the next time. Specifically, the prediction of the first target prediction data of the first target object relative to the radar at the next time may be achieved through a kalman filter algorithm according to the first target detection data. Optionally, in order to improve the accuracy of predicting the first target prediction data of the first target object at the next time, the flight path corresponding to the first target object may be determined according to the first target data in the historical preset time, and the first target detection data of the first target object at the next time may be predicted according to the flight path and the kalman filter algorithm.

According to the target detection method provided by the embodiment, the first target prediction data of the first target object relative to the radar at the next moment is predicted through the Kalman filtering algorithm according to the first target detection data, so that the first target detection data of the first target object at the next moment can be accurately calculated, and a basis is provided for the subsequent adjustment of the detection strategy.

Optionally, on the basis of any of the above embodiments, the method includes:

predicting first target prediction data of the first target object relative to the radar at the next moment according to the time interval of the electromagnetic waves sent by the radar and the first target detection data;

In this embodiment, the first target detection data may specifically include a current echo characteristic of the first target object, where the echo characteristic includes a current distance from the radar and a current speed of the first target object, and the radar is a system for performing target detection and tracking by using a reflection characteristic of an electromagnetic wave, and detects a target by transmitting the electromagnetic wave, and obtains a detection signal generated by the target, where the detection signal has a preset time interval for transmitting the electromagnetic wave, so that first target prediction data of the first target object relative to the radar at a next time may be predicted by multiplying the time interval and the current speed of the first target object.

According to the target detection method provided by the embodiment, the first target prediction data of the first target object relative to the radar at the next moment is predicted according to the time interval of the electromagnetic wave sent by the radar and the first target detection data, so that the first target detection data of the first target object at the next moment can be rapidly and accurately calculated, and a basis is provided for subsequent adjustment of a detection strategy.

Further, fig. 5 is a partition diagram of a preset area according to an embodiment of the present invention; on the basis of any of the above embodiments, as shown in fig. 5, the preset region includes the first element and all elements adjacent to the first element.

In this embodiment, the preset area includes the first element and all elements adjacent to the first element, and all elements adjacent to the first element are used as the content of the preset area, so that the success rate of target detection according to the preset area at the next time can be improved. As shown in fig. 5, the first element may be identified by T, and the preset area may be the first element and eight elements respectively marked as A, B around the first element T; or may be the first element and four elements marked as a around the first element T; there may be a first element and four elements marked B around the first element T. It should be noted that the division of the preset area may be adjusted according to the current radar computing capability, if the radar computing capability is poor, fewer elements may be designed in the preset area, and if the current radar computing capability is strong, more elements may be set in the preset area, which is not limited herein.

According to the target detection method provided by the embodiment, the preset area comprises the first element and all elements adjacent to the first element, so that the technical problem of target tracking loss caused by poor radar computing capability can be avoided on the basis of realizing detection of the second target object.

Fig. 6 is a schematic flow chart of a target detection method according to a fifth embodiment of the present invention, where on the basis of any of the foregoing embodiments, as shown in fig. 6, the method includes:

step 501, sampling the detection signal through a preset sampling period to obtain a sampled detection signal;

502, performing analog-to-digital conversion operation on the sampled detection signal to obtain a digital detection signal;

step 503, performing high-pass and/or low-pass filtering operation on the digital detection signal to obtain a matrix to be processed;

step 504, performing two-dimensional Fourier transform on the matrix to be processed to obtain the detection data;

step 505, detecting at least one first target object according to the detection data and an initial detection strategy, wherein the first target object corresponds to first target detection data;

step 506, according to the first target detection data, adjusting a detection strategy for detection data of the radar detection signal at the next moment, and according to the adjusted detection strategy and the detection data at the next moment, detecting at least one second target object.

In this embodiment, in order to detect the target object, first, a detection signal detected by the radar needs to be acquired, and detection data is obtained according to the detection signal detected by the radar. Specifically, the detection signal detected by the radar may be sampled at a preset sampling period to obtain a sampled detection signal. Since the detection signal is an analog signal, after the sampled detection signal is obtained, analog-to-digital conversion needs to be performed on the sampled detection signal to obtain a digital detection signal in order to implement processing of the detection signal by the processor. It should be noted that the order of sampling and analog-to-digital conversion may be adjusted according to the requirement in practical application, that is, the detection signal may be sampled first, and then the sampled detection signal is subjected to analog-to-digital conversion. After the digital detection signal is obtained, high-pass and/or low-pass filtering may be continuously performed on the digital detection signal so that the frequency of the digital detection signal is within a preset frequency range, thereby obtaining a matrix to be processed. Furthermore, two-dimensional Fourier transform can be performed on the matrix to be processed to obtain detection data, so that the target object can be detected according to the detection data subsequently.

The target detection method provided by this embodiment samples the detection signal through a preset sampling period, obtains the sampled detection signal, performs analog-to-digital conversion on the sampled detection signal, obtains a digital detection signal, performs high-pass and/or low-pass filtering on the digital detection signal, obtains a matrix to be processed, performs two-dimensional fourier transform on the matrix to be processed, obtains the detection data, and thus can accurately and quickly obtain the detection data, thereby providing a basis for subsequent detection of a target object.

Further, on the basis of any of the above embodiments, the method comprises:

sampling the detection signal through a preset sampling period to obtain a sampled detection signal;

performing analog-to-digital conversion operation on the sampled detection signal to obtain a digital detection signal;

carrying out high-pass and/or low-pass filtering operation on the digital detection signal to obtain a matrix to be processed;

performing Fourier transform on the row vectors in the matrix to be processed to obtain the matrix to be processed containing distance information;

carrying out Fourier transform on the longitudinal quantity in the matrix to be processed containing the distance information to obtain the detection data containing the distance information and the speed information;

In this embodiment, after the detection signal is sampled, analog-to-digital converted, and high/low pass filtered, and the matrix to be processed is obtained, two-dimensional fourier transform may be performed on the matrix to be processed. Specifically, fourier transform may be performed on row vectors in the matrix to be processed, so as to obtain the matrix to be processed including the distance information. Furthermore, the vertical quantity of the matrix to be processed containing the distance information can be subjected to Fourier transform, so that detection data can be obtained, wherein for each element in the detection data, the distance and speed information of the element can be determined, and for known distance and speed information which can be identified by radar, the element corresponding to the distance and speed information can be positioned in the detection data according to the distance and speed information. Therefore, the first element corresponding to the detection data of the next moment can be positioned in the detection data of the next moment according to the predicted first target detection data, and then the preset area can be determined according to the positioned first element.

In the target detection method provided by this embodiment, a to-be-processed matrix including distance information is obtained by performing fourier transform on a row vector in the to-be-processed matrix; and carrying out Fourier transform on the longitudinal quantity in the matrix to be processed containing the distance information to obtain the detection data containing the distance information and the speed information, thereby providing a basis for determining a subsequent preset region.

Further, on the basis of any of the above embodiments, the method comprises:

for each element in the detection data, calculating an energy intensity of the each element;

taking at least one element with the energy intensity larger than a preset intensity threshold value as the at least one first target object;

In this embodiment, if the first target object is detected in the detection data, the current detection strategy may be adjusted according to the first target object, but if the first target object is not detected currently, for example, the radar is started for the first time, and for the first group of detection signals, the first target object is not detected before, and at this time, the detection data needs to be detected by using the initial detection strategy. Specifically, since the detection data is in a matrix form, for each element in the detection data, the energy intensity of each element is calculated, and at least one element with the energy intensity greater than a preset intensity threshold is taken as the currently detected at least one first target object. Therefore, the detection data detection strategy can be adjusted subsequently according to the first target object detected at the current moment.

The method is different from the prior art that energy intensity calculation is always carried out on all elements in the currently acquired detection data to realize detection of the target object, an initial detection strategy is adopted to carry out detection when the first target object is not detected, and when the first target object is detected, the detection strategy is adjusted according to the first target detection data, so that the calculated amount of the radar can be effectively reduced, the radar can be guaranteed not to lose the tracking target when the calculation capacity is weak, and the continuity of tracking the radar target is improved.

In the target detection method provided by this embodiment, by aiming at each element in the detection data, the energy intensity of each element is calculated; and at least one element with the energy intensity larger than a preset intensity threshold value is used as the at least one first target object, so that a basis can be provided for the adjustment of a subsequent detection strategy.

Fig. 7 is a schematic flow chart of a target detection method according to a sixth embodiment of the present invention, where on the basis of any of the foregoing embodiments, as shown in fig. 7, the method further includes:

601, acquiring a detection signal detected by a radar at the current moment, and generating detection data according to the detection signal;

step 602, detecting at least one first target object according to the detection data and an initial detection strategy, wherein the first target object corresponds to first target detection data;

step 603, adjusting a detection strategy for the detection data of the radar detection signal at the next moment according to the first target detection data, and detecting at least one second target object according to the adjusted detection strategy and the detection data at the next moment;

step 604, taking second target detection data corresponding to the second target object as first target detection data at the current moment, returning to execute the step of adjusting the detection strategy of the detection data of the radar detection signal at the next moment according to the first target detection data, and detecting at least one second target object according to the adjusted detection strategy and the detection data at the next moment.

In this embodiment, after the second target object is detected according to the adjusted detection strategy, the second target detection data corresponding to the second target object may be used as the first target detection data at the current time, the detection strategy for adjusting the detection data of the radar detection signal at the next time according to the first target detection data is returned to be executed, and the step of detecting at least one second target object according to the adjustment detection strategy and the detection data at the next time is performed until the radar stops detecting. Specifically, when the second target object is detected according to the detection data at the next time and the adjusted detection strategy, the second target object may be detected, or the second target object may not be detected.

In the target detection method provided by this embodiment, the second target detection data corresponding to the second target object is used as the first target detection data at the current time, the detection strategy for adjusting the detection data of the radar detection signal at the next time according to the first target detection data is returned to be executed, and the step of detecting at least one second target object according to the adjustment detection strategy and the detection data at the next time is performed, so that the continuity of radar target detection can be ensured.

Further, on the basis of any one of the above embodiments, the first target object is a target object whose distance from the detection device at the current time is less than a preset distance threshold.

Fig. 8 is a schematic structural diagram of a radar according to a seventh embodiment of the present invention, and as shown in fig. 8, the radar 71 includes a memory 72, a processor 73, and an antenna 74;

the memory 72 is used for storing program codes;

the processor 73, which invokes the program code, when the program code is executed, is configured to:

acquiring a detection signal detected by the radar at the current moment through the antenna 74, and generating detection data according to the detection signal;

According to the radar provided by the embodiment, the detection signal detected by the radar at the current moment is obtained, and the detection data is generated according to the detection signal; detecting at least one first target object according to the detection data and an initial detection strategy, wherein the first target object corresponds to first target detection data; and adjusting a detection strategy of the detection data of the radar detection signal at the next moment according to the first target detection data, and detecting at least one second target object according to the adjusted detection strategy and the detection data at the next moment. Therefore, the target detection accuracy can be effectively improved, and the problem of target tracking loss caused by poor radar processing capacity is avoided. Optionally, the radar provided in the embodiment of the present invention may be a millimeter wave radar, and more specifically, may be an FMCW millimeter wave radar.

Further, on the basis of any of the above embodiments, when the processor adjusts the detection strategy for the detection data of the radar detection signal at the next time according to the first target detection data, the processor is specifically configured to:

and adjusting a detection strategy of the detection data of the radar detection signal at the next moment according to the first target detection data relative to the radar at the next moment.

Further, on the basis of any of the foregoing embodiments, when the processor adjusts a detection strategy for the detection data of the radar detection signal at the next time according to the first target detection data, and detects at least one second target object according to the adjusted detection strategy and the detection data at the next time, the processor is specifically configured to:

Further, on the basis of any of the above embodiments, when determining the preset region around the first target object according to the first target prediction data and the detection data at the next time, the processor is specifically configured to:

and taking the area in the preset range around the first element as the preset area.

Further, on the basis of any of the above embodiments, when detecting at least one second target object according to the adjusted detection strategy and the preset area around the first target object, the processor is specifically configured to:

at least one second target object is preferentially detected in a preset area around the first target object.

Further, on the basis of any of the above embodiments, after preferentially detecting at least one second target object in a preset area around the first target object according to the adjusted detection strategy, the processor is further configured to:

Further, on the basis of any of the above embodiments, when preferentially detecting at least one second target object in a preset area around the first target object, the processor is specifically configured to:

reducing the intensity threshold of a preset area around the first target object to obtain an adjusted intensity threshold;

Further, on the basis of any of the above embodiments, when the processor lowers the intensity threshold of the preset area around the first target object and obtains the adjusted intensity threshold, the processor is specifically configured to:

and reducing the intensity threshold value of the preset area around the first target object through an experimental calibration lookup table to obtain the adjusted intensity threshold value.

Further, on the basis of any of the above embodiments, when predicting, from the first target detection data, first target prediction data of the first target object with respect to the radar at a next time, the processor is specifically configured to:

and predicting first target prediction data of the first target object relative to the radar at the next moment by a Kalman filtering algorithm according to the first target detection data.

Further, on the basis of any of the above embodiments, the predicting, according to the first target detection data, first target prediction data of the first target object with respect to the radar at a next time includes:

and predicting first target prediction data of the first target object relative to the radar at the next moment according to the time interval of the electromagnetic waves sent by the radar and the first target detection data.

Further, on the basis of any of the above embodiments, the preset area includes the first element and all elements adjacent to the first element.

Further, on the basis of any of the above embodiments, when the processor acquires a detection signal detected by the radar at the current time and generates detection data according to the detection signal, the processor is specifically configured to:

and carrying out two-dimensional Fourier transform on the matrix to be processed to obtain the detection data.

Further, on the basis of any of the above embodiments, when the processor performs two-dimensional fourier transform on the matrix to be processed to obtain the detection data, the processor is specifically configured to:

and carrying out Fourier transform on the longitudinal quantity in the matrix to be processed containing the distance information to obtain the detection data containing the distance information and the speed information.

Further, on the basis of any of the above embodiments, when at least one first target object is detected according to the detection data and the initial detection strategy, the processor is specifically configured to:

and taking at least one element with the energy intensity larger than a preset intensity threshold value as the at least one first target object.

Further, on the basis of any of the above embodiments, after adjusting the detection strategy for the detection data of the radar detection signal at the next time according to the first target detection data, and detecting at least one second target object according to the adjusted detection strategy and the detection data at the next time, the processor is further configured to:

and taking second target detection data corresponding to the second target object as first target detection data at the current moment, returning to execute the step of adjusting a detection strategy of detection data of the radar detection signal at the next moment according to the first target detection data, and detecting at least one second target object according to the adjusted detection strategy and the detection data at the next moment.

The embodiment of the invention provides a vehicle. The vehicle includes: a body, a powertrain and a radar as in any of the embodiments described above. Wherein, the driving system is installed at the automobile body for provide power, and the radar can be the millimeter wave radar. Specifically, the millimeter wave radar may be front-mounted, that is, installed in the vehicle before the finished vehicle leaves the factory, and optionally, the millimeter wave radar may be integrated in the vehicle, for example, the antenna, the radio frequency front end, the modulation module, and other parts of the FMCW radar that transmit and process signals may be disposed in a position where there is a need in front of, behind, and the like the vehicle, but a processor that processes the detection data may be disposed inside the vehicle, or a computing platform of the vehicle may be directly used. The millimeter wave radar can also be installed after installation, and the radar can transmit and process signals and process detection data by itself, and can also be in communication connection with a vehicle and transmit the detection data to a vehicle computing platform. The implementation and specific principles of the radar are the same as those of the above embodiments, and are not described herein again.

In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the object detection method described in the above embodiment.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of 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.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An object detection method applied to radar, the method comprising:

2. The method of claim 1, wherein adjusting a detection strategy for detection data of the radar detection signal at a next time based on the first target detection data comprises:

and adjusting a detection strategy of detection data of the radar detection signal at the next moment according to the first target prediction data.

3. The method of claim 2, wherein adjusting a detection strategy for the detection data of the radar detection signal at a next time based on the first target detection data, and detecting at least one second target object based on the adjusted detection strategy and the detection data at the next time comprises:

4. The method of claim 3, wherein determining the predetermined area around the first target object based on the first target prediction data and the detection data at the next time comprises:

5. The method of claim 3, wherein said detecting at least one second target object according to the adjusted detection strategy and a predetermined area around the first target object comprises:

6. The method of claim 5, wherein after preferentially detecting at least one second target object in a preset area around the first target object according to the adjusted detection strategy, further comprising:

7. The method of claim 5, wherein the preferentially detecting at least one second target object in a preset area around the first target object comprises:

8. The method of claim 2, wherein said detecting at least one second target object according to the adjusted detection strategy and a predetermined area around the first target object comprises:

9. The method of claim 8, wherein the reducing the intensity threshold of the preset area around the first target object to obtain an adjusted intensity threshold comprises:

10. The method of claim 2, wherein predicting first target prediction data for the first target object relative to the radar at a next time based on the first target detection data comprises:

11. The method of claim 2, wherein predicting first target prediction data for the first target object relative to the radar at a next time based on the first target detection data comprises:

12. The method of claim 4, wherein the predetermined area includes the first element and all elements adjacent to the first element.

13. The method according to any one of claims 1 to 12, wherein the acquiring a detection signal detected by the radar at a current time and generating detection data based on the detection signal comprises:

14. The method of claim 13, wherein the performing a two-dimensional fourier transform on the matrix to be processed to obtain the detection data comprises:

15. The method of claim 1, wherein said detecting at least one first target object based on said probe data and an initial detection strategy comprises:

16. The method of claim 1, wherein after adjusting a detection strategy for the detection data of the radar detection signal at a next time based on the first target detection data and detecting at least one second target object based on the adjusted detection strategy and the detection data at the next time, further comprising:

17. The method according to claim 1, wherein the first target object is a target object whose distance from the detection device at the current time is less than a preset distance threshold.

18. A radar comprising a memory, a processor, an antenna;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

19. The radar of claim 18, wherein the processor, when adjusting the detection strategy for the probe data of the radar probe signal at the next time based on the first target probe data, is specifically configured to:

20. The radar of claim 19, wherein the processor, in adjusting a detection strategy for detection data of the radar detection signal at a next time based on the first target detection data, and in detecting at least one second target object based on the adjusted detection strategy and the detection data at the next time, is specifically configured to:

21. The radar of claim 20, wherein the processor, when determining the predetermined area around the first target object based on the first target prediction data and the detection data at the next time, is specifically configured to:

22. The radar of claim 20, wherein the processor, when detecting at least one second target object according to the adjusted detection strategy and a predetermined area around the first target object, is specifically configured to:

23. The radar of claim 22, wherein the processor, after preferentially detecting at least one second target object in a preset area around the first target object according to the adjusted detection strategy, is further configured to:

24. Radar according to claim 22, wherein the processor, when preferentially detecting at least one second target object in a predetermined area around the first target object, is specifically configured to:

25. The radar of claim 19, wherein the processor, when detecting at least one second target object in accordance with the adjusted detection strategy and a predetermined area around the first target object, is specifically configured to:

26. The radar of claim 25, wherein the processor, when reducing the intensity threshold of the preset area around the first target object and obtaining the adjusted intensity threshold, is specifically configured to:

27. The radar of claim 19, wherein the processor, in predicting first target prediction data for the first target object relative to the radar at a next time based on the first target detection data, is specifically configured to:

28. The radar of claim 19, wherein the processor, in predicting first target prediction data for the first target object relative to the radar at a next time based on the first target detection data, is specifically configured to:

29. The radar of claim 21, wherein the predetermined area includes the first element and all elements adjacent to the first element.

30. A radar according to any of claims 18 to 29, wherein the processor, when obtaining detection signals detected by the radar at a current time and generating detection data based on the detection signals, is configured to:

31. The radar of claim 30, wherein the processor, when performing a two-dimensional fourier transform on the matrix to be processed to obtain the probe data, is specifically configured to:

32. Radar according to claim 18, wherein the processor, when detecting at least one first target object based on the probe data and an initial detection strategy, is specifically configured to:

33. The radar of claim 18, wherein the processor, after adjusting a detection strategy for detection data of the radar detection signal at a next time based on the first target detection data, and detecting at least one second target object based on the adjusted detection strategy and the detection data at the next time, is further configured to:

34. The radar of claim 18, wherein the first target object is a target object that is less than a preset distance threshold from the detection device at a current time.

35. A radar according to any of claims 18 to 34, wherein the radar is a millimeter wave radar.

36. A vehicle, characterized by comprising:

a vehicle body;

the power system is arranged on the vehicle body and used for providing power;

and a radar according to any one of claims 1 to 17.

37. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the object detection method of any one of claims 1-17.