CN111699406B - Millimeter wave radar tracking detection method, millimeter wave radar and vehicle - Google Patents

Millimeter wave radar tracking detection method, millimeter wave radar and vehicle Download PDF

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Publication number
CN111699406B
CN111699406B CN201980010373.8A CN201980010373A CN111699406B CN 111699406 B CN111699406 B CN 111699406B CN 201980010373 A CN201980010373 A CN 201980010373A CN 111699406 B CN111699406 B CN 111699406B
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target
vehicle
tracking
detection
millimeter wave
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CN111699406A (en
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王宇
戴为龙
陈配涛
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/418—Theoretical aspects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9317—Driving backwards

Abstract

A tracking detection method of a millimeter wave radar (300), a millimeter wave radar (300) and a vehicle, the method includes: acquiring target detection information of the reflection target point, the target detection information including position information of the reflection target point in a movement direction of a current movement state of the vehicle, wherein the current movement state includes at least one of: a forward gear state, a reverse gear state (S101); determining a processing mode of the reflection target point according to the position information, wherein the processing mode comprises at least one of the following: the target patterns are clustered and tracked (S102). Whether the detection target is a transverse moving object or not can be accurately and effectively determined, tracking detection is carried out on the detection target determined to be the transverse moving object, and the safety and the robustness of the whole ADAS are improved.

Description

Millimeter wave radar tracking detection method, millimeter wave radar and vehicle
Technical Field
The present invention relates generally to the field of autopilot technology, and more particularly to a millimeter wave radar tracking detection method, a millimeter wave radar, and a vehicle.
Background
In recent years, millimeter wave radar technology for automobiles has been increasingly used in advanced driving assistance (ADVANCED DRIVER ASSISTANT SYSTEM, ADAS) systems and is indispensable in future automatic driving systems. Compared with sensors such as vision and laser radar, the millimeter wave radar has the unique advantages of all-weather, long acting distance, high speed measurement precision and the like.
Millimeter wave radars themselves lack the ability to detect tangential objects because of physical limitations, with only radial distance and radial velocity being detectable at the reflective (Reflector) level. However, the lateral shuttle obstacle warning (CTA) function is a very important function for driving assistance systems. In the previous 24GHz backward radar detection system, only some basic functions such as door opening early warning (DOW), blind spot monitoring system (BSD), auxiliary Lane Changing (LCA), rear collision early warning (RPC) and the like are generally provided, and the basic functions are mainly not high in requirements on radial detection of the radar or judging capability of tangential speed. With the development of the age, the ADAS function has increasingly higher requirements for protecting crossing objects, especially crossing pedestrians behind a front vehicle (especially behind a back vehicle), and therefore, has also put higher requirements for a transverse shuttle obstacle warning (CTA) function.
Disclosure of Invention
The present invention has been made in order to solve at least one of the above problems. Specifically, the invention provides a tracking detection method of millimeter wave radar, which comprises the following steps:
Acquiring target detection information of a reflection target point, the target detection information including position information of the reflection target point in a movement direction of a current movement state of the vehicle, wherein the current movement state includes at least one of: a forward gear state, a reverse gear state;
determining a processing mode of the reflection target point according to the position information, wherein the processing mode comprises at least one of the following: clustering target patterns, and tracking target patterns.
Illustratively, the tracking detection method further comprises:
Determining a current motion state of the vehicle;
According to the current motion state of the vehicle, a corresponding detection mode is started, wherein the detection mode comprises at least one of the following modes: a forward gear detection mode and a reverse gear detection mode.
Illustratively, the tracking detection method further comprises:
according to the determined processing mode, forming a detection target of a preset type, wherein the preset type comprises at least one of the following: clustering targets and tracking the targets;
Calculating position information of the detection target, wherein the position information comprises at least one of the following: the angular change rate of the target position, the angular change rate trend, and the distance change of the target position in the moving direction of the vehicle;
Determining whether the detection target of the preset type is a transverse moving object or not according to the position information of the detection target;
And tracking and detecting the transverse moving object.
Illustratively, the position information includes distance information, the processing mode of the reflection target point is determined according to the distance information and a preset distance threshold,
If the distance information does not exceed the distance threshold, the processing mode of the reflection target point is the clustering target mode; and if the distance information exceeds a distance threshold, the processing mode of the reflection target point is a tracking target mode.
Illustratively, at the clustering target mode, the reflection target points are clustered to form a clustered target.
Illustratively, in the tracking target mode, the reflection target point is subject to target tracking to form a tracking target.
Illustratively, prior to said determining the current state of motion of the vehicle, the tracking detection method further comprises:
And the millimeter wave radar is powered on to start or restarted.
Illustratively, the millimeter wave radar power-on start-up or restart comprises:
When the vehicle is just powered on and started, the millimeter wave radar is powered on and started, and the parameter configuration is initialized;
When the vehicle changes forward gear or reverse gear, the millimeter wave radar stops transmitting radio frequency signals first and restarts to reset the parameter configuration of the millimeter wave radar.
Illustratively, the parameter configuration includes at least one of a radio frequency parameter configuration, an installation parameter configuration, and an algorithm parameter configuration.
For example, if the detection target is a clustered target, the position information includes an angle change rate of the clustered target, an angle change rate trend, and a distance change of the clustered target in a movement direction of the vehicle.
Illustratively, the location information of the clustered objects further includes at least one of barycentric coordinates and a range of action of the clustered objects.
Illustratively, if the detected target is a tracked target, the tracked target is classified and aggregated.
Illustratively, the classifying and aggregating the tracking target includes:
and judging pedestrian classification of the target RCS statistical value and/or trucks consisting of a plurality of points according to the distance and the energy.
Illustratively, determining whether the preset type of detection target is a laterally moving object according to the position information of the detection target includes:
Determining whether the angle change rate of the target position is larger than an angle change rate threshold, if not, temporarily determining the target position as a common target, if so, determining whether the angle change rate trend is gradually increased or gradually decreased, if not, temporarily determining the target position as the common target, if so, determining whether the distance change of the target position in the moving direction of the vehicle is smaller than the distance change threshold, if so, determining the detection target as a transverse moving object, and if not, temporarily determining the detection target as the common target.
Illustratively, the value of the angle change rate threshold is correlated with the distance between the detection target and the millimeter wave radar in the moving direction of the vehicle, and the value of the angle change rate threshold is smaller as the distance is larger.
Illustratively, the determining whether the angular rate of change trend appears to be increasing or decreasing comprises:
And determining whether the angle change rate trend is gradually increased or gradually decreased according to the movement direction of the detection target in the backward direction of the vehicle.
Illustratively, the determining whether the angular change rate trend is presented as increasing or decreasing according to the movement direction of the detection target in the backward direction of the vehicle includes:
When the movement direction of the detection target in the backward direction of the vehicle is from inside to outside, the angle change rate trend is shown to be gradually increased;
When the detection target moves from outside to inside in the backward movement direction of the vehicle, the angle change rate trend is presented to decrease.
Illustratively, the movement of the detection target in the rearward direction of the vehicle being from inside to outside includes the detection target being on the rearward left side of the vehicle and moving outward and the detection target being on the rearward right side of the vehicle and moving outward; and
The movement direction of the detection target in the vehicle rearward direction being from outside to inside includes the detection target being in the vehicle rear left side and moving inward and the detection target being in the vehicle rear right side and moving inward.
Illustratively, the distance change of the target position in the moving direction of the vehicle is a distance change after the vehicle speed compensation is added.
Illustratively, the distance of the target position in the lateral direction is a distance in the geodetic coordinate system converted from the distance in the vehicle body coordinate system when the vehicle is moving.
Illustratively, the tracking detection of the laterally moving object further includes:
Tracking and detecting the detection target which is determined to be the transverse moving object by adopting a transverse moving object tracking wave gate parameter; and
And adopting a common wave gate parameter for the detection target tentatively set as a common target.
Illustratively, the lateral-motion object tracking gate parameters include a longitudinal range gate and a lateral range gate, wherein a range of the longitudinal range gate is less than a range of the lateral range gate.
Illustratively, the clustered targets and the tracked targets employ different transverse moving object tracking gate parameters.
Illustratively, the lateral-motion-object tracking gate parameter and the normal gate parameter each include a distance gate, a velocity gate, and an angle gate, wherein the distance gate and the velocity gate of the lateral-motion-object tracking gate parameter for the tracking target are smaller than the distance gate and the velocity gate of the normal gate parameter, and the angle gate of the lateral-motion-object tracking gate parameter is larger than the angle gate of the normal gate parameter.
Illustratively, the determining the current motion state of the vehicle includes:
And acquiring vehicle body information, and determining the current motion state of the vehicle according to the vehicle body information.
The vehicle body information includes a vehicle speed, wherein the acquiring the vehicle body information, determining a current motion state of the vehicle according to the vehicle body information, includes:
And determining whether the current motion state of the vehicle is in a forward gear state or a reverse gear state according to the vehicle speed, wherein the current motion state of the vehicle is determined to be in the forward gear state when the vehicle speed is greater than a threshold vehicle speed, and the current motion state of the vehicle is determined to be in the reverse gear state when the vehicle speed is less than the threshold vehicle speed.
Illustratively, the vehicle body information includes at least one of vehicle speed, gear, steering, yaw rate.
When the current motion state of the vehicle is a reverse gear state, setting a reverse mode radio frequency parameter configuration to start a reverse gear detection mode;
and when the current motion state of the vehicle is a forward gear state, setting forward mode radio frequency parameter configuration to start the forward gear detection mode.
Illustratively, the position information includes raw target information obtained after one-dimensional or two-dimensional fast fourier plus goniometry that has not been processed by tracking but has undergone a change in body coordinates.
Illustratively, the position information further includes a movement speed and an angle of the reflection target point.
Illustratively, the reverse mode radio frequency parameter configuration has a smaller detection distance range than the forward mode radio frequency parameter configuration.
Illustratively, the reverse mode radio frequency parameter configuration has a larger field of view than the software filtering of the forward mode radio frequency parameter configuration.
Illustratively, the reverse mode radio frequency parameter configuration has a higher range resolution than the forward mode radio frequency parameter configuration.
Illustratively, the forward detection mode further comprises:
Setting a forward target tracking wave gate parameter.
Illustratively, the tracking detection method further comprises:
And tracking and detecting the forward moving target based on the forward mode radio frequency parameter configuration and the forward target tracking wave gate parameter.
Illustratively, the vehicle rear is provided with a millimeter wave radar, and the tracking detection of the laterally moving object includes:
and tracking and detecting the transverse moving object based on the millimeter wave radar.
Still another aspect of the present invention provides a millimeter wave radar including:
One or more processors, working individually or collectively, that are configured to:
Acquiring target detection information of a reflection target point, the target detection information including position information of the reflection target point in a movement direction of a current movement state of the vehicle, wherein the current movement state includes at least one of: a forward gear state, a reverse gear state;
determining a processing mode of the reflection target point according to the position information, wherein the processing mode comprises at least one of the following: clustering target patterns, and tracking target patterns.
Illustratively, the method further comprises:
An antenna device for transmitting millimeter wave signals and receiving reflected signals; and
A signal processing circuit electrically connected with the antenna device for processing the reflected signal and converting the reflected signal into a data signal,
The processor is in communication connection with the signal processing circuit and is used for processing the data signals sent by the signal processing circuit.
A further aspect of the present invention provides a vehicle including a vehicle body and the aforementioned millimeter wave radar mounted in front of or/and behind the vehicle body.
The tracking detection method of the embodiment of the invention obtains the target detection information of the reflection target point, wherein the target detection information comprises the position information of the reflection target point in the movement direction of the current movement state of the vehicle, and the current movement state comprises at least one of the following steps: a forward gear state, a reverse gear state; determining a processing mode of the reflection target point according to the position information, wherein the processing mode comprises at least one of the following: clustering target patterns, and tracking target patterns. The tracking detection method carries out different processing modes on the reflection target point according to the position information of the reflection target point so as to ensure that a more accurate processing mode is adopted to detect and process the detection target.
Further, according to the tracking detection method of the embodiment of the present invention, according to the determined processing mode, a detection target of a preset type is formed, where the preset type includes at least one of the following: clustering targets and tracking the targets; calculating position information of the detection target, wherein the position information comprises at least one of the following: the angular change rate of the target position, the angular change rate trend, and the distance change of the target position in the moving direction of the vehicle; determining whether the detection target of the preset type is a transverse moving object or not according to the position information of the detection target; and tracking and detecting the transverse moving object. Therefore, whether the detection target is a transverse moving object or not is accurately and effectively determined, the detection target which is determined to be the transverse moving object is tracked and detected, the safety and the robustness of the whole ADAS are improved, transverse shuttle obstacles (such as crossing pedestrians) can be effectively protected, accidents caused by the transverse moving object in the driving process are effectively avoided, and the user experience is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 shows a schematic flow chart of a tracking detection method of millimeter wave radar in one embodiment of the invention;
FIG. 2 illustrates a vehicle body backward millimeter wave radar detection power map in one embodiment of the invention;
FIG. 3 shows a schematic flow chart of a tracking detection method of millimeter wave radar in one particular embodiment of the invention;
FIG. 4 shows a schematic diagram of a vehicle body coordinate system in one embodiment of the invention;
Fig. 5 shows a schematic block diagram of a millimeter wave radar in one embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present invention and not all embodiments of the present invention, and it should be understood that the present invention is not limited by the example embodiments described herein. Based on the embodiments of the invention described in the present application, all other embodiments that a person skilled in the art would have without inventive effort shall fall within the scope of the invention.
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
It should be understood that the present invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, 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. As used herein, the term "and/or" includes any and all combinations of the associated listed items.
In order to provide a thorough understanding of the present invention, detailed structures will be presented in the following description in order to illustrate the technical solutions presented by the present invention. Alternative embodiments of the invention are described in detail below, however, the invention may have other implementations in addition to these detailed descriptions.
For a detection mechanism (CTA-type application) of a laterally traversing object (i.e., a laterally moving object), the present invention provides a tracking detection method of a millimeter wave radar, as shown in fig. 1, the method includes:
Step S101 of acquiring target detection information of a reflection target point, the target detection information including position information of the reflection target point in a movement direction of a current movement state of the vehicle, wherein the current movement state includes at least one of: a forward gear state, a reverse gear state;
Step S102, determining a processing mode of the reflection target point according to the position information, where the processing mode includes at least one of the following: clustering target patterns, and tracking target patterns.
The tracking detection method carries out different processing modes on the reflection target point according to the position information of the reflection target point so as to ensure that a more accurate processing mode is adopted to detect and process the detection target.
The following describes a tracking detection method of millimeter wave radar according to the present application in detail with reference to the accompanying drawings. The features of the examples and embodiments described below may be combined with each other without conflict.
In the embodiment shown in fig. 1, the tracking detection method of the millimeter wave radar includes the steps of:
First, step S101 is performed to acquire target detection information of a reflection target point, the target detection information including position information of the reflection target point in a movement direction of a current movement state of the vehicle, wherein the current movement state includes at least one of: forward gear state, reverse gear state.
The target detection information of the reflection target point may be obtained by any suitable method, for example, detection of a target object based on a millimeter wave radar, to obtain the target detection information of the reflection target point. Millimeter wave radar is mounted on a mobile platform, such as the body of a vehicle, which may also include an autonomous vehicle. The millimeter wave radar may be mounted on the vehicle body, for example, in front of and/or behind the vehicle body, and in the example shown in fig. 2, the millimeter wave radar is mounted behind the vehicle body, for example, two millimeter wave radars are mounted, which cover an angle of view (FOV) of approximately 120 to 270 ° behind the vehicle.
The millimeter wave radar has high distance and speed measuring precision, and the weather environmental factors such as light, weather and the like basically have no influence on the detection of millimeter radar waves, and those skilled in the art can understand that the invention is not limited to the detection of targets by using millimeter radar waves, and can also use other modes and means for detection.
Millimeter wave radar uses millimeter waves (MILLIMETER WAVE) generally, millimeter waves refer to the frequency domain of 30-300 GHz (the wavelength is 1-10 mm), and millimeter waves are electromagnetic waves between infrared light waves and microwave frequency bands.
In one example, the millimeter wave radar generally includes an antenna device for transmitting a millimeter wave signal and receiving a reflected signal, and the millimeter wave signal transmitted by the antenna device is received by a receiving module of the antenna device after being reflected by a target, so as to obtain target detection information of a reflection target point of the target to be detected.
More specifically, as shown in fig. 2, the tracking detection method of the present application first performs the step of powering up or restarting the millimeter wave radar. The millimeter wave radar power-on start-up or restart typically occurs in the following scenarios, including:
And when the vehicle is just powered on and started, the millimeter wave radar is powered on and started, and the parameter configuration is initialized so as to normally start the detection function of the millimeter wave radar. The parameter configuration includes at least one of a radio frequency parameter configuration, an installation parameter configuration, and an algorithm parameter configuration. The parameter configuration may also include other parameter configurations, not specifically recited herein.
And when the scene 2 and the vehicle change forward gears or reverse gears, the millimeter wave radar stops transmitting radio frequency signals and restarts so as to reset the parameter configuration of the millimeter wave radar. The parameter configuration may include at least one of a radio frequency parameter need reset and an algorithm parameter reset. The targets are mainly because the vehicles are different in the forward and backward processes, such as forward is generally faster and backward is slower, and the main problems to be solved are different, and the forward is mainly focused on backward vehicles, such as a lateral backward blind spot monitoring system (BSD), an auxiliary Lane Change (LCA) and forward backward rear collision early warning (RPC); a reversing early warning system (RCTA) of people and vehicles which transversely pass through is more concerned during reversing. Because the parameters of the millimeter wave radar are configured differently due to different scenes and mainly solved problems, the millimeter wave radar needs to be restarted when the vehicle is changed to a forward gear or a reverse gear to reset the parameters of the millimeter wave radar.
In one example, the tracking detection method further includes: determining a current motion state of the vehicle; according to the current motion state of the vehicle, a corresponding detection mode is started, wherein the detection mode comprises at least one of the following modes: a forward gear detection mode and a reverse gear detection mode. That is, when the current motion state of the vehicle is a forward gear state, the forward gear detection mode is started, and when the current motion state of the vehicle is a reverse gear state, the reverse gear detection mode is started.
The current state of motion of the vehicle may be determined using any suitable method, and in one embodiment of the invention, the method of determining the current state of motion of the vehicle includes: and acquiring vehicle body information, and determining the current motion state of the vehicle according to the vehicle body information. Optionally, the vehicle body information includes at least one of vehicle speed, gear, steering, and yaw rate, and the information may be obtained from a vehicle body CAN bus according to a protocol, or may be obtained in other suitable manners.
In a specific example, as shown in fig. 3, the vehicle body information includes a vehicle speed, where the acquiring the vehicle body information, and determining the current motion state of the vehicle according to the vehicle body information includes: and determining whether the current motion state of the vehicle is in a forward gear state or a reverse gear state according to the vehicle speed, wherein the current motion state of the vehicle is determined to be in the forward gear state when the vehicle speed is greater than a threshold vehicle speed, and the current motion state of the vehicle is determined to be in the reverse gear state when the vehicle speed is less than the threshold vehicle speed. The threshold vehicle speed may be appropriately set according to an empirical value of the actual vehicle motion state, and is not particularly limited herein. Since the speed is generally high when the vehicle is moving forward and low when the vehicle is moving backward, the current movement state of the vehicle can be determined according to the vehicle speed.
Further, as shown in fig. 3, when the current motion state of the vehicle is a reverse gear state, setting a reverse mode radio frequency parameter configuration to start a reverse gear detection mode; and when the current motion state of the vehicle is a forward gear state, setting forward mode radio frequency parameter configuration to start the forward gear detection mode. Because the speed of backward travel is slower, and the speed of forward travel is generally faster, and the speed of backward travel is mainly concerned with backward travel such as a lateral backward blind spot monitoring (BSD), an auxiliary Lane Change (LCA) and forward backward collision warning (RPC), different modes of radio frequency parameter configuration are required to realize different functions.
Optionally, the reverse mode radio frequency parameter configuration has a smaller detection distance range than the forward mode radio frequency parameter configuration. Optionally, the reverse mode radio frequency parameter configuration has a larger angle of view than the software filtering of the forward mode radio frequency parameter configuration. Optionally, the reverse mode radio frequency parameter configuration has a higher range resolution than the forward mode radio frequency parameter configuration.
In one example, as shown in fig. 3, the forward detection mode further includes: setting a forward target tracking wave gate parameter. When the vehicle is in a forward gear state, namely in a forward motion state, the backward target transverse attention is reduced, and the transverse wave gate of the preset forward target tracking wave gate parameter is narrower than the transverse wave gate distance of backward motion.
Further, as shown in fig. 3, the tracking detection method further includes: and tracking and detecting the forward moving target based on the forward mode radio frequency parameter configuration and the forward target tracking wave gate parameter.
In one example, as shown in fig. 3, after determining that the current motion state of the vehicle is a reverse state, a reverse detection mode is initiated, including: setting a reversing mode radio frequency parameter configuration, and then, carrying out reflection target point detection to obtain target detection information of a reflection target point, wherein the target detection information comprises position information of the reflection target point in the movement direction of the current movement state of the vehicle. Optionally, the position information includes original target information which is obtained by adding one-dimensional or two-dimensional fast Fourier and is not tracked but has undergone vehicle body coordinate change. For example, the position information further includes a movement speed and an angle of the reflection target point. The position information further includes distance information that refers to distance information of the reflection target point in the moving direction of the current moving state of the vehicle, that is, distance information between the reflection target point and the vehicle body millimeter wave radar in the moving direction of the current moving state of the vehicle.
The positional information may be positional information in a vehicle body coordinate system, for example, a vehicle body coordinate system is established in the manner shown in fig. 4, the vehicle body coordinate system having an X axis in a longitudinal extending direction of the vehicle body (may also be a forward or backward direction of the vehicle), a Y axis in a width direction of the vehicle body, and a Z axis in a direction perpendicular to both the X axis and the Y axis, wherein the positional information includes distance information in the X direction.
Next, as shown in fig. 1, step S102 is performed to determine a processing mode of the reflection target point according to the position information, wherein the processing mode includes at least one of: clustering target patterns, and tracking target patterns.
In a specific example, the position information includes distance information, and the processing mode of the reflection target point is determined according to the distance information and a preset distance threshold, wherein if the distance information does not exceed the distance threshold, the processing mode of the reflection target point is the clustering target mode; and if the distance information exceeds a distance threshold, the processing mode of the reflection target point is a tracking target mode. Since the characteristics of a large object such as an automobile at a distance and near are different, a tracking target point can be usually used to represent the object at the distance, if the distance information exceeds a distance threshold, the processing mode of the reflection target point is a tracking target mode, and a large angle can be occupied at the near, and the characteristics of the object are not easily represented when the distance, the speed and the angle gating are used, so that an algorithm operation of clustering is introduced, namely, if the distance information does not exceed the distance threshold, the processing mode of the reflection target point is a clustering target mode.
Further, the tracking detection method further includes: according to the determined processing mode, forming a detection target of a preset type, wherein the detection target of the preset type comprises at least one of the following: clustering targets and tracking the targets. For example, when forming a clustered target in accordance with a clustered target pattern, a tracked target is formed in accordance with a tracked target pattern.
Specifically, as shown in fig. 3, at the time of the clustering target mode, the reflection target points are clustered to form a clustered target. When the longitudinal distance (i.e., the distance in the x direction) is smaller than the threshold, the reflective target points are generally in a relatively close range, a clustering strategy may be used to cluster the reflective target points to form a clustered target, for example, a clustering algorithm DBSCAN, OPTICS, DENCLUE is used to cluster the reflective target points, where the distance threshold in the x and y directions is provided, and the threshold may be adjusted according to whether the detected target is a transverse moving object or a normal target, and when the target is in use, the transverse moving object tracking wave gate parameters include a longitudinal distance wave gate and a transverse distance wave gate, where the longitudinal distance wave gate range of the transverse moving object is smaller and the transverse distance wave gate range is larger.
Further, after the reflection target points are processed by the clustering target pattern, for example, after using a clustering algorithm, the reflection target point set is formed into a point set, that is, a clustering target having parameter indexes such as gravity center and range.
In one example, position information of the detection target is calculated, the position information including at least one of: the angular change rate of the target position, the angular change rate trend, and the distance of the target position in the moving direction of the vehicle. The manner of calculating the position information of the detection target is different according to different preset types of the detection target.
In one example, as shown in fig. 3, if the detection target is a clustered target, position information of the clustered target is calculated, where the position information includes an angle change rate of the clustered target, an angle change rate trend, and a distance change of the clustered target in a moving direction of the vehicle. The position information of the clustering targets further comprises at least one of barycentric coordinates and an action range of the clustering targets.
In one example, as shown in fig. 3, if the detection target is a tracking target, the tracking target is classified and aggregated. Optionally, the classifying and aggregating the tracking target includes: after the tracked objects are formed, at least some of the tracked objects are identified, such as based on pedestrian classification and/or multiple point trucks that determine the RCS statistics of the objects based on distance and energy.
And in the tracking target mode, performing target tracking on the reflection target point to form a tracking target. In this context, tracking target patterns are referred to as conventional generic tracking processes, which may include pre-tracking tracks, mature tracks, and the like.
Then, according to the position information of the detection targets, whether the detection targets (such as the clustering targets and the tracking targets) of the preset type are transverse moving objects or not is determined. Specifically, as shown in fig. 3, it is determined whether the angular change rate of the target position is greater than an angular change rate threshold, if not, it is determined whether the angular change rate trend is represented as increasing or decreasing temporarily, if so, it is determined whether the distance change of the target position in the moving direction of the vehicle is less than the distance change threshold, if so, it is determined that the detection targets (for example, the clustering targets and the tracking targets) are transverse moving objects, and if not, it is determined that the detection targets are temporary common targets.
In one example, the value of the angular change rate threshold is correlated with the distance between the detection target and the millimeter wave radar in the moving direction of the vehicle, and the value of the angular change rate threshold is smaller as the distance is larger. The angle change rate of the clustering targets can be calculated and obtained by acquiring the position information of the multi-frame of the clustering targets.
Wherein the angle change rate threshold for the tracking target is also a distance-dependent value, but since the tracking target is further away from the body, the distance component coefficient thereof is already smaller here because the basic angle is smaller with respect to the near object. Thus, the angular rate of change threshold of the tracked object is a different parameter than the threshold of the angular rate of change of the clustered object.
In one example, the determining whether the angular rate of change trend appears to be increasing or decreasing comprises: determining whether the angular change rate trend is presented as increasing or decreasing according to the motion direction of the detection target (such as a clustered target or a tracking target) in the backward direction of the vehicle.
Further, the determining whether the angle change rate trend is shown to be increasing or decreasing according to the movement direction of the detection target in the backward direction of the vehicle includes: when the movement direction of the detection target in the vehicle backward direction is from inside to outside, the angle change rate trend is presented as increasing (in a statistical interval, FIFO); when the moving direction of the detection target in the backward direction of the vehicle is from outside to inside, the angle change rate trend appears to be decreasing (in the statistical interval, FIFO). Wherein the movement direction of the detection target in the backward direction of the vehicle is from inside to outside, comprising the movement of the detection target in the backward left side of the vehicle and the movement of the detection target in the backward right side of the vehicle and the movement of the detection target outwards; and the movement direction of the detection target in the backward direction of the vehicle is from outside to inside, including the detection target being at the backward left side of the vehicle and moving inward and the detection target being at the backward right side of the vehicle and moving inward.
The substantially similar logic described above may be employed to determine whether the angular rate of change trend appears to be increasing or decreasing for clustered targets and tracked targets, while for tracked targets it is judged that the condition severity is weaker than for clustered targets within a statistical interval (FIFO).
Alternatively, the change in the distance of the target position in the moving direction of the vehicle is a change in the distance after the vehicle speed compensation is added. When the vehicle moves, the distance of the target position in the transverse direction is the distance in the geodetic coordinate system, which is converted from the distance in the vehicle body coordinate system, thereby embodying the transverse movement.
After the detection target is determined to be a laterally moving object (i.e., a laterally moving target), tracking detection is performed on the laterally moving object. In one example, the vehicle rear is provided with a millimeter wave radar, the tracking detection of the laterally moving object includes: and tracking and detecting the transverse moving object based on the millimeter wave radar.
As shown in fig. 3, the tracking detection of the transverse moving object further includes: tracking and detecting the detection target which is determined to be the transverse moving object by adopting a transverse moving object tracking wave gate parameter; and adopting a common wave gate parameter for the detection target tentatively set as a common target.
The common target wave gate parameters are mainly distance wave gates and speed wave gates of common moving targets, and the main difference between the common target wave gate parameters and the transverse moving objects is that the longitudinal (X direction) distance wave gate range of the transverse moving objects is smaller and the transverse (Y direction) wave gate range is larger, namely the transverse moving object tracking wave gate parameters comprise longitudinal distance wave gates and transverse distance wave gates, wherein the longitudinal distance wave gate range is smaller than the transverse distance wave gate range.
Optionally, the transverse moving object tracking gate parameter and the normal gate parameter each include a distance gate, a velocity gate and an angle gate, wherein the distance gate and the velocity gate of the transverse moving object tracking gate parameter for the tracking target are smaller than the distance gate and the velocity gate of the normal gate parameter, and the angle gate of the transverse moving object tracking gate parameter is larger than the angle gate of the normal gate parameter.
Optionally, the clustered targets and the tracking targets adopt different transverse moving object tracking wave gate parameters. For a tracking target determined as a transverse moving object, the transverse moving object tracking wave gate parameter refers to a system wave gate used in a normal tracking system, including a distance, a speed and an angle, and when transverse movement is adopted, the distance and the speed wave gate become smaller, and the angle wave gate becomes larger. In this context, longitudinal refers to the x-direction in the vehicle body coordinate system, while transverse refers to the y-direction in the vehicle body coordinate system.
Fig. 5 shows a schematic block diagram of millimeter-wave radar 300 in one embodiment of the invention. The millimeter wave radar is used to perform the tracking detection method in the foregoing embodiment.
As shown in fig. 5, millimeter wave radar 300 includes one or more processors 303, working individually or collectively, for: acquiring target detection information of a reflection target point, the target detection information including position information of the reflection target point in a movement direction of a current movement state of the vehicle, wherein the current movement state includes at least one of: a forward gear state, a reverse gear state; determining a processing mode of the reflection target point according to the position information, wherein the processing mode comprises at least one of the following: clustering target patterns, and tracking target patterns. The position information comprises distance information, and the processing mode of the reflection target point is determined according to the distance information and a preset distance threshold, wherein if the distance information does not exceed the distance threshold, the processing mode of the reflection target point is the clustering target mode; and if the distance information exceeds a distance threshold, the processing mode of the reflection target point is a tracking target mode.
Further, the processor 303 may be a Central Processing Unit (CPU), an image processing unit (GPU), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other form of processing unit with data processing and/or instruction execution capabilities, and may control other components in the millimeter wave radar 300 to perform desired functions. The processor is capable of executing the instructions stored in the memory to perform the method of tracking detection of millimeter wave radar described herein, which is not repeated here. For example, the processor 303 can include one or more embedded processors, processor cores, microprocessors, logic circuits, hardware Finite State Machines (FSMs), digital Signal Processors (DSPs), or combinations thereof.
The processor 303 is further configured to: and powering up to start or restarting the millimeter wave radar. The processor is further configured to: when the vehicle is just powered on and started, the millimeter wave radar is powered on and started, and the parameter configuration is initialized; when the vehicle changes forward gear or reverse gear, the millimeter wave radar stops transmitting radio frequency signals first and restarts to reset the parameter configuration of the millimeter wave radar. The parameter configuration includes at least one of a radio frequency parameter configuration, an installation parameter configuration, and an algorithm parameter configuration.
In one example, the processor is further to: determining a current motion state of the vehicle; according to the current motion state of the vehicle, a corresponding detection mode is started, wherein the detection mode comprises at least one of the following modes: a forward gear detection mode and a reverse gear detection mode. That is, when the current motion state of the vehicle is a forward gear state, the forward gear detection mode is started, and when the current motion state of the vehicle is a reverse gear state, the reverse gear detection mode is started.
In one embodiment of the invention, the processor is further configured to: and acquiring vehicle body information, and determining the current motion state of the vehicle according to the vehicle body information. Optionally, the vehicle body information includes at least one of vehicle speed, gear, steering, yaw rate
In one specific example, the vehicle body information includes a vehicle speed, wherein the processor is further configured to: determining whether the current motion state of the vehicle is in a forward gear state or a reverse gear state according to the vehicle speed, wherein the current motion state of the vehicle is determined to be in the forward gear state when the vehicle speed is greater than a threshold vehicle speed, and the current motion state of the vehicle is determined to be in the reverse gear state when the vehicle speed is less than the threshold vehicle speed
In a specific example, the processor is further configured to: according to the determined processing mode, forming a detection target of a preset type, wherein the preset type comprises at least one of the following: clustering targets and tracking the targets; calculating position information of the detection target, wherein the position information comprises at least one of the following: the angular change rate of the target position, the angular change rate trend, and the distance change of the target position in the moving direction of the vehicle; determining whether the detection target of the preset type is a transverse moving object or not according to the position information of the detection target; and tracking and detecting the transverse moving object.
And clustering the reflection target points to form a clustered target when the clustered target mode is adopted. And in the tracking target mode, performing target tracking on the reflection target point to form a tracking target.
Optionally, if the detection target is a clustered target, the location information includes an angle change rate of the clustered target, an angle change rate trend, and a distance change of the clustered target in a movement direction of the vehicle. The position information of the clustering targets further comprises at least one of barycentric coordinates and an action range of the clustering targets.
Optionally, if the detected target is a tracking target, classifying and aggregating the tracking target. The processor is further configured to: and judging pedestrian classification of the target RCS statistical value and/or trucks consisting of a plurality of points according to the distance and the energy.
In one example, the processor is further configured to: determining whether the angle change rate of the target position is larger than an angle change rate threshold, if not, temporarily determining the target position as a common target, if so, determining whether the angle change rate trend is gradually increased or gradually decreased, if not, temporarily determining the target position as the common target, if so, determining whether the distance change of the target position in the moving direction of the vehicle is smaller than the distance change threshold, if so, determining the detection target as a transverse moving object, and if not, temporarily determining the detection target as the common target. Alternatively, the value of the angle change rate threshold is correlated with the distance between the detection target and the millimeter wave radar in the moving direction of the vehicle, and the value of the angle change rate threshold is smaller as the distance is larger.
In one example, the processor is further to: and determining whether the angle change rate trend is gradually increased or gradually decreased according to the movement direction of the detection target in the backward direction of the vehicle. The processor is further configured to: when the movement direction of the detection target in the backward direction of the vehicle is from inside to outside, the angle change rate trend is shown to be gradually increased; when the detection target moves from outside to inside in the backward movement direction of the vehicle, the angle change rate trend is presented to decrease.
Wherein the movement direction of the detection target in the backward direction of the vehicle is from inside to outside, comprising the movement of the detection target in the backward left side of the vehicle and the movement of the detection target in the backward right side of the vehicle and the movement of the detection target outwards; and the movement direction of the detection target in the backward direction of the vehicle is from outside to inside, including the detection target being at the backward left side of the vehicle and moving inward and the detection target being at the backward right side of the vehicle and moving inward.
In one example, the processor is further to: tracking and detecting the detection target which is determined to be the transverse moving object by adopting a transverse moving object tracking wave gate parameter; and adopting a common wave gate parameter for the detection target tentatively set as a common target.
In one example, the processor is further to: setting a reverse mode radio frequency parameter configuration to start a reverse gear detection mode when the current motion state of the vehicle is a reverse gear state; and when the current motion state of the vehicle is a forward gear state, setting forward mode radio frequency parameter configuration to start the forward gear detection mode.
Further, the processor is further configured to: setting a forward target tracking wave gate parameter to perform the forward detection mode. The processor is further configured to: and tracking and detecting the forward moving target based on the forward mode radio frequency parameter configuration and the forward target tracking wave gate parameter.
As shown in fig. 5, the millimeter wave radar 300 further includes an antenna device 301, where the antenna device 301 is configured to transmit millimeter wave signals and receive reflected signals; millimeter wave radar uses millimeter waves (MILLIMETER WAVE) generally, millimeter waves refer to the frequency domain of 30-300 GHz (the wavelength is 1-10 mm), and millimeter waves are electromagnetic waves between infrared light waves and microwave frequency bands.
In one example, the millimeter wave radar 300 generally includes an antenna device 301 for transmitting millimeter wave signals and receiving reflected signals, where the millimeter wave signals transmitted by the antenna device are reflected by a target and then received by a receiving module of the antenna device, so as to obtain a reflected target point of the target to be measured, which may also be referred to as a point cloud. The antenna device 301 may include an array antenna (e.g., a transmitting antenna) dedicated to transmitting millimeter wave signals and an array antenna (e.g., a receiving antenna) dedicated to receiving reflected signals.
In one example, the millimeter wave radar 300 further comprises a signal processing circuit 302 electrically connected to the antenna device 301 for processing the reflected signal and converting the reflected signal into a data signal, wherein the processor 303 is communicatively connected to the signal processing circuit 302 for processing the data signal sent by the signal processing circuit 302. Communication between the signal processing circuit 302 and the processor 303 may be by wired or wireless means.
The signal processing circuit 302 includes an incident wave estimation unit AU. The incident wave estimating unit AU estimates the distance to the wave source of the incident wave, i.e. the object, the relative velocity of the object and the orientation (i.e. angle) of the object by means of well-known algorithms and generates a data signal representing the result of the estimation, i.e. a signal processing circuit, which is electrically connected to the antenna arrangement for processing the reflected signal and converting it into a data signal comprising position information of the reflection target point etc.
The signal processing circuit in the embodiment of the present invention is not limited to a single circuit, but includes a configuration in which a combination of a plurality of circuits is generally understood as one functional element. The signal processing circuit 302 may also be implemented by one or more systems on a chip (SoC). For example, some or all of the signal processing circuitry 302 may also be a Programmable Logic Device (PLD), i.e., an FPGA (Field Programmable gate array) GATE ARRAY. In this case, the signal processing circuit 302 includes a plurality of operation elements (e.g., general logic and multipliers) and a plurality of storage elements (e.g., look-up tables or storage modules). Or the signal processing circuit 302 may be a general purpose processor and a collection of main memory devices. The signal processing circuit 302 may also be a circuit comprising a processor core and memory. These can function as the signal processing circuit 302.
It should be noted that the components and structures of millimeter-wave radar 300 shown in fig. 5 are exemplary only and not limiting, as components of millimeter-wave radar 300 may have other components and structures as desired. The technical features of the tracking detection method described above are also applicable to the present embodiment, and will not be described here again.
In addition, the embodiment of the invention also provides a computer storage medium, on which the computer program is stored. The method of detecting stationary objects near a fence by a microwave radar according to an embodiment of the present invention can be implemented when the computer program is executed by a processor. The computer storage medium may include, for example, a memory card of a smart phone, a memory component of a tablet computer, a hard disk of a personal computer, read-only memory (ROM), erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), USB memory, or any combination of the foregoing storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media. One or more computer program instructions may be stored on the computer readable storage medium and the processor may execute the program instructions stored in the memory to perform the functions of the embodiments of the invention described herein (as implemented by the processor) and/or other desired functions, for example, to perform the corresponding steps of a method for detecting stationary objects near a fence by a microwave radar according to an embodiment of the invention. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer readable storage medium.
In addition, the embodiment of the invention also provides a vehicle, which comprises the millimeter wave radar in the embodiment. The vehicle may include an autonomous vehicle, or other type of vehicle.
Specifically, the vehicle includes a body, and the millimeter wave radar may be disposed in front of and/or behind the body, or in other suitable locations. Wherein one or more millimeter wave radars may be provided on the vehicle body. The millimeter wave radar based tracking detection method can be used for accurately and effectively determining whether the detection target is a transverse moving object, tracking detection is carried out on the detection target determined to be the transverse moving object, the safety and the robustness of the whole ADAS are improved, transverse shuttling barriers (such as crossing pedestrians) can be effectively protected, accidents caused by the transverse moving object in the driving process are effectively avoided, and the user experience is improved.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above illustrative embodiments are merely illustrative and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.
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 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 invention.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another device, or some features may be omitted or not performed.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in order to streamline the invention and aid in understanding one or more of the various inventive aspects, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the invention. However, the method of the present invention should not be construed as reflecting the following intent: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be combined in any combination, except combinations where the features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some of the modules according to embodiments of the present invention may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present invention can also be implemented as an apparatus program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.

Claims (71)

1. The tracking detection method of the millimeter wave radar is characterized by comprising the following steps of:
acquiring target detection information of a reflection target point, the target detection information including position information of the reflection target point in a movement direction of a current movement state of a vehicle, wherein the current movement state includes at least one of: a forward gear state, a reverse gear state;
Determining a processing mode of the reflection target point according to the position information, wherein the processing mode comprises at least one of the following: a cluster target pattern, a tracking target pattern, the position information including distance information, a processing pattern of the reflection target point being determined according to the distance information and a preset distance threshold,
If the distance information does not exceed the distance threshold, the processing mode of the reflection target point is the clustering target mode; and if the distance information exceeds a distance threshold, the processing mode of the reflection target point is a tracking target mode.
2. The trace detection method according to claim 1, wherein the trace detection method further comprises:
Determining a current motion state of the vehicle;
According to the current motion state of the vehicle, a corresponding detection mode is started, wherein the detection mode comprises at least one of the following modes: a forward gear detection mode and a reverse gear detection mode.
3. The trace detection method according to claim 1, wherein the trace detection method further comprises:
according to the determined processing mode, forming a detection target of a preset type, wherein the preset type comprises at least one of the following: clustering targets and tracking the targets;
Calculating position information of the detection target, wherein the position information comprises at least one of the following: the angular change rate of the target position, the angular change rate trend, and the distance change of the target position in the moving direction of the vehicle;
Determining whether the detection target of the preset type is a transverse moving object or not according to the position information of the detection target;
And tracking and detecting the transverse moving object.
4. The tracking detection method according to claim 1, wherein the reflection target points are clustered to form clustered targets at the time of the clustered target mode.
5. The tracking detection method according to claim 1, wherein, in the tracking target mode, the reflection target point is subject to target tracking to form a tracking target.
6. The tracking detection method according to claim 2, characterized in that, before said determining a current motion state of the vehicle, the tracking detection method further comprises:
And the millimeter wave radar is powered on to start or restarted.
7. The tracking detection method according to claim 6, wherein the millimeter wave radar is powered on or restarted, comprising:
When the vehicle is just powered on and started, the millimeter wave radar is powered on and started, and the parameter configuration is initialized;
When the vehicle changes forward gear or reverse gear, the millimeter wave radar stops transmitting radio frequency signals first and restarts to reset the parameter configuration of the millimeter wave radar.
8. The trace detection method according to claim 7, wherein the parameter configuration comprises at least one of a radio frequency parameter configuration, an installation parameter configuration, and an algorithm parameter configuration.
9. The tracking detection method according to claim 3, wherein if the detection target is a clustered target, the position information includes an angular change rate of the clustered target, an angular change rate trend, and a distance change of the clustered target in a moving direction of the vehicle.
10. The tracking detection method according to claim 9, wherein the position information of the clustered targets further includes at least one of barycentric coordinates and an action range of the clustered targets.
11. The tracking detection method according to claim 3, wherein if said detected target is a tracking target, said tracking target is classified and aggregated.
12. The tracking detection method according to claim 11, wherein said classifying and aggregating said tracked objects comprises:
and judging pedestrian classification of the target RCS statistical value and/or trucks consisting of a plurality of points according to the distance and the energy.
13. The tracking detection method according to claim 3, wherein determining whether the detection target of the preset type is a laterally moving object based on the position information of the detection target comprises:
Determining whether the angle change rate of the target position is larger than an angle change rate threshold, if not, temporarily determining the target position as a common target, if so, determining whether the angle change rate trend is gradually increased or gradually decreased, if not, temporarily determining the target position as the common target, if so, determining whether the distance change of the target position in the moving direction of the vehicle is smaller than the distance change threshold, if so, determining the detection target as a transverse moving object, and if not, temporarily determining the detection target as the common target.
14. The tracking detection method according to claim 13, wherein the value of the angular change rate threshold is correlated with a distance between the detection target and the millimeter wave radar in a moving direction of the vehicle, and the value of the angular change rate threshold is smaller as the distance is larger.
15. The tracking detection method of claim 13, wherein said determining whether said angular rate of change trend appears to be increasing or decreasing comprises:
And determining whether the angle change rate trend is gradually increased or gradually decreased according to the movement direction of the detection target in the backward direction of the vehicle.
16. The tracking detection method according to claim 15, wherein said determining whether the angular change rate trend appears to be increasing or decreasing according to the direction of movement of the detection target in the backward direction of the vehicle, comprises:
When the movement direction of the detection target in the backward direction of the vehicle is from inside to outside, the angle change rate trend is shown to be gradually increased;
When the detection target moves from outside to inside in the backward movement direction of the vehicle, the angle change rate trend is presented to decrease.
17. The tracking detection method according to claim 16, wherein the movement of the detection target in the backward direction of the vehicle being from inside to outside includes the detection target being on the backward left side of the vehicle and moving outward and the detection target being on the backward right side of the vehicle and moving outward; and
The movement direction of the detection target in the vehicle rearward direction being from outside to inside includes the detection target being in the vehicle rear left side and moving inward and the detection target being in the vehicle rear right side and moving inward.
18. The tracking detection method according to claim 3, wherein the change in distance of the target position in the moving direction of the vehicle is a change in distance after the addition of the vehicle speed compensation.
19. The tracking detection method according to claim 3, wherein the distance of the target position in the lateral direction is a distance in a geodetic coordinate system converted from the distance in a vehicle body coordinate system when the vehicle is moving.
20. The tracking detection method according to claim 3, wherein the tracking detection of the laterally moving object further comprises:
Tracking and detecting the detection target which is determined to be the transverse moving object by adopting a transverse moving object tracking wave gate parameter; and
And adopting a common wave gate parameter for the detection target tentatively set as a common target.
21. The tracking detection method of claim 20, wherein said lateral-motion object tracking gate parameters include a longitudinal range gate and a lateral range gate, wherein the range of said longitudinal range gate is less than the range of said lateral range gate.
22. The tracking detection method of claim 20, wherein said clustered targets and said tracked targets employ different transverse moving object tracking wave gate parameters.
23. The tracking detection method of claim 20, wherein said lateral-motion-object tracking gate parameters and said normal gate parameters each include a distance gate, a velocity gate, and an angle gate, wherein the distance gate and the velocity gate of the lateral-motion-object tracking gate parameters for said tracking target are smaller than the distance gate and the velocity gate of the normal gate parameters, and the angle gate of the lateral-motion-object tracking gate parameters is larger than the angle gate of said normal gate parameters.
24. The tracking detection method according to claim 2, wherein said determining a current motion state of the vehicle includes:
And acquiring vehicle body information, and determining the current motion state of the vehicle according to the vehicle body information.
25. The tracking detection method according to claim 24, wherein the vehicle body information includes a vehicle speed, wherein the acquiring the vehicle body information, determining a current motion state of the vehicle based on the vehicle body information, includes:
And determining whether the current motion state of the vehicle is in a forward gear state or a reverse gear state according to the vehicle speed, wherein the current motion state of the vehicle is determined to be in the forward gear state when the vehicle speed is greater than a threshold vehicle speed, and the current motion state of the vehicle is determined to be in the reverse gear state when the vehicle speed is less than the threshold vehicle speed.
26. The tracking detection method according to claim 24, wherein said vehicle body information includes at least one of a vehicle speed, a shift position, a steering, and a yaw rate.
27. The tracking detection method according to claim 2, wherein when the current motion state of the vehicle is a reverse state, a reverse mode radio frequency parameter configuration is set to start a reverse detection mode;
and when the current motion state of the vehicle is a forward gear state, setting forward mode radio frequency parameter configuration to start the forward gear detection mode.
28. The tracking detection method according to claim 1, wherein the position information includes raw target information obtained after one-dimensional or two-dimensional fast fourier plus goniometry, which has not been subjected to tracking processing but has undergone a change in coordinates of a vehicle body.
29. The tracking detection method according to claim 1, wherein the position information further includes a movement speed and an angle of the reflection target point.
30. The tracking detection method of claim 27, wherein said reverse mode rf parameter configuration has a smaller detection distance range than said forward mode rf parameter configuration.
31. The tracking detection method of claim 27, wherein said reverse mode rf parameter configuration has a greater angle of view than a software filter of said forward mode rf parameter configuration.
32. The tracking detection method of claim 27, wherein said reverse mode rf parameter configuration has a higher range resolution than said forward mode rf parameter configuration.
33. The track detection method as claimed in claim 27, wherein the forward speed detection mode further includes:
Setting a forward target tracking wave gate parameter.
34. The trace detection method according to claim 33, wherein the trace detection method further comprises:
And tracking and detecting the forward moving target based on the forward mode radio frequency parameter configuration and the forward target tracking wave gate parameter.
35. The tracking detection method according to claim 3, wherein a millimeter wave radar is provided behind the vehicle, and the tracking detection of the laterally moving object includes:
and tracking and detecting the transverse moving object based on the millimeter wave radar.
36. A millimeter wave radar, comprising:
one or more processors, working together or individually, for:
acquiring target detection information of a reflection target point, the target detection information including position information of the reflection target point in a movement direction of a current movement state of a vehicle, wherein the current movement state includes at least one of: a forward gear state, a reverse gear state;
Determining a processing mode of the reflection target point according to the position information, wherein the processing mode comprises at least one of the following: a cluster target pattern, a tracking target pattern, the position information including distance information, a processing pattern of the reflection target point being determined according to the distance information and a preset distance threshold,
If the distance information does not exceed the distance threshold, the processing mode of the reflection target point is the clustering target mode; and if the distance information exceeds a distance threshold, the processing mode of the reflection target point is a tracking target mode.
37. The millimeter wave radar of claim 36, further comprising:
An antenna device for transmitting millimeter wave signals and receiving reflected signals; and
A signal processing circuit electrically connected with the antenna device for processing the reflected signal and converting the reflected signal into a data signal,
The processor is in communication connection with the signal processing circuit and is used for processing the data signals sent by the signal processing circuit.
38. The millimeter wave radar of claim 36, wherein the processor is further configured to:
Determining a current motion state of the vehicle;
According to the current motion state of the vehicle, a corresponding detection mode is started, wherein the detection mode comprises at least one of the following modes: a forward gear detection mode and a reverse gear detection mode.
39. The millimeter wave radar of claim 36, wherein the processor is further configured to:
according to the determined processing mode, forming a detection target of a preset type, wherein the preset type comprises at least one of the following: clustering targets and tracking the targets;
Calculating position information of the detection target, wherein the position information comprises at least one of the following: the angular change rate of the target position, the angular change rate trend, and the distance change of the target position in the moving direction of the vehicle;
Determining whether the detection target of the preset type is a transverse moving object or not according to the position information of the detection target;
And tracking and detecting the transverse moving object.
40. The millimeter wave radar of claim 36, wherein the reflection target points are clustered to form clustered targets in the clustered target mode.
41. The millimeter wave radar of claim 36, wherein in the tracking target mode, the reflection target point is target tracked to form a tracking target.
42. The millimeter wave radar of claim 38, wherein the processor is further configured to:
And powering up to start or restarting the millimeter wave radar.
43. The millimeter wave radar of claim 42, wherein the processor is further configured to:
When the vehicle is just powered on and started, the millimeter wave radar is powered on and started, and the parameter configuration is initialized;
When the vehicle changes forward gear or reverse gear, the millimeter wave radar stops transmitting radio frequency signals first and restarts to reset the parameter configuration of the millimeter wave radar.
44. The millimeter wave radar of claim 43, wherein the parameter configuration comprises at least one of a radio frequency parameter configuration, an installation parameter configuration, and an algorithm parameter configuration.
45. The millimeter wave radar of claim 39, wherein if the detection target is a clustered target, the position information includes an angular rate of change of the clustered target, an angular rate of change trend, and a distance change of the clustered target in a direction of movement of the vehicle.
46. The millimeter wave radar of claim 45, wherein the location information of the clustered objects further comprises at least one of a barycentric coordinate and a range of action of the clustered objects.
47. The millimeter wave radar of claim 39, wherein if the detected target is a tracked target, the tracked target is classified and aggregated.
48. The millimeter wave radar of claim 47, wherein the processor is further configured to:
and judging pedestrian classification of the target RCS statistical value and/or trucks consisting of a plurality of points according to the distance and the energy.
49. The millimeter wave radar of claim 39, wherein the processor is further configured to:
Determining whether the angle change rate of the target position is larger than an angle change rate threshold, if not, temporarily determining the target position as a common target, if so, determining whether the angle change rate trend is gradually increased or gradually decreased, if not, temporarily determining the target position as the common target, if so, determining whether the distance change of the target position in the moving direction of the vehicle is smaller than the distance change threshold, if so, determining the detection target as a transverse moving object, and if not, temporarily determining the detection target as the common target.
50. The millimeter wave radar of claim 49, wherein the value of the angular rate of change threshold is related to a distance between the detection target and the millimeter wave radar in a direction of movement of the vehicle, the value of the angular rate of change threshold being smaller as the distance is larger.
51. The millimeter wave radar of claim 49, wherein the processor is further configured to:
And determining whether the angle change rate trend is gradually increased or gradually decreased according to the movement direction of the detection target in the backward direction of the vehicle.
52. The millimeter wave radar of claim 51, wherein the processor is further configured to:
When the movement direction of the detection target in the backward direction of the vehicle is from inside to outside, the angle change rate trend is shown to be gradually increased;
When the detection target moves from outside to inside in the backward movement direction of the vehicle, the angle change rate trend is presented to decrease.
53. The millimeter wave radar according to claim 52, wherein the movement of the detection target in the backward direction of the vehicle being from inside to outside includes the detection target being on the backward left side of the vehicle and moving outward and the detection target being on the backward right side of the vehicle and moving outward; and
The movement direction of the detection target in the vehicle rearward direction being from outside to inside includes the detection target being in the vehicle rear left side and moving inward and the detection target being in the vehicle rear right side and moving inward.
54. The millimeter wave radar according to claim 39, wherein the change in the distance of the target position in the moving direction of the vehicle is a change in the distance with the addition of a vehicle speed compensation.
55. The millimeter wave radar according to claim 39, wherein the distance in the lateral direction of the target position is a distance in a geodetic coordinate system converted from the distance in the vehicle body coordinate system when the vehicle is moving.
56. The millimeter wave radar of claim 39, wherein the processor is further configured to:
Tracking and detecting the detection target which is determined to be the transverse moving object by adopting a transverse moving object tracking wave gate parameter; and
And adopting a common wave gate parameter for the detection target tentatively set as a common target.
57. The millimeter wave radar of claim 56, wherein the laterally moving object tracking gate parameters include a longitudinal range gate and a lateral range gate, wherein the range of the longitudinal range gate is less than the range of the lateral range gate.
58. The millimeter wave radar of claim 56, wherein the clustered targets and the tracked targets employ different transverse moving object tracking gate parameters.
59. The millimeter wave radar of claim 56, wherein the laterally moving object tracking gate parameters and the normal gate parameters each include a range gate, a speed gate, and an angle gate, wherein the range gate and the speed gate of the laterally moving object tracking gate parameters for the tracking target are less than the range gate and the speed gate of the normal gate parameters, and the angle gate of the laterally moving object tracking gate parameters is greater than the angle gate of the normal gate parameters.
60. The millimeter wave radar of claim 38, wherein the processor is further configured to:
And acquiring vehicle body information, and determining the current motion state of the vehicle according to the vehicle body information.
61. The millimeter wave radar of claim 60, wherein the body information includes vehicle speed, the processor further configured to:
And determining whether the current motion state of the vehicle is in a forward gear state or a reverse gear state according to the vehicle speed, wherein the current motion state of the vehicle is determined to be in the forward gear state when the vehicle speed is greater than a threshold vehicle speed, and the current motion state of the vehicle is determined to be in the reverse gear state when the vehicle speed is less than the threshold vehicle speed.
62. The millimeter wave radar of claim 60, wherein the body information includes at least one of vehicle speed, gear, steering, yaw rate.
63. The millimeter wave radar of claim 38, wherein the processor is further configured to: setting a reverse mode radio frequency parameter configuration to start a reverse gear detection mode when the current motion state of the vehicle is a reverse gear state;
and when the current motion state of the vehicle is a forward gear state, setting forward mode radio frequency parameter configuration to start the forward gear detection mode.
64. The millimeter wave radar of claim 36, wherein the location information comprises raw target information obtained after one or two-dimensional fast fourier plus goniometry that has not been tracked but has undergone a change in body coordinates.
65. The millimeter wave radar of claim 36, wherein the position information further comprises a speed and an angle of movement of the reflection target point.
66. The millimeter wave radar of claim 63, wherein the reverse mode radio frequency parameter configuration has a smaller detection range than the forward mode radio frequency parameter configuration.
67. The millimeter wave radar of claim 63, wherein the reverse mode radio frequency parameter configuration has a larger software filtered field of view than the forward mode radio frequency parameter configuration.
68. The millimeter wave radar of claim 63, wherein the reverse mode radio frequency parameter configuration has a higher range resolution than the forward mode radio frequency parameter configuration.
69. The millimeter wave radar of claim 63, wherein the processor is further configured to:
Setting a forward target tracking wave gate parameter to perform the forward detection mode.
70. The millimeter wave radar of claim 69, wherein the processor is further configured to:
And tracking and detecting the forward moving target based on the forward mode radio frequency parameter configuration and the forward target tracking wave gate parameter.
71. A vehicle comprising a vehicle body and the millimeter wave radar of any one of claims 36 to 70 mounted in front of or/and behind the vehicle body.
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