CN112105950A - Detection method of detection object, detection equipment and millimeter wave radar - Google Patents

Detection method of detection object, detection equipment and millimeter wave radar Download PDF

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Publication number
CN112105950A
CN112105950A CN201980030315.1A CN201980030315A CN112105950A CN 112105950 A CN112105950 A CN 112105950A CN 201980030315 A CN201980030315 A CN 201980030315A CN 112105950 A CN112105950 A CN 112105950A
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detection
target
detection object
point cloud
parameter
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CN112105950B (en
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陆新飞
陈雷
李怡强
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Shenzhen Zhuoyu 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
    • G01S13/88—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
    • G01S2013/9315—Monitoring blind spots
    • 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
    • G01S2013/93185—Controlling the brakes

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

A detection method of a detection object, a detection device and a millimeter wave radar are provided, wherein the detection method of the detection object comprises the following steps: acquiring a target point cloud frame (201) detected in an environment detection process; determining a target detection object (202) on the target point cloud frame; determining an associated detection object (203) on the target point cloud frame; harmonic object detection is performed on the determined detection parameters of the associated detection object in order to determine whether the associated detection object is a harmonic object of the target detection object (204). The detected harmonic target can be effectively judged on the premise of not increasing the hardware cost, and the error disconnection caused by the harmonic target is avoided.

Description

Detection method of detection object, detection equipment and millimeter wave radar
Technical Field
The invention relates to the technical field of electronics, in particular to a detection method of a detection object, detection equipment and a millimeter wave radar.
Background
In recent years, millimeter wave radar is an important sensor for detecting distance, and can effectively guarantee mobile auxiliary functions such as Automatic Emergency Braking (AEB), Forward Collision Warning (FCW), Blind Spot Detection (BSD) and the like all day long and all weather.
In the process of ensuring the related functions, the millimeter wave radar needs to accurately judge the related information such as the distance, the speed, the angle and the like of the detection object so as to provide accurate input information. However, for the millimeter wave radar, the short-distance strong reflection target may form a multiple reflection phenomenon between the own vehicle and a real target object (such as other vehicles, obstacles, and the like), so that a harmonic target with multiple distances and multiple speeds is formed, and further false input information is formed, which causes a false alarm and affects the safety of mobile platforms such as vehicles and the like. Therefore, for the millimeter wave radar, it is necessary to suppress harmonic signals generated due to the multiple reflection phenomenon, thereby deleting harmonic targets.
At present, a mode of designing a filter by hardware is generally adopted to suppress harmonic information, so that a harmonic target is deleted. In the process of inhibiting harmonic signals by adopting a mode of designing a filter by hardware, the hardware cost is increased by constructing the filter, the filter can only filter partial harmonic signals and can not completely filter the harmonic signals, and strong harmonic signals can still exceed a filtering threshold after passing through the filter to form a harmonic target.
Disclosure of Invention
The embodiment of the invention discloses a detection method of a detected object, detection equipment and a millimeter wave radar, which can effectively judge a detected harmonic target on the premise of not increasing hardware cost and avoid error disconnection caused by the harmonic target.
In one aspect, an embodiment of the present invention provides a method for detecting a detection object, where the method includes:
acquiring a target point cloud frame detected in an environment detection process;
determining a target detection object on the target point cloud frame;
determining a related detection object on the target point cloud frame;
and carrying out harmonic object detection on the determined detection parameters of the associated detection object so as to determine whether the associated detection object is a harmonic object of the target detection object.
In another aspect, an embodiment of the present invention provides a probe device, where the probe device includes a processor and a memory, where:
the memory for storing a computer program comprising program instructions;
the processor, when calling the program instruction, is configured to perform:
acquiring a target point cloud frame detected in an environment detection process;
determining a target detection object on the target point cloud frame;
determining a related detection object on the target point cloud frame;
and carrying out harmonic object detection on the determined detection parameters of the associated detection object so as to determine whether the associated detection object is a harmonic object of the target detection object.
Correspondingly, the embodiment of the invention also provides a detection device, which is applied to detection equipment, and the device comprises:
the acquisition module is used for acquiring a target point cloud frame detected in the environment detection process;
the determining module is used for determining a target detection object on the target point cloud frame;
the determining module is further used for determining a related detection object on the target point cloud frame;
and the detection module is used for carrying out harmonic object detection on the determined detection parameters of the associated detection object so as to determine whether the associated detection object is a harmonic object of the target detection object.
Correspondingly, the embodiment of the invention also provides a millimeter wave radar which comprises the detection equipment and is used for realizing the detection method of the detection object.
Accordingly, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for detecting a detection object is implemented.
The embodiment of the invention can acquire the target point cloud frame detected in the environment detection process, determine the target detection object and the associated detection object on the target point cloud frame, and perform harmonic object detection on the detection parameters of the determined associated detection object, thereby determining whether the associated detection object is the harmonic object of the target detection object or not so as to delete the related information of the harmonic object in time.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic diagram illustrating the formation of a harmonic target according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a detection method for detecting a detection object according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating another method for detecting a detection object according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a detecting device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a detection device according to an embodiment of the present invention.
Detailed Description
In recent years, Advanced Driver Assistance Systems (ADAS) technology and Automatic Driving (AD) technology have been developed rapidly, millimeter wave radar is widely used in these fields due to its advantages such as all-time, all-weather, long working distance, high speed measurement precision, etc., and millimeter wave radar is an important sensor capable of effectively ensuring mobile assistance functions such as Automatic Emergency Braking (AEB), Forward Collision Warning (FCW), Blind Spot Detection (BSD), etc., all-time and all-weather conditions. In the process of ensuring the related functions, the millimeter wave radar needs to accurately judge the related information such as the distance, the speed, the angle and the like of the target so as to provide relatively accurate input information. The embodiment of the invention selects some characteristic parameters of the millimeter wave radar in the process of receiving and transmitting the detection signal, and performs calculation and analysis based on the characteristic parameters, thereby determining whether a certain detection object in each point cloud frame obtained by detection is a harmonic object.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating a principle of forming a harmonic target according to an embodiment of the present invention, in which a detection signal (i.e., an electromagnetic wave) emitted by a millimeter wave radar is reflected by a real target and then received by the millimeter wave radar, and after receiving the electromagnetic wave reflected by the real target, the millimeter wave radar can obtain information about a relative distance, a speed, and an angle of the real target. The electromagnetic wave reflected by the real target hits the strong reflection point of the self vehicle and is reflected to the real target again, after the electromagnetic wave is reflected by the real target again, the electromagnetic wave is received by the millimeter wave radar to form a second harmonic target, and so on, a third harmonic target and even more harmonic targets can be formed. The electromagnetic wave emitted by the millimeter wave radar forms multiple harmonic targets after being reflected for multiple times between the vehicle and the real target. After the formation principle of the harmonic target is analyzed, the following relation between the parameters of the harmonic target and the real target can be obtained: the distance between the harmonic target and the real target presents a multiple relation; because the distance between the harmonic target and the real target presents a multiple relation in the same time, the speed between the harmonic target and the real target presents the same multiple relation with the distance; when harmonic waves appear, the intensity of the electromagnetic waves reflected by the real target for the first time is very strong, the harmonic waves are reflected for multiple times, attenuation is large, and the energy of the harmonic waves is weak compared with the intensity of the electromagnetic waves reflected by the real target.
In order to solve the above problems, embodiments of the present invention provide a detection method for a detection object, a detection device, and a millimeter wave radar, where the detection method for a detection object uses a relationship between a harmonic target and a real target in three parameters, namely distance, speed, and energy, as a basis for determining the harmonic target, and determines the real target and the harmonic target in a target detected by the millimeter wave radar, so that the harmonic target can be deleted as needed.
Referring to fig. 2, fig. 2 is a schematic flow chart of a detection method for a detection object according to an embodiment of the present invention, and the detection method for a detection object according to an embodiment of the present invention can be applied to a detection device, and the method includes, but is not limited to, the following steps:
s201, acquiring a target point cloud frame detected in an environment detection process. The millimeter wave radar transmits detection signals to the surrounding environment through the detector and receives the detection signals to form a point cloud frame set, wherein the detection signals can be electromagnetic waves, pulse signals or laser signals and the like, and the embodiment of the invention does not limit the point cloud frame set; the detection device may acquire a target point cloud frame of a set of point cloud frames detected during an environmental detection process. In one embodiment, the millimeter wave radar may periodically transmit a detection signal to the surrounding environment through the detector, and transmit the detection signal once every period, and receive the detection signal reflected by the surrounding environment to form a point cloud frame set; the detection device may acquire a target point cloud frame in a point cloud frame set detected in a process of detecting a surrounding environment, and detect a detection object on the target point cloud frame. In one period, namely when the millimeter wave radar transmits a detection signal to the surrounding environment once through the detector and receives the detection signal, the detection device can detect the surrounding environment in one period, acquire a point cloud frame set comprising N point cloud frames, and detect a detection object on a target point cloud frame in the point cloud frame set, wherein N is a positive integer.
For example, the millimeter wave radar transmits electromagnetic waves once every 50ms through a detector and receives electromagnetic waves reflected by the surrounding environment to form a point cloud frame set; within 50ms, the detection device detects the surrounding environment, namely the detection device detects the surrounding environment at a detection speed of 20 frames per second, and detects a detection object on a target point cloud frame acquired every 50 ms.
S202, determining a target detection object on the target point cloud frame. After acquiring the point cloud frame set detected in the environment detection process, the detection device may determine a target detection object on a target point cloud frame included in the point cloud frame set, and in one embodiment, a detection parameter of the target detection object satisfies a first condition.
In one embodiment, the detection parameters of the target detection object may include a detection energy parameter of the target detection object, a detection distance parameter of the target detection object, and a detection speed parameter of the target detection object. The detection energy parameter can be determined according to the energy when the detector transmits the electromagnetic wave and the energy of the reflected electromagnetic wave corresponding to the corresponding detection object; the detection distance parameter can be determined according to the time when the detector transmits the electromagnetic wave, the time when the corresponding detection object corresponding to the reflected electromagnetic wave is received, and the propagation speed of the electromagnetic wave; the detection speed parameter may be calculated according to a detection distance parameter obtained by detecting the same detection object in at least two point cloud frames and a detection time difference between the two point cloud frames. The detection parameter of the target detection object meeting the first condition means that the detection energy parameter of the target detection object is larger than a preset energy threshold value, and/or the detection distance parameter of the target detection object is smaller than a preset distance threshold value. The target detection object can comprise objects existing in M point cloud frames in the point cloud frame set, and detection parameters of the objects in each point cloud frame of the M point cloud frames meet a first condition, wherein M is a positive integer and is more than or equal to 2 and less than or equal to N.
A specific process of determining, by a detection device, a target detection object on a target point cloud frame included in a point cloud frame set may refer to fig. 3, as shown in fig. 3, fig. 3 is a schematic flow chart of another detection object detection method disclosed in the embodiment of the present invention, and in N point cloud frames of a point cloud frame set, for example, a detection device detects an ith detection object on a k point cloud frame, where P represents a detection energy parameter of the detection object, R represents a detection distance parameter of the detection object, and V represents a detection speed parameter of the detection object. PiRepresenting a detection energy parameter, R, of an i-th detected object on a k-th point cloud frameiA detection distance parameter, V, representing the ith detection object on the kth point cloud frameiAnd representing the detection speed parameter of the ith detection object on the kth point cloud frame. a represents a preset energy threshold, b represents a preset distance threshold, and the specific values of the preset energy threshold and the preset distance threshold can be determined by the transmitting power of the electromagnetic wave transmitted by the detector. When the ith detection object satisfies the first condition Pi>a and Ri<b, namely the detection energy parameter Pi of the ith detection object is greater than a preset energy threshold a, the detection distance parameter Ri of the ith detection object is less than a preset distance threshold b, and the detection parameters of the ith detection object all meet a first condition Pi on M point cloud frames starting from the kth point cloud frame>a and Ri<b, the detection device determines the ith detection object as a target detection object. When the ith detection object does not satisfy the first condition Pi>a and Ri<And b, detecting a next detection object on the kth point cloud frame by the detection equipment, judging whether the next detection object meets the first condition or not, and further judging whether the next detection object is a target detection object or not.
For example, a parameter value of a detection energy parameter of an ith detection object on a kth point cloud frame is 70 db, a parameter value of a detection distance parameter of the ith detection object is 10 m, a parameter value of a detection speed parameter of the ith detection object is 10 m per second, a preset energy threshold value a is 60 db, a preset distance threshold value b is 15 m, 70>60 and 10<15, that is, the parameter value of the detection energy parameter of the ith detection object is greater than the preset energy threshold value, the parameter value of the detection distance parameter of the ith detection object is smaller than the preset distance threshold value, and the detection parameter of the ith detection object on the kth point cloud frame satisfies a first condition. Further, after confirming that the detection parameters of the ith detection object on the kth point cloud frame meet the first condition, the detection device detects whether the detection parameters of the ith detection object on the M point cloud frames starting from the kth point cloud frame all meet the first condition, and if so, the detection device confirms that the ith detection object is the target detection object.
For another example, the parameter value of the detection energy parameter of the i-th detection object on the k-th point cloud frame is 50 db, the parameter value of the detection distance parameter of the target detection object is 10 m, the parameter value of the detection speed parameter of the i-th detection object is 10 m per second, the preset energy threshold value a is 60 db, the preset distance threshold value b is 15 m, 50<60 and 10<15, that is, the parameter value of the detection energy parameter of the i-th detection object is smaller than the preset energy threshold value, and the parameter value of the detection distance parameter of the i-th detection object is smaller than the preset distance threshold value, the detection parameter of the i-th detection object on the k-th point cloud frame does not satisfy the first condition, and the detection device detects the i + 1-th detection object on the k-th point cloud frame to determine whether the i-th detection object is the.
And S203, determining the associated detection object on the target point cloud frame. After the detection device determines the target detection object on the target point cloud frame included in the point cloud frame set, the detection device may determine the associated detection object on the target point cloud frame. In the embodiment of the present invention, the detection device may analyze other detection objects in the target point cloud frame sequentially or simultaneously to determine whether the detection objects are harmonic objects of the target detection object.
For example, in the flowchart of another detection method for a probe object shown in fig. 3, a k-th point cloud frame is a target point cloud frame, and the probe device determines that an i-th probe object on the k-th point cloud frame is the target probe object, then the probe device determines that any other probe object except the i-th probe object on the k-th point cloud frame is a related probe object, a j (j ≠ i) probe object may be the related probe object, a j +1(j +1 ≠ i) probe object may be the related probe object, and so on. The detection device may sequentially or simultaneously analyze other detection objects in the k-th point cloud frame to determine whether the detection objects are harmonic objects of the target detection object.
S204, carrying out harmonic object detection on the determined detection parameters of the associated detection object so as to determine whether the associated detection object is a harmonic object of the target detection object. After the associated detection object is determined in the target point cloud frame, the detection device may perform harmonic object detection on the detection parameter of the determined associated detection object, so as to determine whether the associated detection object is a harmonic object of the target detection object. Wherein the detection parameters associated with the detection object include a detection energy parameter associated with the detection object, a detection distance parameter associated with the detection object, and a detection speed parameter associated with the detection object.
In one embodiment, the manner of performing harmonic object detection on the determined detection parameters of the associated detection object by the detection device may be: determining detection parameters of the associated detection object; and when the associated detection object exists in the M point cloud frames in the point cloud frame set and the detection parameters of the associated detection object and the detection parameters of the target detection object in the M point cloud frames meet a second condition, determining that the associated detection object is a harmonic object of the target detection object. The second condition that the detection parameters of the associated detection object and the detection parameters of the target detection object both meet the second condition means that the difference value between the detection energy parameter of the target detection object and the detection energy parameter of the associated detection object is greater than a preset energy difference threshold value, the absolute value of the difference value between the sum of the detection distance parameters of the m target detection objects and the detection distance parameter of the associated detection object is smaller than a preset distance difference threshold value, and the absolute value of the difference value between the sum of the detection speed parameters of the m target detection objects and the detection speed parameter of the associated detection object is smaller than a preset speed difference threshold value. Wherein m is less than or equal to a preset harmonic frequency threshold, and m is a positive integer greater than or equal to 2.
The specific process of the detection device for detecting the harmonic object of the determined detection parameters of the associated detection object can be seen inFig. 3 shows that, in N point cloud frames of the point cloud frame set, taking the detection device detecting the detection object on the kth point cloud frame as an example, when the detection device determines that the ith detection object is the target detection object, the detection device detects the jth detection object on the kth point cloud frame except the ith detection object, where P isjRepresenting a detection energy parameter, R, of a j-th detected object on a k-th point cloud framejA detection distance parameter, V, representing the j detection object on the k point cloud framejAnd representing the detection speed parameter of the j detection object on the k point cloud frame. c is a preset energy difference threshold, d is a preset distance difference threshold, e is a preset speed difference threshold, and f is a preset harmonic frequency threshold. When a second condition P is satisfied between the detection parameter of the jth detection object and the detection parameter of the target detection objecti-Pj>c and | mxRi-Rj|<d and | mxVi-Vj|<e, detection energy parameter P of target detection objectiWith the detection energy parameter P of the j-th detected objectjThe difference between the m target detection objects is larger than a preset energy difference threshold value c, and the detection distance parameters R of the m target detection objectsiThe sum and the detection distance parameter R of the j-th detection objectjThe absolute value of the difference between the m target detection objects is less than a preset distance difference threshold d, and the detection speed parameters V of the m target detection objectsiThe sum and the detection speed parameter V of the j-th detection objectjThe absolute value of the difference value is smaller than a preset speed difference threshold value e, and when the detection parameters of the jth detection object on the M point cloud frames starting from the kth point cloud frame all meet a second condition, the detection device determines the jth detection object as the associated detection object of the target detection object. m is a positive integer greater than or equal to 2 and less than or equal to a preset harmonic order threshold f.
For example, in the flowchart of another detection object detection method shown in fig. 3, m is 2, the preset threshold f of the number of harmonics is 3, the detection apparatus determines that the ith detection object is the target detection object, the parameter value of the detection energy parameter of the target detection object is 70 db, the parameter value of the detection distance parameter of the target detection object is 10 m, the parameter value of the detection speed parameter of the target detection object is 10 m/s, the parameter value of the detection energy parameter of the jth detection object is 30 db, the parameter value of the detection distance parameter of the jth detection object is 19.9 m, the parameter value of the detection speed parameter of the jth detection object is 19.9 m/s, the preset threshold c of energy difference is 30 db, the preset threshold d of difference is 0.5 m, the preset threshold e of speed difference is 0.2 m/s, 70-30 and |2 x 10-19.9| <0.5 and |2 x 10-19.9| <0.2, the detection parameter of the jth detection object and the detection parameter of the target detection object satisfy a second condition. Further, after confirming that the detection parameter of the j-th detection object on the k-th point cloud frame and the detection parameter of the target detection object meet the second condition, the detection device detects whether the detection parameter of the j-th detection object and the detection parameter of the target detection object on the M point cloud frames starting from the k-th point cloud frame both meet the second condition, and if so, the detection device confirms that the j-th detection object is a harmonic object of the target detection object.
For another example, m is 2, the preset threshold value f of the number of harmonics is 3, the millimeter wave radar determines that the ith detection object is the target detection object, the parameter value of the detection energy parameter of the target detection object is 70 db, the parameter value of the detection distance parameter of the target detection object is 10 m/s, the parameter value of the detection speed parameter of the target detection object is 10 m/s, the parameter value of the detection energy parameter of the jth detection object is 30 db, the parameter value of the detection distance parameter of the jth detection object is 29.9 m/s, the parameter value of the detection speed parameter of the jth detection object is 29.9 m/s, the preset threshold value c of the energy difference is 30 db, the preset threshold value d of the distance difference is 0.5 m, the preset threshold value e of the speed difference is 0.2 m/s, 70-30 and |2 x 10-29.9| >0.5 and |2 x 10-29.9| >0.2, the detection parameter of the jth detection object and the detection parameter of the target detection object do not satisfy the second condition, the value of m is increased by 1, and at this time, m is 3, m is still less than or equal to the preset harmonic number threshold value 3, 70-30>30 and |3 x 10-29.9| <0.5 and |3 x 10-29.9| <0.2, and the detection parameter of the jth detected object and the detection parameter of the target detected object satisfy the second condition. Further, after confirming that the detection parameter of the j-th detection object on the k-th point cloud frame and the detection parameter of the target detection object meet the second condition, the detection device detects whether the detection parameter of the j-th detection object and the detection parameter of the target detection object on the M point cloud frames starting from the k-th point cloud frame both meet the second condition, and if so, the detection device confirms that the j-th detection object is a harmonic object of the target detection object.
In one embodiment, when the second condition is not satisfied between the detection parameter of the associated detection object and the detection parameter of the target detection object, and the value of m is greater than the preset harmonic number threshold, the detection device may determine a next associated detection object on the target point cloud frame.
For example, in the flowchart of another detection method of a detection object shown in fig. 3, m is 3, the preset threshold value f of the number of harmonics is 3, the millimeter wave radar determines that the ith detection object is the target detection object, the parameter value of the detection energy parameter of the target detection object is 70 db, the parameter value of the detection distance parameter of the target detection object is 10 m, the parameter value of the detection speed parameter of the target detection object is 10 m/s, the parameter value of the detection energy parameter of the jth detection object is 30 db, the parameter value of the detection distance parameter of the jth detection object is 39.9 m/s, the parameter value of the detection speed parameter of the jth detection object is 39.9 m/s, the preset threshold value c of the energy difference is 30 db, the preset threshold value d of the difference is 0.5 m, the preset threshold value e of the speed difference is 0.2 m/s, 70-30 and |3 x 10-39.9| >0.5 and |3 x 10-39.9| >0.2, and if the detection parameter of the jth detection object and the detection parameter of the target detection object do not meet the second condition, increasing the value of m by 1, wherein m is 4, and m is greater than a preset harmonic frequency threshold value 3, and detecting the jth +1 detection object except the ith detection object by the detection equipment to determine whether the jth detection object is a harmonic object of the target detection object.
In one embodiment, the millimeter wave radar may analyze detection objects other than the detection object determined as the harmonic object in the point cloud frame detected by the detector to determine a next target detection object and a harmonic object of the target detection object.
It should be noted that the detection device may perform processing such as analysis of harmonic objects on the point cloud frames in the point cloud frame set generated by the millimeter wave radar independently of the millimeter wave radar; the detection device may also be disposed in the millimeter wave radar, the detector of the millimeter wave radar performs transceiving of the detection signal, and after the point cloud frame set is generated according to the detection signal, the detection device may perform processing such as analysis of the harmonic object based on the point cloud frame set.
In the embodiment of the invention, the detection device can acquire the target point cloud frame detected in the environment detection process and determine the target detection object and the associated detection object on the target point cloud frame, and after the detection device determines the target detection object and the associated detection object, the detection device can perform harmonic object detection on the detection parameters of the determined associated detection object so as to determine whether the associated detection object is a harmonic object of the target detection object. By the embodiment of the invention, the harmonic target caused by multiple reflections of the close-range strong target can be effectively judged and deleted, the wrong judgment caused by the harmonic target is avoided, and additional hardware is not required to be added.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a detection device according to an embodiment of the present invention. The detecting device 40 includes:
an obtaining module 401, configured to obtain a target point cloud frame detected in an environment detection process;
a determining module 402, configured to determine a target detection object on the target point cloud frame;
a determining module 402, configured to determine an associated detection object on the target point cloud frame;
a detecting module 403, configured to perform harmonic object detection on the detected parameters of the determined associated detected object, so as to determine whether the associated detected object is a harmonic object of the target detected object.
In one embodiment, the detection parameters of the target detection object include: at least one of a detection energy parameter of the target detection object, a detection distance parameter of the target detection object, and a detection speed parameter of the target detection object.
In one embodiment, the target point cloud frame is one point cloud frame in a point cloud frame set detected in an environment detection process, the point cloud frame set comprises N point cloud frames, and N is a positive integer; the detection parameter of the target detection object meeting the first condition is that: the detection energy parameter of the target detection object is larger than a preset energy threshold value, and/or the detection distance parameter of the target detection object is smaller than a preset distance threshold value.
In one embodiment, the target detection object includes: and the detection parameters of the object in each point cloud frame of the M point cloud frames meet a first condition, wherein M is a positive integer and is more than or equal to 2 and less than or equal to N.
In one embodiment, the associating the detection parameters of the detection object includes: at least one of a detection energy parameter of the associated detection object, a detection distance parameter of the associated detection object, and a detection velocity parameter of the associated detection object.
In an embodiment, the detecting module 403 is specifically configured to:
determining detection parameters of the associated detection object;
determining whether the associated detection object is a harmonic object according to the detection parameters of the associated detection object;
and when the associated detection object exists in M point cloud frames in the point cloud frame set and the detection parameters of the associated detection object and the detection parameters of the target detection object in the M point cloud frames all meet a second condition, determining that the associated detection object is a harmonic object.
In one embodiment, satisfying a second condition between the detection parameters of the associated detection object and the detection parameters of the target detection object includes:
the difference value between the sum of the detection distance parameters of the m target detection objects and the detection distance parameter of the associated detection object is smaller than a preset distance difference threshold value;
the difference value between the sum of the detection speed parameters of the m target detection objects and the detection speed parameter of the associated detection object is smaller than a preset speed difference threshold value;
m is a positive integer of 2 or more.
In one embodiment, the satisfying of the second condition between the detection parameter of the associated detection object and the detection parameter of the target detection object further includes: the difference value between the detection energy parameter of the target detection object and the detection energy parameter of the associated detection object is larger than a preset energy difference threshold value.
In one embodiment, the value of m is less than or equal to a preset harmonic number threshold.
In one embodiment, the preset harmonic number threshold is equal to 3.
In one embodiment, when the second condition is not satisfied between the detection parameter of the associated detection object and the detection parameter of the target detection object, and the value of m is greater than the preset harmonic number threshold, the determining module 402 is further configured to: and determining a next associated detection object on the target point cloud frame.
In an implementation, the determining module 402 is further configured to: and analyzing and processing the detected detection objects except the detection objects determined as harmonic objects in the target point cloud frame.
In the embodiment of the present invention, the obtaining module 401 may obtain a target point cloud frame detected in an environment detection process; the determination module 402 may determine a target detection object on the target point cloud frame; the determining module 402 may also determine the associated detection object on the target point cloud frame; the detection module 403 may perform harmonic object detection on the detected detection parameters of the determined associated detection object, so as to determine whether the associated detection object is a harmonic object of the target detection object. By the embodiment of the invention, the harmonic target caused by multiple reflections of the close-range strong target can be effectively judged and deleted on the premise of not increasing the hardware cost, and the wrong judgment caused by the harmonic target is avoided.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a detection device according to an embodiment of the present invention. The detection device 50 described in the present embodiment includes: a processor 501 and a memory 502. The processor 501 and the memory 502 are connected by a bus.
The Processor 501 may be a Central Processing Unit (CPU), and the Processor 501 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 502 may include both read-only memory and random access memory, and provides program instructions and data to the processor 501. A portion of the memory 502 may also include non-volatile random access memory. Wherein, the processor 501, when calling the program instruction, is configured to perform:
acquiring a target point cloud frame detected in an environment detection process;
determining a target detection object on the target point cloud frame;
determining a related detection object on the target point cloud frame;
and carrying out harmonic object detection on the determined detection parameters of the associated detection object so as to determine whether the associated detection object is a harmonic object of the target detection object.
In one embodiment, the detection parameters of the target detection object include: at least one of a detection energy parameter of the target detection object, a detection distance parameter of the target detection object, and a detection speed parameter of the target detection object.
In one embodiment, the detection parameter of the target detection object satisfying the first condition refers to: the detection energy parameter of the target detection object is larger than a preset energy threshold value, and/or the detection distance parameter of the target detection object is smaller than a preset distance threshold value.
In one embodiment, the target point cloud frame is one point cloud frame in a point cloud frame set detected in an environment detection process, the point cloud frame set comprises N point cloud frames, and N is a positive integer; the target detection object includes: and the detection parameters of the object in each point cloud frame of the M point cloud frames meet a first condition, wherein M is a positive integer and is more than or equal to 2 and less than or equal to N.
In one embodiment, the associating the detection parameters of the detection object includes: at least one of a detection energy parameter of the associated detection object, a detection distance parameter of the associated detection object, and a detection velocity parameter of the associated detection object.
In an embodiment, the processor 501 is specifically configured to:
determining detection parameters of the associated detection object;
determining whether the associated detection object is a harmonic object according to the detection parameters of the associated detection object;
and when the associated detection object exists in M point cloud frames in the point cloud frame set and the detection parameters of the associated detection object and the detection parameters of the target detection object in the M point cloud frames all meet a second condition, determining that the associated detection object is a harmonic object.
In one embodiment, satisfying a second condition between the detection parameters of the associated detection object and the detection parameters of the target detection object includes:
the difference value between the sum of the detection distance parameters of the m target detection objects and the detection distance parameter of the associated detection object is smaller than a preset distance difference threshold value;
the difference value between the sum of the detection speed parameters of the m target detection objects and the detection speed parameter of the associated detection object is smaller than a preset speed difference threshold value;
m is a positive integer of 2 or more.
In one embodiment, the satisfying of the second condition between the detection parameter of the associated detection object and the detection parameter of the target detection object further includes: the difference value between the detection energy parameter of the target detection object and the detection energy parameter of the associated detection object is larger than a preset energy difference threshold value.
In one embodiment, the value of m is less than or equal to a preset harmonic number threshold.
In one embodiment, the preset harmonic number threshold is equal to 3.
In an embodiment, when the second condition is not satisfied between the detection parameter of the associated detection object and the detection parameter of the target detection object, and the value of m is greater than the preset harmonic number threshold, the processor 501 is specifically configured to: and determining a next associated detection object on the target point cloud frame.
In an implementation manner, the processor 501 is specifically configured to: and analyzing and processing the detected detection objects except the detection objects determined as harmonic objects in the target point cloud frame.
In a specific implementation, the processor 501 and the memory 502 described in this embodiment of the present invention may execute the implementation manner described in the detection method for detecting a detection object provided in fig. 2 in this embodiment of the present invention, and may also execute the implementation manner of the detection apparatus described in fig. 4 in this embodiment of the present invention, which is not described herein again.
In the embodiment of the present invention, the processor 501 may acquire a target point cloud frame detected in an environment detection process, and determine a target detection object and an associated detection object on the target point cloud frame included in a point cloud frame set, where a detection parameter of the target detection object satisfies a first condition; after the target detection object and the associated detection object are determined on the target point cloud frame included in the point cloud frame set, harmonic object detection can be performed on the detection parameters of the determined associated detection object, so that whether the associated detection object is a harmonic object of the target detection object or not can be determined. By the embodiment of the invention, the harmonic target caused by multiple reflections of the close-range strong target can be effectively judged and deleted on the premise of not increasing the hardware cost, and the wrong judgment caused by the harmonic target is avoided.
An embodiment of the present invention further provides a millimeter wave radar, where the millimeter wave radar may include the detection device described in the embodiment shown in fig. 5, and the detection device may adopt the configurations of the above embodiments.
An embodiment of the present invention further provides a computer storage medium, where program instructions are stored in the computer storage medium, and when the program is executed, some or all of the steps of the method for detecting a detection object in the embodiment corresponding to fig. 2 may be included.
It should be noted that, as for the detection device and the detector related in each of the foregoing method embodiments, the detection device and the detector may be integrated in the same millimeter wave radar, and the millimeter wave radar may transmit a detection signal through the detector and receive the detection signal to form a point cloud frame set; the millimeter wave radar may perform corresponding processing such as harmonic object detection on the associated detection object through a detection device, and specifically, the detection device may be the detection device described in the embodiment corresponding to fig. 5.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The above detailed description is provided for the detection method, the detection device and the millimeter wave radar of the detection object provided by the embodiment of the present invention, and a specific example is applied in the present document to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (25)

1. A method of detecting a probe object, the method comprising:
acquiring a target point cloud frame detected in an environment detection process;
determining a target detection object on the target point cloud frame;
determining a related detection object on the target point cloud frame;
and carrying out harmonic object detection on the determined detection parameters of the associated detection object so as to determine whether the associated detection object is a harmonic object of the target detection object.
2. The method of claim 1,
the target point cloud frame is one point cloud frame in a point cloud frame set detected in an environment detection process, the point cloud frame set comprises N point cloud frames, and N is a positive integer;
the target detection object includes: and the detection parameters of the object in each point cloud frame of the M point cloud frames meet a first condition, wherein M is a positive integer and is more than or equal to 2 and less than or equal to N.
3. The method according to claim 1 or 2, wherein the detection parameter of the target detection object includes at least one of a detection energy parameter of the target detection object, a detection distance parameter of the target detection object, and a detection speed parameter of the target detection object.
4. The method according to claim 1, wherein the detection parameters of the target detection object satisfy:
the detection energy parameter of the target detection object is larger than a preset energy threshold value, and/or the detection distance parameter of the target detection object is smaller than a preset distance threshold value.
5. The method according to claim 1, wherein said correlating detection parameters of the detection object comprises: at least one of a detection energy parameter of the associated detection object, a detection distance parameter of the associated detection object, and a detection velocity parameter of the associated detection object.
6. The method according to claim 1, wherein the performing harmonic object detection on the determined detection parameters of the associated detection object comprises:
determining detection parameters of the associated detection object;
determining whether the associated detection object is a harmonic object according to the detection parameters of the associated detection object;
and when the associated detection object exists in M point cloud frames in the point cloud frame set and the detection parameters of the associated detection object and the detection parameters of the target detection object in the M point cloud frames all meet a second condition, determining that the associated detection object is a harmonic object.
7. The method according to claim 6, wherein satisfying a second condition between the detection parameters of the associated detection object and the detection parameters of the target detection object comprises:
the difference value between the sum of the detection distance parameters of the m target detection objects and the detection distance parameter of the associated detection object is smaller than a preset distance difference threshold value;
the difference value between the sum of the detection speed parameters of the m target detection objects and the detection speed parameter of the associated detection object is smaller than a preset speed difference threshold value;
m is a positive integer of 2 or more.
8. The method according to claim 7, wherein satisfying a second condition between the detection parameters of the associated detection object and the detection parameters of the target detection object further comprises:
the difference value between the detection energy parameter of the target detection object and the detection energy parameter of the associated detection object is larger than a preset energy difference threshold value.
9. The method according to claim 7 or 8, wherein the value of m is less than or equal to a preset harmonic order threshold.
10. The method of claim 9, wherein the preset harmonic number threshold is equal to 3.
11. The method of claim 6, wherein when the second condition is not satisfied between the detection parameters of the associated detection object and the detection parameters of the target detection object, and the value of m is greater than the preset harmonic number threshold, then determining a next associated detection object on the target point cloud frame.
12. The method according to any one of claims 1-11, further comprising:
and analyzing and processing the detected detection objects except the detection objects determined as harmonic objects in the target point cloud frame.
13. A detection device, characterized in that the detection device comprises: a processor and a memory, wherein:
the memory for storing a computer program comprising program instructions;
the processor is used for executing the following steps when calling the program instruction:
acquiring a target point cloud frame detected in an environment detection process;
determining a target detection object on the target point cloud frame;
determining a related detection object on the target point cloud frame;
and carrying out harmonic object detection on the determined detection parameters of the associated detection object so as to determine whether the associated detection object is a harmonic object of the target detection object.
14. The detection apparatus according to claim 13,
the target point cloud frame is one point cloud frame in a point cloud frame set detected in an environment detection process, the point cloud frame set comprises N point cloud frames, and N is a positive integer;
the target detection object includes: and the detection parameters of the object in each point cloud frame of the M point cloud frames meet a first condition, wherein M is a positive integer and is more than or equal to 2 and less than or equal to N.
15. The detection apparatus according to claim 13 or 14, characterized in that the detection parameter of the target detection object includes at least one of a detection energy parameter of the target detection object, a detection distance parameter of the target detection object, and a detection speed parameter of the target detection object.
16. The detection apparatus according to claim 13, wherein the detection parameters of the target detection object satisfy:
the detection energy parameter of the target detection object is larger than a preset energy threshold value, and/or the detection distance parameter of the target detection object is smaller than a preset distance threshold value.
17. The detection apparatus according to claim 13, wherein the detection parameters of the associated detection object include: at least one of a detection energy parameter of the associated detection object, a detection distance parameter of the associated detection object, and a detection velocity parameter of the associated detection object.
18. The detection device of claim 13, wherein the processor is specifically configured to:
determining detection parameters of the associated detection object;
determining whether the associated detection object is a harmonic object according to the detection parameters of the associated detection object;
and when the associated detection object exists in M point cloud frames in the point cloud frame set and the detection parameters of the associated detection object and the detection parameters of the target detection object in the M point cloud frames all meet a second condition, determining that the associated detection object is a harmonic object.
19. The detection apparatus according to claim 18, wherein satisfying a second condition between the detection parameter of the associated detection object and the detection parameter of the target detection object includes:
the difference value between the sum of the detection distance parameters of the m target detection objects and the detection distance parameter of the associated detection object is smaller than a preset distance difference threshold value;
the difference value between the sum of the detection speed parameters of the m target detection objects and the detection speed parameter of the associated detection object is smaller than a preset speed difference threshold value;
m is a positive integer of 2 or more.
20. The detection apparatus according to claim 19, wherein satisfying the second condition between the detection parameter of the associated detection object and the detection parameter of the target detection object further includes:
the difference value between the detection energy parameter of the target detection object and the detection energy parameter of the associated detection object is larger than a preset energy difference threshold value.
21. The detection apparatus according to claim 19 or 20, wherein the value of m is less than or equal to a preset harmonic order threshold.
22. The detection apparatus according to claim 21, wherein the preset harmonic number threshold is equal to 3.
23. The detection apparatus according to claim 18, wherein when the second condition is not satisfied between the detection parameters of the associated detection object and the detection parameters of the target detection object, and the value of m is greater than the preset harmonic number threshold, a next associated detection object is determined on the target point cloud frame.
24. The detection device according to any one of claims 13 to 23, wherein the processor is specifically configured to:
and analyzing and processing the detected detection objects except the detection objects determined as harmonic objects in the target point cloud frame.
25. A millimeter wave radar characterized in that it comprises a detection device according to any one of claims 13-24.
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