CN112526498A - Vehicle and target detection method and device of vehicle-mounted radar - Google Patents
Vehicle and target detection method and device of vehicle-mounted radar Download PDFInfo
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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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
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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
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- 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
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Abstract
The invention provides a target detection method and a target detection device for a vehicle and a vehicle-mounted radar, wherein the method comprises the following steps: acquiring the speed of the vehicle, and acquiring a speed interest area according to the speed of the vehicle; obtaining a distance region of interest; determining a crossing region of the speed region of interest and the distance region of interest, and traversing the amplitude of an echo signal received by the vehicle-mounted radar in the crossing region to find out a strong point with the amplitude larger than a preset amplitude; whether an invalid target is detected or not is judged according to the total number of the found strong points and the transverse distance corresponding to the strong point with the largest amplitude in the found strong points, so that the calculation amount can be effectively reduced, the algorithm efficiency is improved, in addition, the influence caused by speed analysis errors can be eliminated, in addition, the method has fewer processing steps, is simple and efficient, and can effectively eliminate the interference of the invalid target such as a fence, so that the false alarm caused by the invalid target is avoided.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle and a target detection method and device of a vehicle-mounted radar.
Background
The related art provides a blind area detection method for judging whether a target exists in a vehicle blind area, which comprises the following steps: calculating a signal-to-noise ratio according to a frequency spectrum of a frame acquired from a radar; calculating the envelope curve of the frequency spectrum, and calculating the width of the envelope curve of the frequency spectrum and the ratio of the maximum value of the frequency spectrum amplitude to the envelope amplitude corresponding to the maximum value of the frequency spectrum envelope curve at the position of the frequency spectrum amplitude; judging whether to alarm the single-frame blind area according to the signal-to-noise ratio, the ratio of the maximum value of the frequency spectrum amplitude to the envelope amplitude corresponding to the frequency spectrum envelope at the maximum value of the frequency spectrum amplitude and the width of the frequency spectrum envelope; and judging whether to alarm the blind areas of multiple frames according to the distance information of the continuous multiple frames and the single-frame blind area alarm condition of each frame.
However, the applicant finds that the related art has the following technical problems that firstly, the processing steps are various, including calculating the signal-to-noise ratio, the envelope curve, the width of the envelope curve, the ratio of the maximum value of the spectral amplitude to the corresponding envelope amplitude of the spectral envelope curve at the maximum value of the spectral amplitude, single-frame and multi-frame processing and the like; secondly, the computation amount is large, and the processing steps have large computation amount, especially the computation of the signal-to-noise ratio and the envelope curve, so that the whole detection process is long in time consumption and low in efficiency.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a target detection method for a vehicle-mounted radar, so as to reduce the amount of computation and improve the algorithm efficiency.
The second purpose of the invention is to provide a target detection device of a vehicle-mounted radar.
A third object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a target detection method for a vehicle-mounted radar, including the following steps: acquiring the speed of the vehicle, and acquiring a speed interest area according to the speed of the vehicle; obtaining a distance region of interest; determining a crossing region of the speed region of interest and the distance region of interest, and traversing the amplitude of an echo signal received by the vehicle-mounted radar in the crossing region to find out a strong point with the amplitude larger than a preset amplitude; and judging whether an invalid target is detected or not according to the total number of the found strong points and the transverse distance corresponding to the strong point with the largest amplitude in the found strong points.
According to the target detection method of the vehicle-mounted radar, provided by the embodiment of the invention, the speed interested region and the distance interested region are obtained, the strong points with the amplitude larger than the preset amplitude are found out in the crossing region of the speed interested region and the distance interested region, and then whether the invalid target is detected or not is judged according to the total number of the found strong points and the transverse distance corresponding to the strong point with the maximum amplitude in the found strong points, so that the operation amount can be effectively reduced, the algorithm efficiency is improved, in addition, the influence caused by speed analysis errors can be eliminated, the processing steps of the method are fewer, the method is simple and efficient, the interference of the invalid target such as a fence can be effectively eliminated, and the false alarm caused by the invalid target is avoided.
In order to achieve the above object, a second aspect of the present invention provides an object detection apparatus for a vehicle-mounted radar, including: the acquisition module is used for acquiring the speed of the vehicle, acquiring a speed interest region according to the speed of the vehicle and acquiring a distance interest region; the determining module is used for determining a crossing region of the speed region of interest and the distance region of interest, and traversing the amplitude of an echo signal received by the vehicle-mounted radar in the crossing region to find out a strong point with the amplitude larger than a preset amplitude; and the judging module is used for judging whether an invalid target is detected according to the total number of the found strong points and the transverse distance corresponding to the strong point with the largest amplitude in the found strong points.
According to the target detection device of the vehicle-mounted radar, the speed interesting area and the distance interesting area are obtained, the strong points with the amplitude larger than the preset amplitude are found out in the crossing area of the speed interesting area and the distance interesting area, and then whether the invalid target is detected or not is judged according to the total number of the found strong points and the transverse distance corresponding to the strong point with the maximum amplitude in the found strong points, so that the operation amount can be effectively reduced, the algorithm efficiency is improved, in addition, the influence caused by speed analysis errors can be eliminated, the processing steps of the device are fewer, the device is simple and efficient, the interference of the invalid target such as a fence can be effectively eliminated, and the false alarm caused by the invalid target is avoided.
In order to achieve the above object, a third aspect of the present invention provides a vehicle including the target detection apparatus of the vehicle-mounted radar.
According to the vehicle provided by the embodiment of the invention, the target detection device of the vehicle-mounted radar can effectively reduce the calculation amount and improve the algorithm efficiency, in addition, the influence caused by speed analysis errors can be eliminated, the processing steps are less, the simplicity and the high efficiency are realized, the interference of invalid targets such as fences can be effectively eliminated, and the false alarm caused by the invalid targets is avoided.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow diagram of a vehicle and a method of target detection for a vehicle radar according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a three-dimensional space of distances, velocities, and amplitudes according to one embodiment of the invention;
FIG. 3 is a schematic flow diagram of a vehicle and a method of target detection for a vehicle radar in accordance with one embodiment of the present invention;
FIG. 4 is a schematic flow diagram of a target detection method for a vehicle and a vehicle radar according to another embodiment of the invention;
FIG. 5 is a schematic diagram of the relative position of a vehicle radar and a fence according to one embodiment of the present invention;
FIG. 6 is a schematic flow diagram of a method for target detection for a vehicle and a vehicle radar in accordance with one embodiment of the present invention;
FIG. 7 is a block schematic diagram of an object detection device of a vehicle radar according to an embodiment of the present invention; and
fig. 8 is a block schematic diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A vehicle and a target detection method and apparatus of a vehicle-mounted radar according to an embodiment of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart illustrating a target detection method of a vehicle and a vehicle-mounted radar according to an embodiment of the present invention. As shown in fig. 1, the target detection method of the vehicle-mounted radar includes the following steps:
s1: the speed of the vehicle is obtained, and a speed interest area is obtained according to the speed of the vehicle.
A speed region of interest is constructed by using the opposite number of the vehicle speed of the vehicle as a reference and a first speed threshold value as a floating value. Assuming that the vehicle speed of the host vehicle is V and the first speed threshold value is V1, the speed interest region V is greater than or equal to (-V-V1) and less than or equal to (-V + V1), i.e., V [ -V-V1, -V + V1 ].
It can be understood that the target detection method of the vehicle-mounted radar of the embodiment of the invention can be used for detecting whether invalid targets such as fences exist in the blind area of the vehicle. In the embodiment of the present invention, a fence is taken as an example for explanation, and other invalid targets such as a flower bed and the like are consistent with the detection principle of the fence, and are not described in detail again.
When the vehicle speed is V, the velocity of the fence relative to the vehicle is-V, and a velocity neighborhood of-V, namely [ -V-V1, -V + V1] is set as a velocity interest region V, optionally, the velocity interest region V can be set as [ -V-5, -V +5], wherein the unit of V is km/h.
Therefore, the-V speed area is set as the speed interest area V in combination with the vehicle speed V of the vehicle, so that the calculation amount can be effectively reduced, the algorithm efficiency is improved, and the influence caused by the radar speed analysis error can be eliminated.
S2: a distance region of interest is acquired.
The distance-to-interest region may be preset, and the distance-to-interest region R may be greater than or equal to a first preset distance and less than or equal to a second preset distance, for example, the distance-to-interest region R is greater than or equal to 3m and less than or equal to 30m, that is, R ═ 3m,30 m.
It can be understood that the term a0 in the fourier transform is called a direct current component, and after the intermediate frequency signal collected by the vehicle-mounted radar is subjected to the fourier transform, the direct current component is large and affects the short-range frequency spectrum. Therefore, the minimum value of the distance interesting region R is set to be 3m, on one hand, the short-distance region from 0m to 3m is not detected, the influence of direct current components can be effectively eliminated, and on the other hand, when vehicles exist in the blind areas on the two sides of the vehicle, the general distance is larger than 3m, therefore, the targets in the blind areas on the two sides can be effectively detected, and the missing report rate is reduced.
Specifically, the radar equation is as follows (1):
wherein p isrIs the received power, which is proportional to the amplitude of the echo signal received by the vehicle radar, ptIs the transmit power, G is the antenna gain, a is the effective receiving area of the antenna, δ is the scattering area of the target, and R is the distance.
It can be seen from radar equations that the amplitude is inversely proportional to the 4 th power of the distance, and the amplitude drops sharply with increasing distance, so that an actual fence may be long, but the point of the strongest amplitude of the echo signal may occur in a closer distance. Therefore, the maximum value of the distance R to the interested region is set to be 30m, the traversal range of searching the strongest point can be reduced, the cycle times are reduced, and the algorithm efficiency is improved.
Therefore, the distance region of interest R is set, the calculation amount can be reduced, and the algorithm efficiency is improved.
S3: and determining a crossing region of the speed region of interest and the distance region of interest, and traversing the amplitude of an echo signal received by the vehicle-mounted radar in the crossing region to find out a strong point with the amplitude larger than a preset amplitude.
As shown in fig. 2, in the three-dimensional space constituted by the distance, the velocity and the amplitude, the intersection region of step S3 can be uniquely determined according to the distance region of interest R and the velocity region of interest V. In fig. 2, the amplitude of the Z axis may refer to the amplitude of the echo signal received by the vehicle-mounted radar, and the speed of the X axis and the example of the Y axis are not actual speeds and examples, but X axis and Y axis coordinates of the strong point in the three-dimensional coordinate system, that is, X, Y coordinates of the projection of the strong point in the three-dimensional coordinate system.
In an intersection area determined by the distance interest area R and the speed interest area V, if the amplitude of the point is greater than a preset amplitude N, the point is called a strong point. The preset amplitude value N is a constant and can be determined by hardware conditions of the vehicle-mounted radar. Specifically, the signal-to-noise ratio indicates that the difference between the signal and the surrounding noise is large, and the preset amplitude N can be set to be a small value; the low signal-to-noise ratio indicates that the difference between the signal and the surrounding noise is small, and the preset amplitude N can be set to be larger. This reduces noise interference with fence detection.
Therefore, by reasonably setting the preset amplitude N, the false judgment of the fence can be preliminarily eliminated.
In the crossing region, judging whether each amplitude is larger than a preset amplitude N, if the amplitude is larger than N, determining the amplitude as a strong point, recording the information of the strong point, if the amplitude is smaller than or equal to N, determining the strong point not as the strong point, and not recording the strong point, thereby traversing the crossing region to find out all strong points in the crossing region, recording the total number of the strong points as M, and marking the strong point with the maximum amplitude in the M strong points as L.
S4: and judging whether an invalid target is detected or not according to the total number of the found strong points and the transverse distance corresponding to the strong point with the largest amplitude in the found strong points.
According to an embodiment of the present invention, determining whether an invalid target is detected according to the total number of the found strong points and the transverse distance corresponding to the strong point with the largest amplitude in the found strong points includes:
judging whether the total number of the strong points is smaller than a preset number threshold value or not;
if the total number of the strong points is smaller than a preset number threshold, judging that an invalid target is not detected;
and if the total number of the strong points is larger than or equal to the preset number threshold, judging whether an invalid target is detected according to the transverse distance corresponding to the strong point with the maximum amplitude.
The preset number threshold value C is the number of the minimum strong points for judging the detected fence, and C is a constant and can be set according to the distance and the speed spectrogram of the actual fence.
It can be understood that if the preset number threshold C is set too large, it is easy to determine an actual fence as a non-fence, and if the preset number threshold C is set too small, it is easy to determine other stationary objects as fences. Therefore, by reasonably setting the preset number threshold value C, the false judgment of the fence can be preliminarily eliminated.
Alternatively, N may be 10 and C may be 4.
That is, since the actual barrier corresponds to M strong points in the above-described crossing region, the value of M is large. However, if the value of M is small, for example, M is 1 or M is 2, it may be determined that the target is not a fence. That is, if the total number M of strong points is greater than or equal to the constant C, the next step is performed; and if the total number M of the strong points is less than the constant C, directly returning, and judging that the target is not a fence.
Specifically, according to the embodiment of fig. 3, determining whether an invalid target is detected according to the lateral distance corresponding to the strong point with the maximum amplitude includes:
s431: and calculating the transverse distance between the vehicle and the invalid target according to the radial distance and the angle corresponding to the strong point with the maximum amplitude.
More specifically, as shown in fig. 4, the step S431 of calculating the lateral distance between the host vehicle and the invalid target according to the radial distance and the angle corresponding to the strong point with the largest amplitude includes:
s4312: and calculating the angle corresponding to the strong point with the maximum amplitude according to the distance dimensional index and the speed dimensional index corresponding to the strong point with the maximum amplitude.
Specifically, in the above-mentioned crossing regionFinding M strong points with amplitude larger than N, marking the strong point with the maximum amplitude in the M strong points as L, and marking the distance dimensional coordinate of the strongest point L (namely the Y-axis coordinate of the strongest point L in the three-dimensional coordinate system) as LrI.e. LrThe distance dimension index corresponding to the intensity point L with the maximum amplitude is recorded as L by the velocity dimension coordinate of the intensity point L (i.e. the X-axis coordinate of the intensity point L in the three-dimensional coordinate system)vI.e. LvAnd the velocity dimension index corresponding to the strong point L with the maximum amplitude.
For echo signals, arranging acquired intermediate frequency data into a 3-dimensional array Arr [ a ] [ b ] [ c ], wherein a is the number of channels, and a is the number of transmitting antennas multiplied by the number of receiving antennas; b is the number of cycles in 1 frame; and counting the number of sampling points in each period as d, so that c meets the following conditions: 1) c belongs to a base 2 exponential sequence; 2) the value of | d-c | is minimized.
If d > c, when the array Arr is arranged, deleting the last (d-c) elements and only keeping the first c elements; if d < c, the array Arr, then perform a complement 0 element operation, i.e., add (c-d) 0 elements after d elements. For example, if d is 240, c is 256, and in the arrangement group Arr, each 240 is divided into one group, followed by 0 s (256-. For another example, if d is 520, c is 512, and when the array Arr is arranged, each 520 is divided into one group, and the following (520 and 512) elements are deleted.
In the above-mentioned 3-dimensional array Arr [ a ]][b][c]Substituting the distance dimension index L corresponding to the strongest point LrAnd a velocity dimension index Lv. The index obtains a channel array Arr1][Lv][Lr]Then, the beam forming algorithm is used to calculate the angle L corresponding to the strongest point LαI.e. the angle L between the maximum intensity and the normal of the radarαAs shown in fig. 5. The beam forming algorithm is well known in the art, and will not be described in detail herein.
S4313: and calculating the radial distance between the strong point with the maximum amplitude and the vehicle-mounted radar according to the distance dimension index corresponding to the strong point with the maximum amplitude and the distance resolution of the vehicle-mounted radar.
Specifically, the strongest point L and the vehicle radar can be calculated according to the following formulaRadial distance of (c): l isR＝Lr×RresWherein R isresIs the distance resolution, which may be RresThe waveform parameters of the modulated wave emitted by the vehicle-mounted radar are determined.
S4314: and calculating the transverse distance between the vehicle and the invalid target according to the angle and the radial distance.
Specifically, the lateral distance between the host vehicle and the invalid target may be calculated according to the following formula: l isx＝sin(Lα+α)×LRWhere α is a fixed mounting angle, as shown in fig. 5.
S432: and acquiring an invalid target distance area.
The invalid target distance area may be greater than or equal to a third preset distance and less than or equal to a fourth preset distance. Specifically, the invalid target distance region may be 0m or more and 4.5m or less, that is, the invalid target distance region D may be set to [0m, 4.5m ].
It can be understood that, on the actual road, there are many roads where the old fence is used, or there are multiple fences, and the maximum end of the fence distance area D is set to be 4.5 meters, so that the false alarm under the above conditions can be effectively avoided.
S433: and judging whether the transverse distance belongs to the invalid target distance area.
S434: and if the transverse distance belongs to the invalid target distance area, judging that an invalid target is detected.
S435: and if the transverse distance does not belong to the invalid target distance area, judging that the invalid target is not detected.
That is, if the lateral distance LxIf the target belongs to the invalid target distance area D, judging that a fence is detected; if L isxIf the target does not belong to the invalid target distance area D, the fence is judged not to be detected.
Specifically, in the embodiment of the present invention, the angle L at which the intensity point L having the largest amplitude is calculated may be calculatedαFurther, the transverse distance L between the vehicle and the invalid target is calculatedxIf the transverse distance L isxIf the distance falls into the set invalid target distance area D, the distance is considered asA fence, otherwise considered not to be a fence.
With reference to fig. 6, the target detection method for the vehicle-mounted radar of the embodiment of the present invention specifically includes the following steps:
s101: obtaining the speed of the vehicle, and obtaining a speed interest area according to the speed of the vehicle
S102: a distance region of interest is acquired.
S103: and traversing in the intersection region of the speed region of interest and the distance region of interest, and finding out M strong points with the amplitude larger than N.
S104: and judging whether the total number M of the strong points is less than the constant C.
If yes, go to step S106; if not, step S105 is performed.
S105: and judging whether the transverse distance of the strongest point L belongs to the invalid target distance area D.
If yes, go to step S107; if not, step S106 is performed.
S106: no fence is detected.
S107: a fence is detected.
The following explains the target detection method of the vehicle-mounted radar by combining with actual fence data acquired by the vehicle-mounted radar, namely the blind area radar.
Fig. 5 is a schematic diagram of the relative positions of the vehicle radar and the fence. Wherein, the fixed installation angle alpha is 40 degrees, and the angle corresponding to the strongest fence amplitude point L is LαThe sign of which denotes LαPositive and negative properties of (1), L in the figureαIs a negative value, LxIs the lateral distance of the barrier from the host vehicle.
During test, the speed of the vehicle is about 53km/h, wherein the distance resolution ratio Rres0.6m and a velocity resolution of 0.488 m/s.
The distance and speed dimensional frequency spectrum can be obtained by acquiring actual fence data and analyzing by MATLAB.
Combining the speed of the vehicle, the speed of the fence is-53 km/h, and solving a formula according to the radar speed: (64-x) × 0.488 × 3.6 ═ 53, with the nearest integer to x being 94. Considering a velocity resolution of 0.488m/s and 3 spectral lines of about 5.27km/h, the velocity region of interest V can be set to {91,92,93,94,95,96,97 }.
In combination with a distance resolution of 0.6m, the distance R [3m,30m ] from the region of interest corresponds to the region of the 5 th to 50 th distance dimension lines.
And extracting data of the intersection region of the speed interested region and the distance interested region to obtain the frequency spectrum data of the actual fence in the intersection region.
Setting N to 10, traversing the intersection area, 7 strong points can be obtained, since 7 is larger than C to 4, then marking the strongest point L, the amplitude of which is 22, and the radial distance L of which is LRThe velocity of the strongest point L is (64-94). times.0.488X 3.6-52.7 km/h, 12m, and the angle dimension analysis is performed on the strongest point L to obtain the angle L of the strongest point LαAt-25 deg., the radar mounting angle alpha is 40 deg., so Lα+ α -25+ 40-15 °. Thereby, the transverse distance L of the strongest point Lx＝12×sin(15°)＝3.1m。
Due to LxBelonging to the invalid target distance area D, and thus judging that a fence is detected.
The fence detection accuracy of the embodiment of the invention is high, and the false detection phenomenon can be avoided by optimizing the parameters N, C, D and the like for the false detection phenomenon of the fence.
In summary, according to the target detection method for the vehicle-mounted radar provided by the embodiment of the invention, the velocity interested region and the distance interested region are obtained, the strong points with the amplitude larger than the preset amplitude are found out in the intersection region of the velocity interested region and the distance interested region, and then whether the invalid target is detected or not is judged according to the total number of the found strong points and the transverse distance corresponding to the strong point with the maximum amplitude in the found strong points, so that the calculation amount can be effectively reduced, the algorithm efficiency can be improved, in addition, the influence caused by the velocity analysis error can be eliminated, in addition, the processing steps of the method are fewer, the method is simple and efficient, the interference of the invalid target such as a fence can be effectively eliminated, and the false alarm caused by the invalid target can be avoided.
In order to implement the above embodiment, the invention further provides a target detection device of the vehicle-mounted radar.
Fig. 7 is a block schematic diagram of an object detection apparatus of a vehicle-mounted radar according to an embodiment of the present invention. As shown in fig. 7, the target detection device 100 for the vehicle-mounted radar includes: the device comprises an acquisition module 101, a determination module 102 and a judgment module 103.
The obtaining module 101 is configured to obtain a vehicle speed of the vehicle, obtain a speed interest region according to the vehicle speed of the vehicle, and obtain a distance interest region; the determining module 102 is configured to determine a crossing region between the speed region of interest and the distance region of interest, and traverse an amplitude of an echo signal received by the vehicle-mounted radar in the crossing region to find a strong point with an amplitude greater than a preset amplitude; the judging module 103 is configured to judge whether an invalid target is detected according to the total number of the found strong points and the transverse distance corresponding to the strong point with the largest amplitude in the found strong points.
According to one embodiment of the present invention, a speed interest region is constructed with reference to the opposite number of the vehicle speed of the host vehicle and with a first speed threshold as a float value.
According to an embodiment of the present invention, the distance interested region may be equal to or greater than a first preset distance and equal to or less than a second preset distance, for example, the distance interested region is equal to or greater than 3m and equal to or less than 30 m.
According to an embodiment of the present invention, the determining module 103 is configured to determine whether the total number of strong points is smaller than a preset number threshold, determine that an invalid target is not detected if the total number of strong points is smaller than the preset number threshold, and determine whether an invalid target is detected according to a lateral distance corresponding to a strong point with a largest amplitude value if the total number of strong points is greater than or equal to the preset number threshold.
According to an embodiment of the present invention, the determining module 103 is configured to calculate a lateral distance between the host vehicle and the invalid target according to the radial distance and the angle corresponding to the strong point with the largest amplitude, acquire an invalid target distance region, and determine whether the lateral distance belongs to the invalid target distance region, determine that the invalid target is detected if the lateral distance belongs to the invalid target distance region, and determine that the invalid target is not detected if the lateral distance does not belong to the invalid target distance region.
According to an embodiment of the present invention, the determining module 103 is further configured to calculate an angle corresponding to the maximum intensity point according to the distance dimension index and the velocity dimension index corresponding to the maximum intensity point, calculate a radial distance between the maximum intensity point and the vehicle-mounted radar according to the distance dimension index corresponding to the maximum intensity point and the distance resolution of the vehicle-mounted radar, and calculate a lateral distance between the vehicle and the invalid target according to the angle and the radial distance
According to an embodiment of the present invention, the invalid target distance area is equal to or greater than a third preset distance and equal to or less than a fourth preset distance, for example, the invalid target distance area is equal to or greater than 0m and equal to or less than 4.5 m.
It should be noted that the foregoing explanation of the embodiment of the target detection method for the vehicle-mounted radar is also applicable to the target detection device for the vehicle-mounted radar of the embodiment, and details are not repeated here.
According to the target detection device of the vehicle-mounted radar, the speed interesting area and the distance interesting area are obtained, the strong points with the amplitude larger than the preset amplitude are found out in the crossing area of the speed interesting area and the distance interesting area, and then whether the invalid target is detected or not is judged according to the total number of the found strong points and the transverse distance corresponding to the strong point with the maximum amplitude in the found strong points, so that the operation amount can be effectively reduced, the algorithm efficiency is improved, in addition, the influence caused by speed analysis errors can be eliminated, the processing steps of the device are fewer, the device is simple and efficient, the interference of the invalid target such as a fence can be effectively eliminated, and the false alarm caused by the invalid target is avoided.
In order to realize the embodiment, the invention further provides a vehicle.
Fig. 8 is a block schematic diagram of a vehicle according to an embodiment of the invention. As shown in fig. 8, a vehicle 200 includes the object detection device 100 of the vehicle-mounted radar of the foregoing embodiment.
According to the vehicle provided by the embodiment of the invention, the target detection device of the vehicle-mounted radar can effectively reduce the calculation amount and improve the algorithm efficiency, in addition, the influence caused by speed analysis errors can be eliminated, the processing steps are less, the simplicity and the high efficiency are realized, the interference of invalid targets such as fences can be effectively eliminated, and the false alarm caused by the invalid targets is avoided.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A target detection method of a vehicle-mounted radar is characterized by comprising the following steps:
acquiring the speed of the vehicle, and acquiring a speed interest area according to the speed of the vehicle;
obtaining a distance region of interest;
determining a crossing region of the speed region of interest and the distance region of interest, and traversing the amplitude of an echo signal received by the vehicle-mounted radar in the crossing region to find out a strong point with the amplitude larger than a preset amplitude;
and judging whether an invalid target is detected or not according to the total number of the found strong points and the transverse distance corresponding to the strong point with the largest amplitude in the found strong points.
2. The object detection method of the on-vehicle radar according to claim 1, wherein the speed interest region is constructed with reference to an opposite number of the vehicle speeds of the host vehicle and with a first speed threshold value as a float value.
3. The method of claim 1, wherein the distance-interesting region is greater than or equal to a first preset distance and less than or equal to a second preset distance.
4. The method for detecting the target of the vehicle-mounted radar according to claim 1, wherein the step of judging whether an invalid target is detected according to the total number of the found strong points and the transverse distance corresponding to the strong point with the largest amplitude in the found strong points comprises the following steps:
judging whether the total number of the strong points is smaller than a preset number threshold value or not;
if the total number of the strong points is smaller than the preset number threshold, judging that the invalid target is not detected;
and if the total number of the strong points is larger than or equal to the preset number threshold, judging whether an invalid target is detected according to the transverse distance corresponding to the strong point with the maximum amplitude.
5. The method for detecting the target of the vehicle-mounted radar according to claim 4, wherein the step of judging whether an invalid target is detected or not according to the transverse distance corresponding to the strong point with the maximum amplitude value comprises the following steps:
calculating the transverse distance between the vehicle and the invalid target according to the radial distance and the angle corresponding to the strong point with the maximum amplitude;
obtaining an invalid target distance area;
judging whether the transverse distance belongs to the invalid target distance area or not;
if the transverse distance belongs to the invalid target distance area, judging that the invalid target is detected;
and if the transverse distance does not belong to the invalid target distance area, judging that the invalid target is not detected.
6. The method for detecting the target of the vehicle-mounted radar according to claim 5, wherein the calculating the lateral distance between the vehicle and the invalid target according to the radial distance and the angle corresponding to the strong point with the maximum amplitude value comprises:
calculating the angle corresponding to the strong point with the maximum amplitude according to the distance dimensional index and the speed dimensional index corresponding to the strong point with the maximum amplitude;
calculating the radial distance between the strong point with the maximum amplitude and the vehicle-mounted radar according to the distance dimension index corresponding to the strong point with the maximum amplitude and the distance resolution of the vehicle-mounted radar;
and calculating the transverse distance between the vehicle and the invalid target according to the angle and the radial distance.
7. The method of claim 5, wherein the invalid target distance region is equal to or greater than a third preset distance and equal to or less than a fourth preset distance.
8. An object detection device of a vehicle-mounted radar, characterized by comprising:
the acquisition module is used for acquiring the speed of the vehicle, acquiring a speed interest region according to the speed of the vehicle and acquiring a distance interest region;
the determining module is used for determining a crossing region of the speed region of interest and the distance region of interest, and traversing the amplitude of an echo signal received by the vehicle-mounted radar in the crossing region to find out a strong point with the amplitude larger than a preset amplitude;
and the judging module is used for judging whether an invalid target is detected according to the total number of the found strong points and the transverse distance corresponding to the strong point with the largest amplitude in the found strong points.
9. The object detection device of the vehicle-mounted radar according to claim 8, wherein the determining module is configured to determine whether the total number of the strong points is smaller than a preset number threshold, determine that the invalid object is not detected if the total number of the strong points is smaller than the preset number threshold, and determine whether the invalid object is detected according to a lateral distance corresponding to the strong point with the largest amplitude value if the total number of the strong points is greater than or equal to the preset number threshold;
and calculating the transverse distance between the vehicle and the invalid target according to the radial distance and the angle corresponding to the strong point with the maximum amplitude, acquiring an invalid target distance area, judging whether the transverse distance belongs to the invalid target distance area, judging that the invalid target is detected if the transverse distance belongs to the invalid target distance area, and judging that the invalid target is not detected if the transverse distance does not belong to the invalid target distance area.
10. A vehicle characterized by comprising the object detection device of the vehicle-mounted radar according to claim 8 or 9.
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