CN112526498B - Target detection method and device for vehicle and vehicle-mounted radar - Google Patents
Target detection method and device for vehicle and 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention provides a target detection method and 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 region of interest according to the speed of the vehicle; acquiring a distance region of interest; determining an intersection area of the speed region of interest and the distance region of interest, and traversing the amplitude of the echo signal received by the vehicle-mounted radar in the intersection area 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 value in the found strong points, so that the operation amount can be effectively reduced, the algorithm efficiency is improved, the influence caused by speed analysis errors can be eliminated, the processing steps of the method are fewer, simplicity and high efficiency are achieved, the interference of the invalid target such as a fence can be effectively eliminated, and error alarm caused by the invalid target is avoided.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a target detection method and device for vehicles and vehicle-mounted radars.
Background
The related art proposes a blind area detection method for judging whether a target exists in a blind area of a vehicle, including the steps of: calculating the signal-to-noise ratio according to the frequency spectrum of the frame acquired by the 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 corresponding envelope amplitude of the frequency spectrum envelope curve at the maximum value of the frequency spectrum amplitude; judging whether a single-frame blind zone alarms or not according to the signal-to-noise ratio, the ratio of the maximum value of the frequency spectrum amplitude to the corresponding envelope amplitude of the frequency spectrum envelope at the maximum value of the frequency spectrum amplitude and the width of the frequency spectrum envelope; and judging whether the multi-frame dead zone alarms according to the distance information of the continuous multi-frame and the single-frame dead zone alarm condition of each frame.
However, the applicant found that the related art has the following technical problems, firstly, the processing steps are numerous, including calculating the signal-to-noise ratio, the envelope, the width of the envelope, the ratio of the maximum value of the spectrum amplitude to the corresponding envelope amplitude of the spectrum envelope at the maximum value of the spectrum amplitude, single-frame and multi-frame processing, and the like; secondly, the operation amount is large, the processing steps have large operation amount, and particularly the signal-to-noise ratio and the envelope curve are calculated, so that the whole detection process is long in time consumption and low in efficiency.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent.
Therefore, a first object of the present invention is to provide a target detection method for a vehicle radar, so as to reduce the amount of computation and improve the algorithm efficiency.
A second object of the present invention is to provide an object detection device for a vehicle-mounted radar.
A third object of the present 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 radar, including the following steps: acquiring the speed of the vehicle, and acquiring a speed region of interest according to the speed of the vehicle; acquiring a distance region of interest; determining an intersection area of the speed region of interest and the distance region of interest, and traversing the amplitude of the echo signal received by the vehicle-mounted radar in the intersection area to find out a strong point with the amplitude larger than a preset amplitude; 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 value in the found strong points.
According to the target detection method of the vehicle-mounted radar, the speed region of interest and the distance region of interest are obtained, strong points with the amplitude larger than the preset amplitude are found in the crossing region of the speed region of interest and the distance region of interest, and then 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 operand 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, simplicity and high efficiency are achieved, 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.
To achieve the above object, a second aspect of the present invention provides an object detection device for a vehicle radar, including: the acquisition module is used for acquiring the speed of the vehicle, acquiring a speed region of interest according to the speed of the vehicle and acquiring a distance region of interest; the determining module is used for determining an intersection area of the speed region of interest and the distance region of interest, and traversing the amplitude of the echo signal received by the vehicle-mounted radar in the intersection area to find out a strong point with the amplitude larger than a preset amplitude; 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 value in the found strong points.
According to the target detection device of the vehicle-mounted radar, the speed region of interest and the distance region of interest are obtained, strong points with the amplitude larger than the preset amplitude are found in the crossing region of the speed region of interest and the distance region of interest, and then 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 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, simplicity and high efficiency are achieved, 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.
To achieve the above object, an embodiment of a third aspect of the present invention provides a vehicle including the object detection device 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 operation amount, improve the algorithm efficiency, eliminate the influence caused by the speed analysis error, and has fewer processing steps, simplicity and high efficiency, and effectively eliminate the interference of an invalid target such as a fence, thereby avoiding false alarm caused by the invalid target.
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.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a method for target detection for a vehicle and an onboard radar according to an embodiment of the present invention;
FIG. 2 is a schematic representation of a three-dimensional space of distances, velocities, and magnitudes, in accordance with an embodiment of the invention;
FIG. 3 is a flow chart of a method of target detection for a vehicle and an onboard radar according to one embodiment of the invention;
FIG. 4 is a flow chart of a method for target detection for a vehicle and an onboard radar according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of the relative positions of an on-board radar and a fence according to one embodiment of the present invention;
FIG. 6 is a flow chart of a method for target detection for a vehicle and an onboard radar according to one embodiment of the present invention;
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; and
fig. 8 is a block schematic diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The following describes a vehicle and an object detection method and apparatus of a vehicle-mounted radar according to an embodiment of the present invention with reference to the accompanying drawings.
Fig. 1 is a flow chart of 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: and acquiring the speed of the vehicle and acquiring a speed region of interest according to the speed of the vehicle.
Wherein, the speed region of interest is constructed with reference to the opposite number of the vehicle speed and with the first speed threshold as the float value. Assuming that the vehicle speed is V and the first speed threshold is V1, the speed region of interest V is equal to or greater than (-V-V1) and equal to or less than (-v+v1), i.e., v= [ -V-V1, -v+v1].
It can be appreciated that the target detection method of the vehicle-mounted radar according to the embodiment of the present invention may be used to detect whether an invalid target such as a fence exists in a blind area of a vehicle. In the embodiment of the present invention, the fence is taken as an example for explanation, and other ineffective targets such as flower bed are consistent with the detection principle of the fence, and will not be described in detail.
When the speed of the vehicle is V, the speed of the fence relative to the vehicle is-V, a speed neighborhood of-V, namely [ -V-V1, -v+v1] is set as a speed region of interest V, and optionally, the speed region of interest V can be set as [ -V-5, -v+5], wherein the unit of V is km/h.
Therefore, the speed field of-V is set as the speed interested area V in combination with the speed V of the vehicle, 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 region of interest may be preset, and the distance region of interest 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 region of interest R is greater than or equal to 3m and less than or equal to 30m, i.e., r= [3m,30m ].
It can be understood that the 1 st item a0 of fourier transform is called a direct current component, and after the intermediate frequency signal acquired by the vehicle radar is subjected to fourier transform, the direct current component is large and affects the close range spectrum. Therefore, the minimum value of the distance interested region R is set to be 3m, on one hand, the influence of a direct current component can be effectively eliminated without detecting a short-distance region ranging from 0m to 3m, and on the other hand, when vehicles exist in blind areas on two sides of the vehicle, the general distance is larger than 3m, so that targets of the blind areas on two sides can be effectively detected, and the missing report rate is reduced.
Specifically, the radar equation is as follows (1):
wherein p is r Is the receiving power, is proportional to the amplitude of the echo signal received by the vehicle radar, p t Is the transmit power, G is the antenna gain, a is the effective receive area of the antenna, δ is the scattering area of the target, and R is the distance.
As can be seen from the radar equation, the amplitude is inversely proportional to the distance to the power of 4, and the amplitude drops sharply with increasing distance, so that the actual fence may be long, but the strongest point of the amplitude of the echo signal may occur at a closer distance. Thus, the maximum value of the distance region of interest R is set to be 30m, the traversal range for searching the strongest point can be reduced, the circulation times are reduced, and the algorithm efficiency is improved.
Thus, the distance region of interest R is set, the calculation amount can be reduced, and the algorithm efficiency can be improved.
S3: determining an intersection area 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 intersection area to find out a strong point with the amplitude larger than a preset amplitude.
As shown in fig. 2, in a three-dimensional space composed of a distance, a velocity, and an amplitude, the intersection region of step S3 may be uniquely determined according to the distance region of interest R and the velocity region of interest V. The amplitude of the Z axis in fig. 2 may refer to the amplitude of the echo signal received by the vehicle-mounted radar, and the X-axis speed and the Y-axis example are not actual speeds and examples, but the X-axis coordinate and the Y-axis coordinate of the strong point in the three-dimensional coordinate system, that is, the X, Y coordinate of the projection of the strong point in the three-dimensional coordinate system.
In the intersection area determined by the distance region of interest R and the speed region of interest V, if the amplitude of the point is greater than the preset amplitude N, the point is called a strong point. The preset amplitude N is a constant and can be determined by the hardware condition of the vehicle radar. Specifically, a high signal-to-noise ratio indicates that the signal has a larger noise difference from the surrounding, and the preset amplitude N can be set smaller; the low signal-to-noise ratio indicates that the signal has small difference from the surrounding noise, and the preset amplitude N can be set to be larger. This reduces the interference of noise with fence detection.
Therefore, through reasonably setting the preset amplitude N, the erroneous judgment of the fence can be primarily eliminated.
In the crossing area, judging whether each amplitude is larger than a preset amplitude N, if the amplitude is larger than N, determining the strong point, recording information of the strong point, if the amplitude is smaller than or equal to N, not the strong point, and not recording, traversing the crossing area to find out all the strong points in the crossing area, recording the total number of the strong points as M, and marking the strong point with the largest amplitude in the M strong points as L.
S4: 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 value in the found strong points.
According to one embodiment of the present invention, determining whether an invalid target is detected according to the total number of the found strong points and the lateral distance corresponding to the strong point with the largest amplitude among the found strong points includes:
judging whether the total number of the strong points is smaller than a preset number threshold value;
if the total number of the strong points is smaller than a preset number threshold, judging that an invalid target is not detected;
if the total number of the strong points is greater than or equal to a preset number threshold, judging whether an invalid target is detected according to the transverse distance corresponding to the strong point with the largest amplitude.
The preset number threshold 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 will be appreciated that if the preset number threshold C is set too large, it is easy to determine a real fence as a non-fence, and if the preset number threshold C is set too small, it is easy to determine other stationary targets as fences. Therefore, through reasonably setting the preset quantity threshold C, the erroneous judgment of the fence can be primarily eliminated.
Alternatively, N may be 10 and C may be 4.
That is, since the actual fence corresponds to M strong points in the above-described crossing region, where the value of M is large. However, if the value of M is small, for example, m=1 or m=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; if the total number M of the strong points is smaller than a constant C, the method directly returns, and the target is judged not to be 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 largest 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 dimension index and the speed dimension index corresponding to the strong point with the maximum amplitude.
Specifically, traversing the intersection region to find M strong points with amplitude greater than N, marking the strongest point with the largest amplitude value in the M strong points as L, and marking the distance dimension coordinate of the strongest point L (namely the Y-axis coordinate of the strongest point L in the three-dimensional coordinate system) as L r I.e. L r For the distance dimension index corresponding to the strong point L with the largest amplitude, the velocity dimension coordinate of the strongest point L (namely the X-axis coordinate of the strongest point L in the three-dimensional coordinate system) is recorded as L v I.e. L v And the velocity dimension index corresponding to the strong point L with the maximum amplitude value.
For echo signals, the acquired intermediate frequency data are arranged into a 3-dimensional array Arr [ a ] [ b ] [ c ], wherein a is the channel number, and a=the number of transmitting antennas multiplied by the number of receiving antennas; b is the number of cycles in 1 frame; let the number of sampling points in each period be d, then c satisfies the following condition: 1) c belongs to an exponential sequence with the base of 2; 2) The value of d-c is minimized.
If d > c, deleting the last (d-c) elements when arranging the array Arr, and only retaining the first c elements; if d < c, when array Arr is arranged, 0 element supplementing operation is performed, i.e., d elements are followed by (c-d) 0 elements. For example, d=240, then c=256, and when array Arr is arranged, every 240 is divided into one group, followed by (256-240) 0 s. As another example, d=520, then c=512, and when array Arr is arranged, every 520 is divided into one group, and the latter (520-512) elements are deleted.
The 3-dimensional array Arr a][b][c]In the method, a distance dimension index L corresponding to the strongest point L is substituted r And a speed dimension index L v . Index gets a channel array Arr1[][L v ][L r ]Then, the angle L corresponding to the strongest point L is obtained by utilizing a beam forming algorithm α I.e. the angle L between the strong point with the largest amplitude and the normal line of the vehicle radar α As shown in fig. 5. The beamforming algorithm is well known in the art, and is not 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 radial distance of the strongest point L from the vehicle-mounted radar can be calculated according to the following formula: l (L) R ＝L r ×R res Wherein R is res Is the distance resolution, which can R res The waveform parameters of the modulated wave emitted by the vehicle 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 (L) x ＝sin(L α +α)×L R Where α is the fixed mounting angle, as shown in fig. 5.
S432: and acquiring an invalid target distance area.
The invalid target distance region 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 actual roads, old fences are used along many roads, or multiple fences exist, the distance between the fences and the maximum end of the area Dmax is set to be 4.5 meters, and false alarms in the situations can be effectively avoided.
S433: and judging whether the transverse distance belongs to an invalid target distance area.
S434: if the lateral distance belongs to the invalid target distance region, judging that the invalid target is detected.
S435: if the lateral distance does not belong to the invalid target distance region, it is determined that the invalid target is not detected.
That is, if the lateral distance L x If the fence belongs to the invalid target distance area D, judging that the fence is detected; if L x If the fence does not belong to the invalid target distance zone D, it is determined that the fence is not detected.
Specifically, in the embodiment of the present invention, the angle L of the strong point L with the largest calculated amplitude can be calculated α Further calculate the lateral distance L between the vehicle and the invalid target x If the lateral distance L x And if the target distance falls into the set invalid target distance zone D, the target distance zone D is considered as a fence, otherwise, the target distance zone D is not considered as a fence.
Referring to fig. 6, the target detection method of the vehicle radar according to the embodiment of the present invention specifically includes the following steps:
s101: acquiring the speed of the vehicle and acquiring a speed region of interest according to the speed of the vehicle
S102: a distance region of interest is acquired.
S103: traversing in the crossing area of the speed region of interest and the distance region of interest, and finding out M strong points with the amplitude value larger than N.
S104: and judging whether the total number M of the strong points is smaller than a 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 an invalid target distance area D.
If yes, step S107 is performed; if not, step S106 is performed.
S106: no fence is detected.
S107: a fence is detected.
The target detection method of the vehicle-mounted radar is verified and explained by combining 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 fence. Wherein, the fixed installation angle alpha=40°, the angle corresponding to the strongest point L of the fence amplitude is L α Sign indicates L α Positive and negative properties of (1), L in the graph α Is a negative value, L x Is the lateral distance between the fence and the vehicle.
The speed of the vehicle is about 53km/h during the test, wherein the distance resolution R res 0.6m, and a velocity resolution of 0.488m/s.
The distance speed dimension spectrum can be obtained by MATLAB analysis through collecting actual fence data.
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, and the nearest integer to x is 94. Considering a velocity resolution of 0.488m/s,3 spectral lines are about 5.27km/h, so 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 from the region of interest R [3m,30m ] corresponds to the region of the 5 th to 50 th distance dimension line.
And extracting data of the crossing area of the speed region of interest and the distance region of interest to obtain spectrum data of the actual fence in the crossing area.
Setting n=10, traversing the intersection region, 7 strong points can be obtained, and since 7 is greater than c=4, then marking the strongest point L with amplitude of 22, radial distance L of strongest point L R ＝20×0.6The velocity of the strongest point L is (64-94) ×0.488×3.6= -52.7km/h, and the strongest point L is subjected to angular dimension analysis to obtain the angle L of the strongest point L α -25 degrees, radar mounting angle α=40°, thus L α +α= -25+40=15°. Thereby, the lateral distance L of the strongest point L x ＝12×sin(15°)＝3.1m。
Due to L x Belonging to the invalid target distance zone D, and thus judging that the fence is detected.
The fence detection accuracy is high, and false detection of the fence can be avoided by optimizing parameters N, C, D and the like.
In summary, according to the target detection method for the vehicle-mounted radar provided by the embodiment of the invention, the speed region of interest and the distance region of interest are obtained, strong points with the amplitude larger than the preset amplitude are found in the crossing region of the speed region of interest and the distance region of interest, and then whether an invalid target is detected 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 operand 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, simplicity and high efficiency are realized, 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 embodiment, the present invention further provides an object detection device of the vehicle 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 of the vehicle-mounted radar includes: an acquisition module 101, a determination module 102 and a judgment module 103.
The acquiring module 101 is configured to acquire a speed of the vehicle, acquire a speed region of interest according to the speed of the vehicle, and acquire a distance region of interest; the determining module 102 is configured to determine an intersection area of the speed region of interest and the distance region of interest, and traverse an amplitude of an echo signal received by the vehicle radar in the intersection area to find a strong point with the 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 lateral distance corresponding to the strong point with the largest amplitude value among the found strong points.
According to one embodiment of the invention, the speed region of interest is constructed with reference to the opposite number of host vehicle speeds and with a first speed threshold value as a float value.
According to an embodiment of the present invention, the distance region of interest 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 region of interest is equal to or greater than 3m and equal to or less than 30m.
According to one 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 the invalid target is detected according to a lateral distance corresponding to a strong point with a maximum amplitude if the total number of strong points is greater than or equal to the preset number threshold.
According to one 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 a radial distance and an angle corresponding to a strong point with the maximum amplitude, obtain an invalid target distance region, 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 one embodiment of the present invention, the judging module 103 is further configured to calculate an angle corresponding to the strong point with the largest amplitude according to the distance dimension index and the speed dimension index corresponding to the strong point with the largest amplitude, calculate a radial distance between the strong point with the largest amplitude and the vehicle radar according to the distance dimension index corresponding to the strong point with the largest amplitude and the distance resolution of the vehicle radar, and calculate a lateral distance between the vehicle and the invalid target according to the angle and the radial distance
According to one embodiment of the present invention, the invalid target distance region is equal to or greater than the third preset distance and equal to or less than the fourth preset distance, for example, the invalid target distance region is equal to or greater than 0m and equal to or less than 4.5m.
It should be noted that the foregoing explanation of the embodiment of the target detection method of the vehicle radar is also applicable to the target detection device of the vehicle radar of this embodiment, and will not be repeated here.
According to the target detection device of the vehicle-mounted radar, the speed region of interest and the distance region of interest are obtained, strong points with the amplitude larger than the preset amplitude are found in the crossing region of the speed region of interest and the distance region of interest, and then 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 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, simplicity and high efficiency are achieved, 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 embodiment, the present invention also proposes a vehicle.
Fig. 8 is a block schematic diagram of a vehicle according to an embodiment of the invention. As shown in fig. 8, the vehicle 200 includes the object detection device 100 of the in-vehicle 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 operation amount, improve the algorithm efficiency, eliminate the influence caused by the speed analysis error, and has fewer processing steps, simplicity and high efficiency, and effectively eliminate the interference of an invalid target such as a fence, thereby avoiding false alarm caused by the invalid target.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined 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 specific logical functions or steps of the process, and additional 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 from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing 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). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may 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 is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (7)
1. The target detection method of the vehicle-mounted radar is characterized by comprising the following steps of:
acquiring the speed of the vehicle, and acquiring a speed region of interest according to the speed of the vehicle; the speed region of interest is constructed by taking the opposite number of the speed of the vehicle as a reference and taking a first speed threshold value as a floating value;
acquiring a distance region of interest; the distance interested area is larger than or equal to a first preset distance and smaller than or equal to a second preset distance;
determining an intersection area of the speed region of interest and the distance region of interest, and traversing the amplitude of the echo signal received by the vehicle-mounted radar in the intersection area to find out a strong point with the amplitude larger than a preset amplitude;
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 value in the found strong points;
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 value in the found strong points, wherein the judging 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;
if the total number of the strong points is greater 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 largest amplitude;
judging whether an invalid target is detected according to the transverse distance corresponding to the strong point with the maximum amplitude comprises the following steps:
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.
2. The method for detecting an object of a vehicle radar according to claim 1, wherein the determining whether an invalid object is detected according to a lateral distance corresponding to the strong point with the largest amplitude value further comprises:
acquiring an invalid target distance area;
judging whether the transverse distance belongs to the invalid target distance area;
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 region, judging that the invalid target is not detected.
3. The method for detecting an object of a vehicle radar according to claim 2, wherein the calculating a lateral distance between the vehicle and the invalid object according to the radial distance and the angle corresponding to the strong point with the largest amplitude value includes:
calculating an angle corresponding to the strong point with the maximum amplitude according to the distance dimension index and the speed dimension 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.
4. The target detection method of the vehicle-mounted radar according to claim 2, wherein the invalid target distance region is a third preset distance or more and a fourth preset distance or less.
5. 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 region of interest according to the speed of the vehicle and acquiring a distance region of interest; the speed region of interest is constructed by taking the opposite number of the speed of the vehicle as a reference and taking a first speed threshold value as a floating value;
the determining module is used for determining an intersection area of the speed region of interest and the distance region of interest, and traversing the amplitude of the echo signal received by the vehicle-mounted radar in the intersection area to find out a strong point with the amplitude larger than a preset amplitude; the distance interested area is larger than or equal to a first preset distance and smaller than or equal to a second preset distance;
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 value in the found strong points;
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 value in the found strong points, wherein the judging 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;
if the total number of the strong points is greater 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 largest amplitude;
judging whether an invalid target is detected according to the transverse distance corresponding to the strong point with the maximum amplitude comprises the following steps:
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.
6. The target detection device of the vehicle-mounted radar according to claim 5, wherein the judging module is configured to judge whether the total number of the strong points is smaller than a preset number threshold, if the total number of the strong points is smaller than the preset number threshold, judge that the invalid target is not detected, and if the total number of the strong points is greater than or equal to the preset number threshold, judge whether the invalid target is detected according to a lateral distance corresponding to the strong point with the largest amplitude;
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.
7. A vehicle comprising the object detection device of the in-vehicle radar according to claim 5 or 6.
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