CN112764035B - False target detection optimization method based on BSD radar left-right communication - Google Patents

False target detection optimization method based on BSD radar left-right communication Download PDF

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CN112764035B
CN112764035B CN202011588297.XA CN202011588297A CN112764035B CN 112764035 B CN112764035 B CN 112764035B CN 202011588297 A CN202011588297 A CN 202011588297A CN 112764035 B CN112764035 B CN 112764035B
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CN112764035A (en
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周琼峰
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Nanjing Desai Xiwei Automobile Electronics Co ltd
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Nanjing Desai Xiwei Automobile Electronics Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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

Abstract

The invention relates to a false target detection optimization method based on BSD radar left-right communication, which comprises the steps of respectively acquiring target lists of radar detection on two sides of a vehicle and communicating the target lists with each other; screening and identifying detection targets on the first side of the vehicle according to target lists detected by radars on the two sides of the vehicle respectively to obtain a reference real target and an uncertain target; matching the reference real target with the uncertain target, if so, judging that the target detected by the radar on the second side of the vehicle is the real target, otherwise, judging that the target is a false target; and removing false targets according to the matching result, and updating target list information detected by radars at two sides of the vehicle. According to the method, the radars at the left side and the right side of the vehicle are communicated with each other, so that the authenticity of targets detected by the radars at the left side and the right side of the vehicle is verified, false targets are removed, the identification of the false targets is reduced, the target detection rate of the BSD radar is improved, the method is rapid and efficient, the detection of the false targets can be greatly reduced, and the detection rate of the true targets is improved.

Description

False target detection optimization method based on BSD radar left-right communication
Technical Field
The invention relates to the technical field of automobile radars, in particular to a false target detection optimization method based on BSD radar left-right communication.
Background
Because the installation positions of the vehicle-mounted BSD millimeter wave radar are mainly on two sides of the tail of the vehicle, false targets are easy to identify and cause BSD false alarm under the influence of the installation positions, the detection angle range and the precision; the more complex the real vehicle driving environment is, the more false targets are; while single-sided radars have limited ability to identify false targets, there are always a number of false target problems.
Disclosure of Invention
The invention provides a false target detection optimization method based on BSD radar left-right communication, which aims to solve the problems that in the prior art, the number of the identified false targets is excessive when a vehicle runs in a complex environment, and the capability of a single-side radar for identifying the false targets is limited, so that a certain number of false targets exist.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a false target detection optimization method based on BSD radar left-right communication comprises the following steps:
respectively acquiring target lists detected by the radars at two sides of the vehicle, and communicating the target lists detected by the radars at two sides of the vehicle with each other;
screening and identifying the detection targets of the first side of the vehicle according to the target list detected by the radar of the first side of the vehicle to obtain reference real targets;
screening and identifying detection targets on the first side of the vehicle according to a target list detected by the radar on the second side of the vehicle to obtain uncertain targets;
matching the screened reference real target with the uncertain target, if so, judging the target detected by the radar on the second side of the vehicle as a real target, otherwise, judging the target detected by the radar on the second side of the vehicle as a false target;
and removing false targets according to the matching result, and updating target list information detected by radars at two sides of the vehicle.
Further, as a preferable technical scheme, the screening and identifying with reference to the real target specifically includes:
establishing a vehicle body coordinate system by taking the midpoint of the vehicle tail as an origin;
screening out a first detection target positioned on the first side of the vehicle according to a target list detected by the radar on the first side of the vehicle;
the first detection target on the first side of the vehicle is used as a reference real target for false target identification.
Further, as a preferable technical scheme, the screening and identifying of the uncertain target specifically includes:
screening out a second detection target positioned on the first side of the vehicle according to a target list detected by the radar on the second side of the vehicle;
and taking the second detection target positioned on the first side of the vehicle as an uncertain target to be identified.
Further, as a preferred technical solution, the matching of the screened reference real target and the uncertain target specifically includes:
establishing a vehicle body coordinate system by taking the midpoint of the vehicle tail as an origin;
acquiring a relative speed difference and a relative position difference of an uncertain target and a reference real target under a vehicle body coordinate system;
and when the absolute value of the relative speed difference between the uncertain target and the reference real target is smaller than a first threshold value and the square sum of the absolute value of the horizontal coordinate difference and the absolute value of the vertical coordinate difference in the relative position difference is smaller than the square of a second threshold value, judging that the uncertain target and the reference real target are matched, otherwise, judging that the uncertain target and the reference real target are not matched.
Further, as a preferable technical scheme, the method specifically includes:
calculating the relative speed difference and the relative position difference of each uncertain target and each reference real target under a vehicle body coordinate system;
and when the absolute value of the relative speed difference between the current uncertain target and the reference real target is smaller than a first threshold value and the square sum of the absolute value of the horizontal coordinate difference and the absolute value of the vertical coordinate difference in the relative position difference is smaller than the square of a second threshold value, judging that the current uncertain target and the reference real target are matched.
Further, as a preferable technical scheme, the method further comprises:
and when the absolute value of the relative speed difference between the current uncertain target and the reference real target is larger than or equal to a first threshold value, or the square sum of the absolute value of the horizontal coordinate difference and the absolute value of the vertical coordinate difference in the relative position difference is larger than or equal to the square of a second threshold value, judging that the current uncertain target and the reference real target are not matched.
Further, as an preferable technical scheme, the first threshold and the second threshold are set according to a large amount of real vehicle test data statistics and radar measurement errors.
Further, as a preferable technical scheme, the setting range of the first threshold is 2-4, and the setting range of the second threshold is 9-16.
Further, as a preferable technical scheme, the first side and the second side of the vehicle are determined according to the accuracy of radar detection targets installed on two sides of the vehicle, if the accuracy of the radar detection targets installed on the left side of the vehicle is higher, the left side of the vehicle is defined as the first side of the vehicle, the right side of the vehicle is defined as the second side of the vehicle, otherwise, the right side of the vehicle is defined as the first side of the vehicle, and the left side of the vehicle is defined as the second side of the vehicle.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
according to the method, the radars at the left side and the right side of the vehicle are communicated with each other, so that the authenticity of targets detected by the radars at the left side and the right side of the vehicle is verified, false targets are removed, the identification of the false targets is reduced, the target detection rate of the BSD radar is improved, the method is rapid and efficient, the detection of the false targets can be greatly reduced, and the detection rate of the true targets is improved.
Drawings
FIG. 1 is a flow chart of the steps of the present invention.
FIG. 2 is a schematic diagram of the distribution of the detection targets on both sides of the present invention.
The drawings are for illustrative purposes only and are not to be construed as limiting the present patent; for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted; the same or similar reference numerals correspond to the same or similar components; the terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limiting the present patent.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the attached drawings so that the advantages and features of the present invention will be more readily understood by those skilled in the art, thereby more clearly defining the scope of the present invention. .
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if any, terms such as "upper," "lower," "left," "right," "top," "bottom," "inner," "outer," and the like indicate an orientation or a positional relationship based on that shown in the drawings, only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus the words describing the positional relationship in the drawings are merely for illustration and not to be construed as limiting the present patent.
Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are primarily for distinguishing between different devices, elements, or components (the particular categories and configurations may be the same or different) and are not intended to indicate or imply relative importance or quantity of the devices, elements, or components indicated, but are not to be construed as indicating or implying relative importance.
Example 1
The embodiment discloses a false target detection optimization method based on BSD radar left-right communication, which comprises the following steps as shown in fig. 1:
s1, respectively acquiring target lists detected by the radars at two sides of the vehicle, and communicating the target lists detected by the radars at two sides of the vehicle with each other.
The method specifically comprises the following steps:
radar on the left side and the right side of the vehicle detects targets around the vehicle in real time;
collecting multi-frame target information detected within a certain distance or a certain time period to obtain a target list detected by radars at two sides of a vehicle;
and data communication is carried out on the target lists detected by the radar on the two sides of the vehicle, namely, the target list detected by the radar on the left side of the vehicle is transmitted to the target detection module of the radar on the right side of the vehicle, and the target list detected by the radar on the right side of the vehicle is transmitted to the target detection module of the radar on the left side of the vehicle.
S2, screening and identifying the detection target on the first side of the vehicle according to the target list detected by the radar on the first side of the vehicle, and obtaining a reference real target.
The method specifically comprises the following steps:
establishing a vehicle body coordinate system by taking the midpoint of the vehicle tail as an origin;
screening out a first detection target positioned on the first side of the vehicle according to a target list detected by the radar on the first side of the vehicle;
the first detection target on the first side of the vehicle is used as a reference real target for false target identification.
And S3, screening and identifying the detection target at the first side of the vehicle according to the target list detected by the radar at the second side of the vehicle to obtain an uncertain target.
The method specifically comprises the following steps:
establishing a vehicle body coordinate system by taking the midpoint of the vehicle tail as an origin;
screening out a second detection target positioned on the first side of the vehicle according to a target list detected by the radar on the second side of the vehicle;
and taking the second detection target positioned on the first side of the vehicle as an uncertain target to be identified.
In steps S2 and S3, the first side and the second side of the vehicle are determined according to the accuracy of the radar detection targets installed on both sides of the vehicle, if the accuracy of the radar detection targets installed on the left side of the vehicle is higher, the left side of the vehicle is defined as the first side of the vehicle, the right side of the vehicle is defined as the second side of the vehicle, otherwise, the right side of the vehicle is defined as the first side of the vehicle, and the left side of the vehicle is defined as the second side of the vehicle.
In this embodiment, assuming that the accuracy of the radar detection targets installed on the left side of the vehicle is high, the left side of the vehicle is defined as the first side of the vehicle, and the right side of the vehicle is defined as the second side of the vehicle, at this time, false target identification needs to be performed on the uncertain targets detected by the radar on the right side of the vehicle, and the target list detected by the radar on the right side of the vehicle is transmitted to the target detection module of the radar on the left side of the vehicle through data communication of the radar on the left side and the right side of the vehicle.
S4, matching the screened reference real target with the uncertain target, if so, judging that the target detected by the radar on the second side of the vehicle is the real target, otherwise, judging that the target detected by the radar on the second side of the vehicle is the false target.
The method specifically comprises the following steps:
establishing a vehicle body coordinate system by taking the midpoint of the vehicle tail as an origin;
acquiring a relative speed difference and a relative position difference of an uncertain target and a reference real target under a vehicle body coordinate system; namely, calculating a relative speed difference and a relative position difference of each uncertain target and each reference real target in a vehicle body coordinate system;
when the absolute value of the relative speed difference between the uncertain target and the reference real target is smaller than a first threshold value and the square sum of the absolute value of the horizontal coordinate difference and the absolute value of the vertical coordinate difference in the relative position difference is smaller than the square of a second threshold value, the uncertain target and the reference real target are judged to be matched, namely the uncertain target is the real target, otherwise, the uncertain target and the reference real target are judged to be not matched, namely the uncertain target is a false target.
That is, when the absolute value of the relative speed difference between the current uncertain target and the reference real target is smaller than the first threshold value and the sum of squares of the absolute value of the horizontal coordinate difference and the absolute value of the vertical coordinate difference in the relative position difference is smaller than the square of the second threshold value, it is judged that the current uncertain target and the reference real target are matched, that is, the current uncertain target is the real target.
When the absolute value of the relative speed difference between the current uncertain target and the reference real target is larger than or equal to a first threshold value or the square sum of the absolute value of the horizontal coordinate difference and the absolute value of the vertical coordinate difference in the relative position difference is larger than or equal to the square of a second threshold value, the current uncertain target and the reference real target are not matched, namely the current uncertain target is a false target and can be removed.
In this step, the first threshold and the second threshold are both set according to the large number of real vehicle test data statistics and radar measurement errors.
Preferably, the first threshold is set in a range of 2-4, and the second threshold is set in a range of 3-5.
Further, in the present embodiment, the first threshold is set to 3, and the second threshold is set to 4.
Illustrating:
as shown in fig. 2, the specific implementation procedure of this step is as follows:
targets detected by the radar on the left side of the vehicle are represented by solid dots, a target list is (1) (2) (3), targets detected by the radar on the right side of the vehicle are represented by solid triangles, and the target list is
Establishing a vehicle body coordinate system in the XY direction by taking the midpoint of the vehicle tail as an origin, wherein the coordinate of the radar installation position on the left side of the vehicle is (-L/2, 0), and the coordinate of the radar installation position on the right side of the vehicle is (L/2, 0), wherein L represents the width of the vehicle body;
in the present embodiment, it is assumed that the accuracy of the radar detection targets installed on the left side of the vehicle is high, and thus the real targets are screened according to the range where the accuracy of the radar detection targets installed on the left side of the vehicle is high, that is, the detection targets located on the left side of the vehicle are screened from the target list of radar detection targets on the left side of the vehicle as the reference real targets for false target recognition.
Namely detecting the position x < -L/2 of the target relative to a vehicle body coordinate system, namely the target (1) in the figure;
meanwhile, the uncertain target to be identified is screened according to the range with lower accuracy of radar detection targets installed on the right side of the vehicle, namely, the detection target on the left side of the vehicle is screened from a target list detected by the radar on the right side of the vehicle to serve as the uncertain target to be identified.
I.e. the position x of the detection target relative to the body coordinate system<L/2, i.e. in the figureA target;
the method for matching the screened reference real target and the uncertain target comprises the following steps of:
uncertainty targetIs matched with:
wherein LCR represents a radar on the left side of the vehicle, RCR represents a radar on the right side of the vehicle, LCR (1) & X, LCR (1) & Y represents a relative position coordinate of the object (1) in the own vehicle coordinate system, LCR (1) & v represents a relative speed (measured) of the object (1) in the own vehicle coordinate system,express goal->Relative position coordinates in the own vehicle coordinate system, < >>Express goal->Relative velocity (measured) in the own vehicle coordinate system;
when satisfied (deltax + deltay)<4^2 and deltav<3, judging the target detected by the radar on the right side of the vehicleMatching with the radar detected target (1) on the left side of the vehicle, namely, the radar on the left side and the right side of the vehicle detect the same target, and determining the radar detected target on the right side of the vehicle at the moment>Is a real target.
Uncertainty targetIs matched with:
express goal->Relative position coordinates in the own vehicle coordinate system, < >>Representing objectsRelative velocity (measured) in the own vehicle coordinate system;
when it does not satisfy (deltax + deltay)<4^2 or deltav<3, judging the target detected by the radar on the right side of the vehicleDoes not match the radar-detected target (1) on the left side of the vehicle, i.e. the radar-detected target on the right side of the vehicle +.>For false targets, culling may be performed.
Uncertainty targetIs matched with:
express goal->Relative position coordinates in the own vehicle coordinate system, < >>Representing objectsRelative velocity (measured) in the own vehicle coordinate system;
when it does not satisfy (deltax + deltay)<4^2 or deltav<3, judging the target detected by the radar on the right side of the vehicleDoes not match the radar-detected target (1) on the left side of the vehicle, i.e. the radar-detected target on the right side of the vehicle +.>For false targets, culling may be performed.
If the number of the reference real targets on the left side of the vehicle, which are screened from the target list detected by the radar on the left side of the vehicle, is a plurality of, the targets to be identified on the left side of the vehicle, which are screened from the target list detected by the radar on the right side of the vehicle, are required to be matched with one of the targets, and the matching method is the same as the above.
Similarly, if the accuracy of the radar detection targets installed on the right side of the vehicle is higher, defining the right side of the vehicle as the first side of the vehicle and the left side of the vehicle as the second side of the vehicle, at this time, false target identification needs to be performed on the uncertain targets detected by the radar on the left side of the vehicle, and the target list detected by the radar on the left side of the vehicle is transmitted to the target detection module of the radar on the right side of the vehicle through data communication of the radar on the left side and the radar on the right side of the vehicle.
By the identification method, the target (3) detected by the radar on the left side of the vehicle can be identified as a false target, and can be eliminated.
And S5, removing false targets according to the matching result, updating target list information of radar detection on two sides of the vehicle, obtaining determined target list information of radar detection on two sides of the vehicle, and improving the real target detection rate of the BSD radar.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims (9)

1. A false target detection optimization method based on BSD radar left-right communication is characterized by comprising the following steps:
respectively acquiring target lists detected by the radars at two sides of the vehicle, and communicating the target lists detected by the radars at two sides of the vehicle with each other;
screening and identifying the detection targets of the first side of the vehicle according to the target list detected by the radar of the first side of the vehicle to obtain reference real targets;
screening and identifying detection targets on the first side of the vehicle according to a target list detected by the radar on the second side of the vehicle to obtain uncertain targets;
matching the screened reference real target with the uncertain target, if so, judging the target detected by the radar on the second side of the vehicle as a real target, otherwise, judging the target detected by the radar on the second side of the vehicle as a false target;
and removing false targets according to the matching result, and updating target list information detected by radars at two sides of the vehicle.
2. The method for optimizing false target detection based on BSD radar left-right communication according to claim 1, wherein the screening and identification of the reference real target specifically comprises:
establishing a vehicle body coordinate system by taking the midpoint of the vehicle tail as an origin;
screening out a first detection target positioned on the first side of the vehicle according to a target list detected by the radar on the first side of the vehicle;
the first detection target on the first side of the vehicle is used as a reference real target for false target identification.
3. The method for optimizing false target detection based on the left and right communication of the BSD radar according to claim 2, wherein the screening and identifying of the uncertain target specifically comprises:
screening out a second detection target positioned on the first side of the vehicle according to a target list detected by the radar on the second side of the vehicle;
and taking the second detection target positioned on the first side of the vehicle as an uncertain target to be identified.
4. The method for optimizing false target detection based on left and right communication of a BSD radar according to claim 1, wherein the step of matching the screened reference real target with the uncertain target specifically comprises the steps of:
establishing a vehicle body coordinate system by taking the midpoint of the vehicle tail as an origin;
acquiring a relative speed difference and a relative position difference of an uncertain target and a reference real target under a vehicle body coordinate system;
and when the absolute value of the relative speed difference between the uncertain target and the reference real target is smaller than a first threshold value and the square sum of the absolute value of the horizontal coordinate difference and the absolute value of the vertical coordinate difference in the relative position difference is smaller than the square of a second threshold value, judging that the uncertain target and the reference real target are matched, otherwise, judging that the uncertain target and the reference real target are not matched.
5. The method for optimizing false target detection based on left and right communication of BSD radar according to claim 4, comprising the following steps:
calculating the relative speed difference and the relative position difference of each uncertain target and each reference real target under a vehicle body coordinate system;
and when the absolute value of the relative speed difference between the current uncertain target and the reference real target is smaller than a first threshold value and the square sum of the absolute value of the horizontal coordinate difference and the absolute value of the vertical coordinate difference in the relative position difference is smaller than the square of a second threshold value, judging that the current uncertain target and the reference real target are matched.
6. The method for optimizing false object detection based on BSD radar left-right communication according to claim 5, further comprising:
and when the absolute value of the relative speed difference between the current uncertain target and the reference real target is larger than or equal to a first threshold value, or the square sum of the absolute value of the horizontal coordinate difference and the absolute value of the vertical coordinate difference in the relative position difference is larger than or equal to the square of a second threshold value, judging that the current uncertain target and the reference real target are not matched.
7. The method of claim 4, wherein the first threshold and the second threshold are set according to a plurality of real vehicle test data statistics and radar measurement errors.
8. The method for optimizing false target detection based on BSD radar left and right communication according to claim 7, wherein the first threshold is set in a range of 2-4 and the second threshold is set in a range of 3-5.
9. The method for optimizing false target detection based on left and right communication of BSD radar according to claim 1, wherein the first side and the second side of the vehicle are determined according to the accuracy of radar detection targets installed on two sides of the vehicle, if the accuracy of radar detection targets installed on the left side of the vehicle is higher, the left side of the vehicle is defined as the first side of the vehicle, the right side of the vehicle is defined as the second side of the vehicle, otherwise, the right side of the vehicle is defined as the first side of the vehicle, and the left side of the vehicle is defined as the second side of the vehicle.
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