CN113009467B - Radar blind area target detection tracking method and device and terminal equipment - Google Patents
Radar blind area target detection tracking method and device and terminal equipment Download PDFInfo
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- CN113009467B CN113009467B CN202110256393.2A CN202110256393A CN113009467B CN 113009467 B CN113009467 B CN 113009467B CN 202110256393 A CN202110256393 A CN 202110256393A CN 113009467 B CN113009467 B CN 113009467B
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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
- G01S13/66—Radar-tracking systems; Analogous systems
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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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
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Abstract
The invention is suitable for the technical field of radar, and provides a method, a device and a terminal device for detecting and tracking a target in a radar blind area, wherein the method comprises the following steps: acquiring target information of each target detected by a target radar, and establishing an environment model of an environment where the target radar is located according to the target information; extracting the distance information and the speed information of the blind area multipath target from the target information; the method comprises the following steps that a blind area multipath target is a multipath target generated by a blind area real target, and the blind area real target is a real target in a target radar vision blind area; respectively correcting the distance information and the speed information of the blind area multipath target according to the position of the blind area multipath target in the environment model to obtain the distance information and the speed information of a blind area real target corresponding to the blind area multipath target; and tracking the blind area real target based on the distance information and the speed information of the blind area real target. The invention can effectively detect and track the target in the blind area of the radar field, and improves the overall performance of the radar.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a radar blind area target detection tracking method, a radar blind area target detection tracking device and terminal equipment.
Background
In a common radar system, a blind field of view, such as an area outside a radar detection angle or a distance range, or an area blocked by a target, is inevitably present.
In practical engineering application, if a target enters a visual field blind area of the radar, the radar cannot accurately acquire information such as speed and position of the target in the blind area, so that the target is not stably tracked, and the target in the blind area may be a target potentially influencing the overall function of the radar. Therefore, the blind area target detection and tracking capability of the radar is improved, and the method has important significance for improving the overall performance of the radar system.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, and a terminal device for detecting and tracking a target in a radar blind area, so as to solve a problem in the prior art that a radar has poor detection and tracking capabilities for a target in a field blind area.
The first aspect of the embodiments of the present invention provides a method for detecting and tracking a target in a radar blind area, including:
acquiring target information of each target detected by a target radar, and establishing an environment model of an environment where the target radar is located according to the target information;
extracting the distance information and the speed information of the blind area multipath target from the target information; the blind area multipath target is a multipath target generated by a blind area real target, and the blind area real target is a real target in a field blind area of a target radar;
respectively correcting the distance information and the speed information of the blind area multipath target according to the position of the blind area multipath target in the environment model to obtain the distance information and the speed information of a blind area real target corresponding to the blind area multipath target;
and tracking the blind area real target based on the distance information and the speed information of the blind area real target.
A second aspect of the embodiments of the present invention provides a radar blind area target detection tracking apparatus, including:
the acquisition module is used for acquiring target information of each target detected by the target radar and establishing an environment model of the environment where the target radar is located according to the target information;
the extracting module is used for extracting the distance information and the speed information of the blind area multipath target from the target information; the blind area multipath target is a multipath target generated by a blind area real target, and the blind area real target is a real target in a field blind area of a target radar;
the correction module is used for respectively correcting the distance information and the speed information of the blind area multipath target according to the position of the blind area multipath target in the environment model to obtain the distance information and the speed information of a blind area real target corresponding to the blind area multipath target;
and the tracking module is used for tracking the blind area real target based on the distance information and the speed information of the blind area real target.
A third aspect of the embodiments of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the above radar blind area target detection and tracking method when executing the computer program.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of the above radar blind area target detection and tracking method are implemented.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the method comprises the steps of acquiring target information of each target detected by a target radar, establishing an environment model of an environment where the target radar is located according to the target information, and extracting distance information and speed information of a blind area multipath target from the target information. The invention can effectively detect and track the target in the blind area of the radar field, and improves the overall performance of the radar.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a radar blind area target detection and tracking method provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of an environment model provided by an embodiment of the invention;
FIG. 3 is a diagram illustrating a blind-zone multi-path target calibration according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a blind-zone multi-path target calibration according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a radar blind area target detection tracking device provided in an embodiment of the present invention;
fig. 6 is a schematic diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
A first aspect of an embodiment of the present invention provides a method for detecting and tracking a target in a radar blind area, as shown in fig. 1, the method includes the following steps:
and S101, acquiring target information of each target detected by the target radar, and establishing an environment model of the environment where the target radar is located according to the target information.
Optionally, as a specific implementation manner of the radar blind area target detection and tracking method provided in the first aspect of the embodiment of the present invention, establishing an environment model of an environment where a target radar is located according to target information includes:
acquiring configuration parameters of a target radar, and determining the visual field range of the target radar according to the configuration parameters of the target radar;
and extracting information of the real target from the target information, and determining a blind area in the view range of the target radar according to the information of the real target and the view range of the target radar to obtain an environment model of the environment where the target radar is located.
In the embodiment of the invention, the radar can detect the target in the visual field range by transmitting and receiving the electromagnetic wave. According to the configuration parameters of the radar, the angle and the distance of a radar detection beam can be determined, and the field of view of the radar is obtained; further, according to information (such as vehicles, pedestrians, walls, road edges and the like) of real targets in the field of view detected by the radar, a blind area caused by shielding of the real targets in the field of view of the radar can be determined, and an environment model of an environment where the radar is located is formed.
For example, as shown in fig. 2, a real target exists right in front of a radar device disposed in the center of a road, a radar can obtain information of the real target and road edge information through detection, and further obtain a blind area in a radar field of view by analyzing the information of the real target and the road edge information, and a region outside the radar field of view and the blind area in the radar field of view jointly form the field of view of the radar.
Step S102, extracting the distance information and the speed information of the blind area multipath target from the target information; the blind area multipath target is a multipath target generated by a blind area real target, and the blind area real target is a real target in a field blind area of the target radar.
Optionally, as a specific implementation manner of the method for detecting and tracking a target in a radar blind area provided in the first aspect of the embodiment of the present invention, before extracting distance information and speed information of a blind area multipath target from target information, a process of determining the blind area multipath target according to the target information is further included.
Determining blind area multipath targets according to target information, comprising:
determining the echo intensity and the target type of each target according to the target information of each target detected by the target radar; the target types comprise a multipath target and a real target;
and for any target radar, detecting a multipath target, and if the difference value between the echo intensity of the multipath target and the echo intensity of each real target detected by the target radar is greater than a preset threshold value, determining that the multipath target is a blind area multipath target.
In the embodiment of the invention, because the real target in the radar visual field range can also generate the multipath target, the multipath target generated by the real target in the radar visual field blind area needs to be screened out firstly. Specifically, the information such as the echo intensity, the speed, the position and the like of the multipath target and each real target can be contrastingly analyzed, and whether the multipath target is a blind area multipath target or not can be judged, which is not limited in the present application.
Optionally, as a specific implementation manner of the method for detecting and tracking a target in a radar blind area provided in the first aspect of the embodiment of the present invention, determining a target type of each target according to target information of each target detected by a target radar includes:
judging whether each target accords with a preset multipath reflection model or not according to target information of each target detected by a target radar;
and if a certain target conforms to the preset multipath reflection model, determining the target type of the target as a multipath target, and if the certain target does not conform to the preset multipath reflection model, determining the target type of the target as a real target.
Step S103, respectively correcting the distance information and the speed information of the blind area multipath target according to the position of the blind area multipath target in the environment model to obtain the distance information and the speed information of the blind area real target corresponding to the blind area multipath target.
Optionally, as a specific implementation manner of the method for detecting and tracking a radar blind area target provided in the first aspect of the embodiment of the present invention, the method, according to the position of the blind area multipath target in the environment model, respectively corrects the distance information and the velocity information of the blind area multipath target to obtain the distance information and the velocity information of the blind area real target corresponding to the blind area multipath target, includes:
in the environment model, determining the reflecting surface of the blind area multipath target according to the position of the blind area multipath target;
and respectively correcting the distance information and the speed information of the blind area multipath target based on the geometrical relationship among the blind area multipath target, the reflecting surface of the blind area multipath target and the blind area real target to obtain the distance information and the speed information of the blind area real target.
In the embodiment of the present invention, as shown in fig. 3, for example, in the established environment model, a blind-area real target is reflected by a reflecting surface to generate a blind-area multipath target, distance information and speed information of the blind-area multipath target are detected by a radar, and if a longitudinal distance of the blind-area multipath target relative to the radar is Rx, a transverse distance of the blind-area multipath target is Ry, and a speed of the blind-area multipath target is v, a distance between the blind-area multipath target and the reflecting surface is h through calculation, a longitudinal distance of the blind-area real target relative to the radar is Rx-2h, and a transverse distance of the blind-area real target is Ry, and at this time, the speed v of the blind-area multipath target is considered to be the speed of the blind-area real target.
Similarly, for the case shown in fig. 4, if the longitudinal distance of the blind-area multipath target relative to the radar is Rx, the lateral distance is Ry, the velocity is v, and the distance between the blind-area multipath target and the reflecting surface is h, the longitudinal distance of the blind-area real target is Rx, the lateral distance is Ry-2h, and at this time, the velocity v of the blind-area multipath target can be considered as the velocity of the blind-area real target.
It should be noted that, in an actual scene, the geometrical relationship between the blind-zone multipath target, the reflecting surface of the blind-zone multipath target, and the blind-zone real target may be more complex, and the distance information and the speed information of the blind-zone real target can be calculated from the distance information and the speed information of the blind-zone multipath target only by determining the angle of the reflecting surface in the environment model.
Optionally, as a specific implementation manner of the method for detecting and tracking a target in a radar blind area provided in the first aspect of the embodiment of the present invention, after obtaining distance information and speed information of a real target in a blind area corresponding to a blind area multipath target, the method further includes performing comprehensive correction on the real target in the blind area.
The comprehensive correction of the blind area real target comprises the following steps:
determining the radial distance of the blind area multipath target based on the distance information of the blind area multipath target, and determining the radial distance of the blind area real target based on the distance information of the blind area real target;
calculating the difference value of the radial distance between the blind area multipath target and the blind area real target;
and compensating the amplitude of the blind area multipath target and the radar scattering sectional area according to the difference value to obtain the amplitude of the blind area real target and the radar scattering sectional area.
In some vehicle-mounted scenes, the radial distance difference between the blind area multipath target and the blind area real target is small, the amplitude and the radar scattering sectional area of the blind area real target can be directly used as the radar scattering sectional area of the blind area real target, and if the radial distance difference between the blind area multipath target and the blind area real target is large, the amplitude and the radar scattering sectional area of the blind area multipath target can be compensated according to the radial distance difference, so that the amplitude and the radar scattering sectional area of the blind area real target can be obtained.
And step S104, tracking the blind area real target based on the distance information and the speed information of the blind area real target.
Optionally, as a specific implementation manner of the method for detecting and tracking the target in the blind area of the radar provided in the first aspect of the embodiment of the present invention, the tracking the real target in the blind area based on the distance information and the speed information of the real target in the blind area includes:
and establishing a track of the blind area real target based on the distance information and the speed information of the blind area real target, and tracking the blind area real target according to the track of the blind area real target.
According to the method, the target information of each target detected by the target radar is obtained, the environment model of the environment where the target radar is located is established according to the target information, the distance information and the speed information of the blind area multipath target are extracted from the target information, and the blind area multipath target is generated by reflecting the real target in the blind area of the field of view of the target radar through the reflecting surface in the environment. The invention can effectively detect and track the target in the blind area of the radar field, and improves the overall performance of the radar.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
A second aspect of the embodiments of the present invention provides a radar blind area target detection tracking apparatus, as shown in fig. 5, the apparatus includes:
the obtaining module 51 is configured to obtain target information of each target detected by the target radar, and establish an environment model of an environment where the target radar is located according to the target information.
An extracting module 52, configured to extract distance information and speed information of the blind-zone multipath target from the target information; the blind area multipath target is a multipath target generated by a blind area real target, and the blind area real target is a real target in a field blind area of the target radar.
And the correcting module 53 is configured to correct the distance information and the speed information of the blind-area multipath target according to the position of the blind-area multipath target in the environment model, to obtain the distance information and the speed information of the blind-area real target corresponding to the blind-area multipath target.
And the tracking module 54 is used for tracking the blind area real target based on the distance information and the speed information of the blind area real target.
Optionally, as a specific implementation manner of the radar blind area target detection tracking apparatus provided in the second aspect of the embodiment of the present invention, an environment model of an environment where the target radar is located is established according to the target information, which may be detailed as follows:
acquiring configuration parameters of a target radar, and determining the visual field range of the target radar according to the configuration parameters of the target radar;
and extracting information of the real target from the target information, and determining a blind area in the view range of the target radar according to the information of the real target and the view range of the target radar to obtain an environment model of the environment where the target radar is located.
Optionally, as a specific implementation manner of the radar blind area target detecting and tracking apparatus provided in the second aspect of the embodiment of the present invention, before extracting the distance information and the speed information of the blind area multipath target from the target information, the extracting module 52 is further configured to:
determining the echo intensity and the target type of each target according to the target information of each target detected by the target radar; the target types comprise a multipath target and a real target;
and for any target radar, detecting a multipath target, and if the difference value between the echo intensity of the multipath target and the echo intensity of each real target detected by the target radar is greater than a preset threshold value, determining that the multipath target is a blind area multipath target.
Optionally, as a specific implementation manner of the radar blind area target detection tracking apparatus provided in the second aspect of the embodiment of the present invention, the target type of each target is determined according to target information of each target detected by the target radar, which may be detailed as follows:
judging whether each target accords with a preset multipath reflection model or not according to target information of each target detected by a target radar;
and if a certain target conforms to the preset multipath reflection model, determining the target type of the target as a multipath target, and if the certain target does not conform to the preset multipath reflection model, determining the target type of the target as a real target.
Optionally, as a specific implementation manner of the radar blind area target detection and tracking apparatus provided in the second aspect of the embodiment of the present invention, according to the position of the blind area multipath target in the environment model, the distance information and the speed information of the blind area multipath target are respectively corrected to obtain the distance information and the speed information of the blind area real target corresponding to the blind area multipath target, which may be detailed as follows:
in the environment model, determining the reflecting surface of the blind area multipath target according to the position of the blind area multipath target;
and respectively correcting the distance information and the speed information of the blind area multipath target based on the geometrical relationship among the blind area multipath target, the reflecting surface of the blind area multipath target and the blind area real target to obtain the distance information and the speed information of the blind area real target.
Optionally, as a specific implementation manner of the radar blind area target detection and tracking device provided in the second aspect of the embodiment of the present invention, after obtaining distance information and speed information of a blind area real target corresponding to a blind area multipath target, the correction module 53 is further configured to:
determining the radial distance of the blind area multipath target based on the distance information of the blind area multipath target, and determining the radial distance of the blind area real target based on the distance information of the blind area real target;
calculating the difference value of the radial distance between the blind area multipath target and the blind area real target;
and compensating the amplitude of the blind area multipath target and the radar scattering sectional area according to the difference value to obtain the amplitude of the blind area real target and the radar scattering sectional area.
Optionally, as a specific implementation manner of the radar blind area target detection and tracking device provided in the second aspect of the embodiment of the present invention, the blind area real target is tracked based on distance information and speed information of the blind area real target, which may be detailed as follows:
and establishing a track of the blind area real target based on the distance information and the speed information of the blind area real target, and tracking the blind area real target according to the track of the blind area real target.
Fig. 6 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 6, the terminal device 6 of this embodiment includes: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60. The processor 60, when executing the computer program 62, implements the steps in the various radar blind zone target detection tracking method embodiments described above, such as steps S101 to S104 shown in fig. 1. Alternatively, the processor 60, when executing the computer program 62, implements the functions of the modules in the above-described device embodiments, such as the functions of the modules 51 to 54 shown in fig. 5.
Illustratively, the computer program 62 may be partitioned into one or more modules/units, which are stored in the memory 61 and executed by the processor 60 to implement the present invention. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 62 in the terminal device 6. For example, the computer program 62 may be divided into an acquisition module 51, an extraction module 52, a correction module 53, and a tracking module 54 (modules in a virtual device), and each module has the following specific functions:
the obtaining module 51 is configured to obtain target information of each target detected by the target radar, and establish an environment model of an environment where the target radar is located according to the target information.
An extracting module 52, configured to extract distance information and speed information of the blind-zone multipath target from the target information; the blind area multipath target is a multipath target generated by a blind area real target, and the blind area real target is a real target in a target radar vision blind area.
And the correcting module 53 is configured to correct the distance information and the speed information of the blind-area multipath target according to the position of the blind-area multipath target in the environment model, to obtain the distance information and the speed information of the blind-area real target corresponding to the blind-area multipath target.
And the tracking module 54 is used for tracking the blind area real target based on the distance information and the speed information of the blind area real target.
The terminal device 6 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is merely an example of a terminal device 6 and does not constitute a limitation of terminal device 6 and may include more or less components than those shown, or some components may be combined, or different components, e.g., the terminal device may also include input output devices, network access devices, buses, etc.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 61 may be an internal storage unit of the terminal device 6, such as a hard disk or a memory of the terminal device 6. The memory 61 may also be an external storage device of the terminal device 6, such as a plug-in hard disk provided on the terminal device 6, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 61 may also include both an internal storage unit of the terminal device 6 and an external storage device. The memory 61 is used for storing computer programs and other programs and data required by the terminal device. The memory 61 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (9)
1. A radar blind area target detection tracking method is characterized by comprising the following steps:
acquiring target information of each target detected by a target radar, and establishing an environment model of an environment where the target radar is located according to the target information;
extracting the distance information and the speed information of the blind area multipath target from the target information; the blind area multipath target is a multipath target generated by a blind area real target, and the blind area real target is a real target in a target radar vision blind area;
respectively correcting the distance information and the speed information of the blind area multipath target according to the position of the blind area multipath target in the environment model to obtain the distance information and the speed information of a blind area real target corresponding to the blind area multipath target;
tracking the blind area real target based on the distance information and the speed information of the blind area real target;
before extracting the distance information and the speed information of the blind area multipath target from the target information, the method also comprises the process of determining the blind area multipath target according to the target information;
the determining of the blind area multipath target according to the target information comprises the following steps:
determining the echo intensity and the target type of each target according to the target information of each target detected by the target radar; wherein the object types include a multipath object and a real object;
and for any one multipath target detected by the target radar, if the difference value between the echo intensity of the multipath target and the echo intensity of each real target detected by the target radar is greater than a preset threshold value, determining that the multipath target is a blind area multipath target.
2. The radar blind area target detection and tracking method according to claim 1, wherein the establishing an environment model of an environment in which the target radar is located according to the target information comprises:
acquiring configuration parameters of the target radar, and determining the visual field range of the target radar according to the configuration parameters of the target radar;
and extracting information of a real target from the target information, and determining a blind area in the visual field range of the target radar according to the information of the real target and the visual field range of the target radar to obtain an environment model of the environment where the target radar is located.
3. The radar blind area target detection tracking method according to claim 1, wherein determining the target type of each target based on the target information of each target detected by the target radar comprises:
judging whether each target accords with a preset multipath reflection model or not according to the target information of each target detected by the target radar;
and if a certain target conforms to the preset multipath reflection model, determining the target type of the target as a multipath target, and if the certain target does not conform to the preset multipath reflection model, determining the target type of the target as a real target.
4. The method for detecting and tracking radar blind area target according to claim 1, wherein the step of correcting the distance information and the velocity information of the blind area multipath target according to the position of the blind area multipath target in the environment model to obtain the distance information and the velocity information of the blind area real target corresponding to the blind area multipath target comprises:
in the environment model, determining a reflecting surface of the blind area multipath target according to the position of the blind area multipath target;
and respectively correcting the distance information and the speed information of the blind area multipath target based on the geometrical relationship among the blind area multipath target, the reflecting surface of the blind area multipath target and the blind area real target to obtain the distance information and the speed information of the blind area real target.
5. The method for detecting and tracking radar blind area target according to claim 1, wherein after obtaining the distance information and the speed information of the blind area real target corresponding to the blind area multipath target, the method further comprises performing comprehensive correction on the blind area real target;
the comprehensive correction of the blind area real target comprises the following steps:
determining the radial distance of the blind area multipath target based on the distance information of the blind area multipath target, and determining the radial distance of the blind area real target based on the distance information of the blind area real target;
calculating the difference value of the radial distance between the blind area multipath target and the blind area real target;
and compensating the amplitude and the radar scattering sectional area of the blind area multipath target according to the difference value to obtain the amplitude and the radar scattering sectional area of the blind area real target.
6. The radar blind area target detection tracking method according to claim 1, wherein tracking the blind area real target based on the distance information and the speed information of the blind area real target includes:
and establishing a track of the blind area real target based on the distance information and the speed information of the blind area real target, and tracking the blind area real target according to the track of the blind area real target.
7. A radar blind area target detection tracking means, characterized by, includes:
the acquisition module is used for acquiring target information of each target detected by the target radar and establishing an environment model of the environment where the target radar is located according to the target information;
the extracting module is used for extracting the distance information and the speed information of the blind area multipath target from the target information; the blind area multipath target is a multipath target generated by a blind area real target, and the blind area real target is a real target in a blind area of the field of view of the target radar;
the correction module is used for respectively correcting the distance information and the speed information of the blind area multipath target according to the position of the blind area multipath target in the environment model to obtain the distance information and the speed information of a blind area real target corresponding to the blind area multipath target;
the tracking module is used for tracking the blind area real target based on the distance information and the speed information of the blind area real target;
before extracting the distance information and the speed information of the blind area multipath target from the target information, the extracting module is further configured to:
determining the echo intensity and the target type of each target according to the target information of each target detected by the target radar; wherein the object types include a multipath object and a real object;
and for any one multipath target detected by the target radar, if the difference value between the echo intensity of the multipath target and the echo intensity of each real target detected by the target radar is greater than a preset threshold value, determining that the multipath target is a blind area multipath target.
8. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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