CN113391305A - False target suppression method and device for multi-radar fusion and terminal equipment - Google Patents

False target suppression method and device for multi-radar fusion and terminal equipment Download PDF

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CN113391305A
CN113391305A CN202110657197.6A CN202110657197A CN113391305A CN 113391305 A CN113391305 A CN 113391305A CN 202110657197 A CN202110657197 A CN 202110657197A CN 113391305 A CN113391305 A CN 113391305A
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target
fusion
radar
current period
false
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CN113391305B (en
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石露露
王晨红
汶攀君
薛高茹
何文彦
秦屹
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Whst 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • 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
    • G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
    • 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
    • G01S7/415—Identification of targets based on measurements of movement associated with the target

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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 is suitable for the technical field of radar, and particularly relates to a multi-radar fusion false target suppression method, a multi-radar fusion false target suppression device and terminal equipment, wherein the method comprises the following steps: acquiring radar targets detected by a plurality of radars on a target device in the current period and attribute values of the radar targets; according to the position information of each radar target in the current period and the range of a fusion area around the target device, taking the radar target in the fusion area as a first radar target; determining fusion attribute values of the fusion targets in the current period based on the similarity between the first radar targets in the current period and the fusion targets in the previous period; and calculating the false probability of each fusion target in the current period according to the fusion attribute value of each fusion target in the current period, and deleting the fusion targets with the false probability of the current period being greater than a preset probability threshold. Through the scheme, false targets detected by the radar can be effectively restrained, and the radar detection accuracy is improved.

Description

False target suppression method and device for multi-radar fusion and terminal equipment
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a multi-radar fusion false target suppression method and device and terminal equipment.
Background
Millimeter-wave radars are radars that operate in the millimeter-wave band (millimeterwave) for detection. Due to the advantages of long detection distance, high resolution, speed measurement, all-weather use and the like, the millimeter wave radar is widely applied to the fields of auxiliary driving and intelligent driving.
When the millimeter wave radar works, the electromagnetic waves are reflected for multiple times in the environment, so that the radar detects some false targets, namely multipath targets, and when the radar receives the electromagnetic waves transmitted by other equipment and demodulates the electromagnetic waves, and other signal processing is carried out on the electromagnetic waves, some interference targets can be detected, and the false targets can cause wrong decision-making of vehicle function safety and influence driving safety.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for suppressing a false target by multi-radar fusion, and a terminal device, so as to solve the problem in the prior art that radar detection accuracy is low due to a false target.
The first aspect of the embodiment of the invention provides a false target suppression method for multi-radar fusion, which comprises the following steps:
acquiring radar targets detected by a plurality of radars on a target device in the current period and attribute values of the radar targets; the attribute value includes location information;
according to the position information of each radar target in the current period and the range of a fusion area around the target device, taking the radar target in the fusion area as a first radar target; the fusion area is an area where detection areas of at least two radars are overlapped;
determining fusion attribute values of the fusion targets in the current period based on the similarity between the first radar targets in the current period and the fusion targets in the previous period;
and calculating the false probability of each fusion target in the current period according to the fusion attribute value of each fusion target in the current period, and deleting the fusion targets with the false probability of the current period being greater than a preset probability threshold.
A second aspect of an embodiment of the present invention provides a multi-radar fused false target suppression device, including:
the radar target acquisition module is used for acquiring radar targets detected by a plurality of radars on a target device in the current period and attribute values of the radar targets; the attribute value includes location information;
the region determining module is used for taking the radar target positioned in the fusion region as a first radar target according to the position information of each radar target in the current period and the range of the fusion region around the target device; the fusion area is an area where detection areas of at least two radars are overlapped;
the fusion attribute value calculation module is used for determining the fusion attribute value of each fusion target in the current period based on the similarity between each first radar target in the current period and each fusion target in the previous period;
and the false target deleting module is used for calculating the false probability of each fusion target in the current period according to the fusion attribute value of each fusion target in the current period, and deleting the fusion target of which the false probability in the current period is greater than a preset probability threshold as the false 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 multi-radar fusion false target suppression method as described above when executing the computer program.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the steps of the multi-radar fusion false target suppression method as described above.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: in the embodiment, first, radar targets detected by a plurality of radars in a current period on a target device and attribute values of the radar targets are obtained; according to the position information of each radar target in the current period and the range of a fusion area around the target device, taking the radar target in the fusion area as a first radar target; the fusion area is an area where detection areas of at least two radars are overlapped; then determining fusion attribute values of the fusion targets in the current period based on the similarity between the first radar targets in the current period and the fusion targets in the previous period; and finally, calculating the false probability of each fusion target in the current period according to the fusion attribute value of each fusion target in the current period, and deleting the fusion targets with the false probability of the current period being greater than a preset probability threshold. Through the scheme, the false target detected by the radar can be effectively inhibited, and the radar detection accuracy is improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments 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 multi-radar fusion false target suppression method provided by an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a multi-radar fused false target suppression device provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of the installation location of a 6-radar on a target device according to an embodiment of the present invention;
FIG. 4 shows an embodiment of the present inventionVehicle body coordinate system and radar R provided by embodiment1An exemplary graph of a coordinate system;
FIG. 5 is a schematic diagram of detection ranges of respective radars in a 6-radar installation manner according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the division of the fusion region in the 6-radar installation method according to the embodiment of the present invention;
fig. 7 is a schematic diagram of a terminal device according to an embodiment of the present invention.
FIG. 8 is a schematic diagram of detection ranges of respective radars in a 4-radar installation provided by an embodiment of the present invention;
fig. 9 is a schematic diagram of the division of the fusion region in the 4-radar installation manner according to the 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.
In an embodiment, as shown in fig. 1, fig. 1 shows an implementation flow of a false target suppression method for multi-radar fusion provided in this embodiment, where an execution subject of the implementation flow is a fusion processing center of a target device, and the implementation flow includes:
s101: acquiring radar targets detected by a plurality of radars on a target device in the current period and attribute values of the radar targets; the attribute value includes location information.
In this embodiment, the target device may be a vehicle, and for the technical field of vehicle-mounted radars, a common radar sensing system is composed of a single radar, and the detection angle range of the radar only includes a partial region, such as-60 ° to 60 ° right ahead of a vehicle body. In this case, if there is a dangerous target behind or beside the vehicle or a target that is about to threaten the safety of the vehicle, the radar cannot respond at the first time. This embodiment covers different detection range respectively through installing a plurality of radar sensor around the automobile body, can solve above-mentioned problem betterly.
Specifically, in this embodiment, a 6-radar configuration mode is adopted, a detection range of a vehicle body of 360 ° can be realized, and multiple radars specifically include 1 forward radar, 1 backward radar, and 4 angle radars. And configuring the radar, including radar installation, radar calibration, radar signal connection and data reception.
The radar installation can be performed as follows: as shown in FIG. 3, a forward radar R5Is arranged right in front of the vehicle body and is used as a backward radar R6A radar R with 4 corners arranged right behind the vehicle body1～R4Are respectively arranged at the four corners of the vehicle body. Fig. 4 shows specific installation positions and horizontal installation angles of the respective radars on the vehicle body. Specifically, XOY is a vehicle body coordinate system, wherein a point O is a vehicle body coordinate system origin, OX points to the right front of a vehicle body, OY points to the left of the vehicle body, and the vehicle body coordinate system origin can be arranged at any position of the vehicle body, and the central position of a rear axle of the vehicle is generally selected; by radar R1For example, a radar R1The coordinates on the body coordinate system XOY are (dy, dx), where dy is the radar R1Distance to OX, dx being radar R1Longitudinal distance to OY, R1Is mounted at an angle of theta1Radar R1Is 0 degree in the vehicle body coordinate system OX, R in FIG. 41X' is parallel to OX and rotates clockwise to radar R1Main direction R of1X1Wherein X is1O1Y1As radar R1Coordinate system of (A), O1X1Point of direction R1Right in front of.
Radar calibration may be performed as follows: and calibrating the installation position by utilizing the automatic calibration function of each radar, and if the radar has no automatic calibration function, manually calibrating by utilizing the corner reflector.
In the present embodiment, the detection angle ranges of the respective radars on the vehicle are shown in fig. 5, and the radar R1In a detection range of100 in the figure, radar R2The detection range of (1) is 200 in the figure, radar R3The detection range of (1) is 300 in the figure, radar R4、R5And R6Are 400, 500 and 600, respectively. Here it can be seen that a 6 radar mounting around the body enables detection of a 360 degree range around the body.
In this embodiment, the radar signal connection and data reception may be performed as follows: designing an interface wiring harness, adjusting interface modes, communication rates and the like between the fusion processing center and each radar, and receiving radar targets detected by each radar through CAN communication or network communication.
In one embodiment, the specific implementation flow of S101 in fig. 1 includes: acquiring original target data detected by a plurality of radars on the target device; and carrying out time synchronization and space synchronization on the original target data detected by each radar, and eliminating abnormal data to obtain the radar target corresponding to each radar.
In this embodiment, the fusion processing center obtains the original target data sent by each radar, and performs time synchronization processing on the original target data of each radar, and may ensure that the data of each radar are aligned in time through soft synchronization or hard synchronization.
Furthermore, after the synchronization processing, the fusion processing center also needs to perform data rough processing on the original data of each radar, and filters some abnormal data by combining the performance of the radar system; if a certain radar has a detection distance of 100m, if the radar outputs target data of 200m, the target is considered as a false target and is filtered out.
S102: according to the position information of each radar target in the current period and the range of a fusion area around the target device, taking the radar target in the fusion area as a first radar target; the fusion area is an area where detection areas of at least two radars coincide.
In this embodiment, the fusion processing center determines a radar detection range according to each radar installation position and installation angle, and then performs fusion area division according to the radar detection range.
E.g. for radar R1And radar R5，R1The detection range of (2) is 100, R in FIG. 55Has a detection range of 500 in fig. 5, the radar R1And radar R5The fusion region of (2) is the intersection of the two detection ranges, and is called as a mixed region. According to this idea, the division of the fusion region between the 6 radars is shown in fig. 6. Wherein 101 is radar R1201 is radar R2501 is radar R5510 is radar R5And radar R1520 is radar R5And radar R2Mixed region of (D), 521 radar R5And R2And R1301 is radar R3310 is radar R3And R1401 is radar R4420 is radar R4And R2601 is radar R6630 is radar R6And radar R3Mixed region of (5), 640 is radar R6And radar R4Mixed region of (643) radar R6And radar R4And radar R3The mixing zone of (a).
Specifically, the attribute value of the radar target includes position information, and the position information may include a direction and a distance, and if the radar is in a single radar area, the radar target is marked with a "non-fusion area" attribute, and if the radar target is in a multi-radar mixed area, the radar target is marked with a "fusion area" attribute. And the radar target marked as the attribute of the fusion area is used as the first radar target.
S103: and determining the fusion attribute value of each fusion target in the current period based on the similarity between each first radar target in the current period and each fusion target in the previous period.
In one embodiment, the step S103 includes:
s201: and calculating the similarity between each first radar target in the current period and each fusion target in the previous period to obtain a first incidence matrix of the current period.
In this embodiment, the element μ in the first correlation matrixijRepresenting the similarity between the ith first radar target and the jth fusion target of the previous cycle.
In particular, muijThe similarity calculation formula can be as follows:
Sij＝q(1)*|Ki(1)-Kj(1)|+q(2)*|Ki(2)-Kj(2)|+…q(n)*|Ki(n)-Kj(n)|。
wherein S isijRepresents μijQ (n) represents the weight of the n-th attribute value, Ki(n) denotes the nth attribute value of the ith first radar target, Kj(n) represents the nth attribute value of the jth fusion target of the previous cycle.
S202: and associating the first radar target corresponding to the element with the similarity larger than the first preset threshold value in the first association matrix of the current period with the fusion target, and taking the first radar target associated with the fusion target as a second radar target.
S203: and aiming at any fusion target, taking a second radar target with the maximum similarity with the fusion target in second radar targets of radars corresponding to the fusion area to which the fusion target belongs as a related radar target corresponding to the fusion target.
In this embodiment, for example, if the 521-region-related radars are 1, 2, and 5 radars, the fusion target needs to select a radar target corresponding to the radar 1 and having the greatest similarity with the fusion target, select a radar target corresponding to the radar 2 and having the greatest similarity with the current fusion target, and select a radar target corresponding to the radar 5 and having the greatest similarity with the current fusion target. Through the process, at most one radar target of one radar can be matched with the fusion target.
S204: and updating the fusion attribute value of the corresponding fusion target in the current period according to the attribute value of the associated radar target corresponding to each fusion target.
In this embodiment, the attribute values of the radar target include a plurality of values such as a lateral distance, a longitudinal distance, an azimuth angle, a velocity, and a size. And carrying out weighted summation on the attribute value of each associated radar target aiming at any attribute value of the associated radar target corresponding to one fusion target to obtain the fusion attribute value corresponding to the attribute value of the fusion target.
For example, if the attribute value is distance, the fusion distance of the fusion target is Kr 1 × D1+ b2 × D2+ … … + bk × Dk, where b1 and b2 … … bk respectively represent distance weighted values of 1 to k radar targets, and D1 and D2 … … Dk respectively represent distances of 1 to k radar targets corresponding to the fusion target. Wherein r ∈ n, and n represents the attribute value category.
Exemplarily, b1+ b2+ … + bk is 1.
In one embodiment, the step S103 further includes:
s301: taking a first radar target corresponding to an element with similarity smaller than the first preset threshold in the first incidence matrix of the current period as a third radar target;
s302: calculating the similarity between every two third radar targets to obtain a second incidence matrix;
s303: clustering all the third radar targets according to the second incidence matrix, generating a fusion target corresponding to each cluster, and associating the third radar target corresponding to each cluster with the fusion target;
s304: and calculating the fusion attribute value of the corresponding fusion target according to the attribute value of the third radar target corresponding to each fusion target.
In this embodiment, the third radar target does not have a corresponding fusion target in the previous cycle, and at this time, a new fusion target needs to be created for the third radar target.
Specifically, the elements in the second incidence matrix represent the similarity between two third radar targets, the third radar targets with the similarity greater than a second preset threshold are used as a class, and a new fusion target is created for the class of the third radar targets.
In one embodiment, the step S304 includes:
and for any fusion target, carrying out weighted summation on the same type of attribute values of all the third radar targets corresponding to the fusion target to obtain a fusion attribute value of the type of attribute value corresponding to the fusion target.
S104: and calculating the false probability of each fusion target in the current period according to the fusion attribute value of each fusion target in the current period, and deleting the fusion targets with the false probability of the current period being greater than a preset probability threshold.
In one embodiment, S104 in fig. 1 includes:
s401: calculating the current false probability of the first fusion target according to the fusion attribute value of the first fusion target in the current period; the first fusion target is any fusion target;
s402: and obtaining the false probability of the first fusion target in the current period based on the current false probability and the historical false probability corresponding to the first fusion target.
In one embodiment, the fused attribute value includes a fused position, and the S401 includes:
s501: calculating a first probability value according to the number of radars corresponding to the first fusion target;
s502: determining the reliability of various fusion attributes corresponding to the first fusion target in the current period according to the fusion position corresponding to the first fusion target in the current period, and performing weighted summation on the reliability of various fusion attributes corresponding to the first fusion target in the current period to obtain a second probability value;
s503: and carrying out weighted summation on the first probability value and the second probability value to obtain the current false probability of the first fusion target.
In this embodiment, the first probability value is calculated according to a formula pf1 ═ 1-a × R _ Num, where a represents the first empirical weight and R _ Num represents the number of radars corresponding to the first fusion target. If the number of radars associated with the first fusion target is large, the first fusion target is considered to have high credibility and low false probability.
Specifically, 0 < a < 1.
In this embodiment, because the radar has different detection capabilities for different positions, the credibility of the fusion target at different positions is different, and specifically, the credibility of each type of fusion attribute corresponding to the first fusion target in the current period is determined according to the fusion position corresponding to the first fusion target in the current period.
In one embodiment, the second probability value is calculated according to the formula pf2 ═ 1-c1 × M1+ c2 × M2+ … + cn × Mn, where c1, c2, …, cn respectively indicate the weight corresponding to each fusion attribute reliability, and M1, M2, …, Mn respectively indicate each type of fusion attribute reliability.
In one embodiment, the step S402 includes:
obtaining the false probability of the first fusion target in the current period through a formula pf (t) ═ pf' + d (t-1) × pf (t-1) + d (t-2) × pf (t-2) … + d (1) × pf (l);
where pf (t) represents the false probability of the current cycle, pf' represents the current false probability, d (t-1) represents the weight of the first 1 cycle of the current cycle t, and pf (t-l) represents the false probability of the first 1 cycle of the current cycle t.
In this embodiment, pf' ═ e1 pf1+ e2 pf2], where e1 and e2 are empirical weights of the first probability value and the second probability value, respectively.
In this embodiment, if the false probability value of the fusion target exceeds the preset probability range, the false probability is considered to be too high, the fusion target is deleted as the false target, and subsequent operations such as track calculation are not performed; if the false probability value is within the preset probability range, the subsequent track operation is carried out on the fusion target, but the parameters of the track, such as the track quality, are influenced.
Known from the above embodiments, in this embodiment, the sensing results of the plurality of sensors are utilized, and the radar target information associated with the region where the fusion target is located is calculated through the multi-millimeter wave radar fusion, so that the false target detected by the radar is identified, the false alarm rate is reduced, and the radar detection accuracy is improved.
Taking a specific application scenario as an example, an example provides an implementation case of 4 radars, which is specifically described as follows:
step 1: configuring a multi-radar system, and receiving radar data detected by each radar by using a fusion processing center;
fig. 5 is provided with 6 radars to realize 360-degree detection of the vehicle body, and in some low-speed scenes, the 6 radar configuration can be changed into a 4-radar configuration due to the fact that the dangerous distance is reduced, as shown in fig. 8, the radar system configuration can also meet detection in a 360-degree range, and if danger exists behind or on the side of the vehicle, the radars can make corresponding response at the first time. The installation of 4 radars is shown in fig. 8: four radars are respectively arranged at 4 corners of the vehicle body, and R10 in FIG. 8 is a front left radar which is arranged at the front left corner of the vehicle body; r20 is a right front radar at the right front corner of the vehicle body; r30 is the left rear radar, at the left rear corner of the vehicle body; r40 is the rear right radar, at the rear right angular position of the vehicle body.
The 4 radar external reference calibration and detection range for this case is similar in schematic to the 6 radar external reference calibration and detection range shown in fig. 5.
Step 2: and the fusion processing center performs data preprocessing on the received original target data of the 4 radars.
Specifically, the fusion processing center performs processing procedures such as time synchronization, space synchronization, rough processing and the like on the raw data of each radar.
In addition, the fusion processing center needs to determine the detection range of each radar of the current radar system, and perform area division according to the installation position and the installation angle of each radar, wherein the area division of 4 radars is shown in fig. 9: wherein 101 is the single radar region of radar R1, 201 is the single radar region of radar R2, 210 is the mixed region of radar R2 and radar R1, 301 is the single radar region of radar R3, 310 is the mixed region of radar R3 and R1, 401 is the single radar region of radar R4, 420 is the mixed region of radar R4 and R2, 430 is the mixed region of radar R4 and radar R3.
And step 3: and the fusion processing center performs target fusion by using the received data to realize false target identification.
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.
In one embodiment, as shown in fig. 2, fig. 2 shows a structure of a multi-radar fusion false target suppression device 100 provided by the present embodiment, which includes:
a radar target obtaining module 110, configured to obtain radar targets detected by multiple radars on a target device in a current period and attribute values of the radar targets; the attribute value includes location information;
the region determining module 120 is configured to use the radar target located in the fusion region as a first radar target according to the position information of each radar target in the current period and the range of the fusion region around the target device; the fusion area is an area where detection areas of at least two radars are overlapped;
a fusion attribute value calculation module 130, configured to determine a fusion attribute value of each fusion target in the current period based on a similarity between each first radar target in the current period and each fusion target in the previous period;
and the false target deleting module 140 is configured to calculate a false probability of each fusion target in the current cycle according to the fusion attribute value of each fusion target in the current cycle, and delete the fusion target of which the false probability in the current cycle is greater than a preset probability threshold as the false target.
As can be seen from the foregoing embodiments, in this embodiment, first, radar targets detected by multiple radars on a target device in a current period and attribute values of the radar targets are obtained; according to the position information of each radar target in the current period and the range of a fusion area around the target device, taking the radar target in the fusion area as a first radar target; the fusion area is an area where detection areas of at least two radars are overlapped; then determining fusion attribute values of the fusion targets in the current period based on the similarity between the first radar targets in the current period and the fusion targets in the previous period; and finally, calculating the false probability of each fusion target in the current period according to the fusion attribute value of each fusion target in the current period, and deleting the fusion targets with the false probability of the current period being greater than a preset probability threshold. Through the scheme, the false target detected by the radar can be effectively inhibited, and the radar detection accuracy is improved.
In one embodiment, the fused attribute value calculation module 130 includes:
the first incidence matrix acquisition module is used for calculating the similarity between each first radar target in the current period and each fusion target in the previous period to obtain a first incidence matrix of the current period;
the second radar target screening unit is used for associating the first radar target corresponding to the element with the similarity larger than the first preset threshold value in the first association matrix of the current period with the fusion target, and taking the first radar target associated with the fusion target as the second radar target;
the relevant fusion target screening unit is used for taking a second radar target with the maximum similarity with the fusion target in second radar targets of radars corresponding to a fusion area to which the fusion target belongs as a relevant radar target corresponding to the fusion target aiming at any fusion target;
and the first fusion attribute value calculating unit is used for updating the fusion attribute value of the corresponding fusion target in the current period according to the attribute value of the associated radar target corresponding to each fusion target.
In one embodiment, the fused attribute value calculation module 130 further includes:
a third radar target obtaining unit, configured to use a first radar target corresponding to an element, of which similarity is smaller than the first preset threshold, in the first association matrix of the current period as a third radar target;
the second incidence matrix obtaining unit is used for calculating the similarity between every two third radar targets to obtain a second incidence matrix;
the clustering unit is used for clustering all the third radar targets according to the second incidence matrix, generating a fusion target corresponding to each cluster, and associating the third radar target corresponding to each cluster with the fusion target;
and the second fusion attribute value calculation unit is used for calculating the fusion attribute value of the corresponding fusion target according to the attribute value of the third radar target corresponding to each fusion target.
In one embodiment, the second fused attribute value calculating unit includes:
and for any fusion target, carrying out weighted summation on the same type of attribute values of all the third radar targets corresponding to the fusion target to obtain a fusion attribute value of the type of attribute value corresponding to the fusion target.
In one embodiment, the decoy target deletion module 140 includes:
the current false probability calculation unit is used for calculating the current false probability of the first fusion target according to the fusion attribute value of the first fusion target in the current period; the first fusion target is any fusion target;
and the false probability calculation unit is used for obtaining the false probability of the first fusion target in the current period based on the current false probability and the historical false probability corresponding to the first fusion target.
In one embodiment, the current false probability calculating unit includes:
the first probability value calculating subunit is used for calculating a first probability value according to the number of radars corresponding to the first fusion target;
a second probability value calculating subunit, configured to determine, according to a fusion position of the first fusion target in the current period, the reliability of each type of fusion attribute corresponding to the first fusion target in the current period, and perform weighted summation on the reliabilities of each type of fusion attribute corresponding to the first fusion target in the current period to obtain a second probability value;
and the current probability value calculating operator unit is used for carrying out weighted summation on the first probability value and the second probability value to obtain the current false probability of the first fusion target.
In one embodiment, the false probability calculation unit includes:
obtaining the false probability of the first fusion target in the current period through a formula pf (t) ═ pf' + d (t-1) × pf (t-1) + d (t-2) × pf (t-2) … + d (1) × pf (l);
where pf (t) represents the false probability of the current cycle, pf' represents the current false probability, d (t-1) represents the weight of the first 1 cycle of the current cycle t, and pf (t-l) represents the false probability of the first 1 cycle of the current cycle t.
Fig. 7 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 7, the terminal device 7 of this embodiment includes: a processor 70, a memory 71 and a computer program 72 stored in said memory 71 and executable on said processor 70. The processor 70, when executing the computer program 72, implements the steps in each of the above-described embodiments of the multi-radar fused false target suppression method, such as the steps 101 to 104 shown in fig. 1. Alternatively, the processor 70, when executing the computer program 72, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 110 to 140 shown in fig. 2.
The computer program 72 may be divided into one or more modules/units, which are stored in the memory 71 and executed by the processor 70 to accomplish the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 72 in the terminal device 7.
The terminal device 7 refers to the fusion processing center mentioned in this embodiment, and 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 70, a memory 71. It will be appreciated by those skilled in the art that fig. 7 is merely an example of a terminal device 7 and does not constitute a limitation of the terminal device 7 and may comprise more or less components than shown, or some components may be combined, or different components, for example the terminal device may further comprise input output devices, network access devices, buses, etc.
The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field 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 memory 71 may be an internal storage unit of the terminal device 7, such as a hard disk or a memory of the terminal device 7. The memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the terminal device 7. The memory 71 is used for storing the computer program and other programs and data required by the terminal device. The memory 71 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 to perform all or part of the above-mentioned functions. 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 for convenience of distinguishing from each other, 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, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, 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 an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The 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 can be realized in a form of hardware, and can also be realized in a 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 for illustrating the technical solutions of the present invention, and not for limiting 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 (10)

1. A multi-radar fused false target suppression method is characterized by comprising the following steps:
acquiring radar targets detected by a plurality of radars on a target device in the current period and attribute values of the radar targets; the attribute value includes location information;
according to the position information of each radar target in the current period and the range of a fusion area around the target device, taking the radar target in the fusion area as a first radar target; the fusion area is an area where detection areas of at least two radars are overlapped;
determining fusion attribute values of the fusion targets in the current period based on the similarity between the first radar targets in the current period and the fusion targets in the previous period;
and calculating the false probability of each fusion target in the current period according to the fusion attribute value of each fusion target in the current period, and deleting the fusion targets with the false probability of the current period being greater than a preset probability threshold.
2. The method of claim 1, wherein determining the fused attribute value of each fused target in the current cycle based on the similarity between each first radar target in the current cycle and each fused target in the previous cycle comprises:
calculating the similarity between each first radar target in the current period and each fusion target in the previous period to obtain a first incidence matrix of the current period;
associating a first radar target corresponding to an element with similarity larger than a first preset threshold value in the first association matrix of the current period with a fusion target, and taking the first radar target associated with the fusion target as a second radar target;
aiming at any fusion target, taking a second radar target with the maximum similarity with the fusion target in second radar targets of radars corresponding to a fusion area to which the fusion target belongs as a related radar target corresponding to the fusion target;
and updating the fusion attribute value of the corresponding fusion target in the current period according to the attribute value of the associated radar target corresponding to each fusion target.
3. The method of claim 2, wherein determining the fused attribute value of each fused target in the current cycle based on the similarity between each first radar target in the current cycle and each fused target in the previous cycle, further comprises:
taking a first radar target corresponding to an element with similarity smaller than the first preset threshold in the first incidence matrix of the current period as a third radar target;
calculating the similarity between every two third radar targets to obtain a second incidence matrix;
clustering all the third radar targets according to the second incidence matrix, generating a fusion target corresponding to each cluster, and associating the third radar target corresponding to each cluster with the fusion target;
and calculating the fusion attribute value of the corresponding fusion target according to the attribute value of the third radar target corresponding to each fusion target.
4. The method for suppressing false target of multi-radar fusion according to claim 3, wherein the calculating the fusion attribute value of the corresponding fusion target according to the attribute value of the third radar target corresponding to each fusion target comprises:
and for any fusion target, carrying out weighted summation on the same type of attribute values of all the third radar targets corresponding to the fusion target to obtain a fusion attribute value of the type of attribute value corresponding to the fusion target.
5. The method for suppressing false target of multi-radar fusion as claimed in claim 1, wherein the calculating false probability of each fusion target in the current cycle according to the fusion attribute value of each fusion target in the current cycle comprises:
calculating the current false probability of the first fusion target according to the fusion attribute value of the first fusion target in the current period; the first fusion target is any fusion target;
and obtaining the false probability of the first fusion target in the current period based on the current false probability and the historical false probability corresponding to the first fusion target.
6. The method of claim 5, wherein the fused attribute values include a fusion location, and wherein calculating the current false probability of the first fused target based on the fused attribute values of the first fused target in the current cycle comprises:
calculating a first probability value according to the number of radars corresponding to the first fusion target;
determining the reliability of various fusion attributes of the first fusion target in the current period according to the fusion position of the first fusion target in the current period, and performing weighted summation on the reliability of various fusion attributes of the first fusion target in the current period to obtain a second probability value;
and carrying out weighted summation on the first probability value and the second probability value to obtain the current false probability of the first fusion target.
7. The method for suppressing false target of multi-radar fusion according to claim 5, wherein the obtaining the false probability of the first fusion target in the current period based on the current false probability and the historical false probability corresponding to the first fusion target comprises:
obtaining the false probability of the first fusion target in the current period through a formula pf (t) ═ pf' + d (t-1) × pf (t-1) + d (t-2) × pf (t-2) … + d (1) × pf (l);
where pf (t) represents the false probability of the current cycle, pf' represents the current false probability, d (t-1) represents the weight of the first 1 cycle of the current cycle t, and pf (t-l) represents the false probability of the first 1 cycle of the current cycle t.
8. A multi-radar fused false target suppression device, comprising:
the radar target acquisition module is used for acquiring radar targets detected by a plurality of radars on a target device in the current period and attribute values of the radar targets; the attribute value includes location information;
the region determining module is used for taking the radar target positioned in the fusion region as a first radar target according to the position information of each radar target in the current period and the range of the fusion region around the target device; the fusion area is an area where detection areas of at least two radars are overlapped;
the fusion attribute value calculation module is used for determining the fusion attribute value of each fusion target in the current period based on the similarity between each first radar target in the current period and each fusion target in the previous period;
and the false target deleting module is used for calculating the false probability of each fusion target in the current period according to the fusion attribute value of each fusion target in the current period by the false target, and deleting the fusion target of which the false probability in the current period is greater than a preset probability threshold as the false target.
9. 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 7 when executing the computer program.
10. 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 7.
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