CN113514825A - Road edge obtaining method and device and terminal equipment - Google Patents
Road edge obtaining method and device and terminal equipment Download PDFInfo
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- 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
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention is suitable for the technical field of radar measurement and control, and provides a road edge acquisition method, a device and terminal equipment, wherein the road edge acquisition method comprises the following steps: when the multipath radar target exists in a first radar frame corresponding to a target road, determining a real radar target corresponding to the multipath radar target in the first radar frame; determining a multipath reflection point between the multipath radar target and the real radar target in the first radar frame according to the multipath reflection relation between the multipath radar target and the real radar target; and acquiring the road edge of the target road according to the multipath reflection points of the first radar frame. The invention can widen the application scene of the road edge acquisition mode.
Description
Technical Field
The invention belongs to the technical field of radar measurement and control, and particularly relates to a method and a device for acquiring a road edge and terminal equipment.
Background
The road edge refers to boundary positions on two sides of a road, such as wall surfaces on two sides of a tunnel, guardrails on two sides of an urban road and the like, and can be used for planning a driving area of a vehicle and identifying a dangerous driving area of the vehicle.
However, the existing road edge acquisition mode has the problem of limited application scenarios.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a method, an apparatus, and a terminal device for acquiring a road edge, which can widen an application scenario of a road edge acquisition mode.
A first aspect of an embodiment of the present invention provides a method for acquiring a road edge, including:
when the multipath radar target exists in a first radar frame corresponding to a target road, determining a real radar target corresponding to the multipath radar target in the first radar frame;
determining a multipath reflection point between the multipath radar target and the real radar target in the first radar frame according to the multipath reflection relation between the multipath radar target and the real radar target;
and acquiring the road edge of the target road according to the multipath reflection points of the first radar frame.
In one possible implementation, determining multipath reflection points between a multipath radar target and a real radar target in a first radar frame according to a multipath reflection relationship between the multipath radar target and the real radar target includes:
acquiring a first connection line between a radar corresponding to a first radar frame and a multipath radar target;
determining multipath reflection points between the multipath radar target and the real radar target in the first connecting line; and the second connecting line of the real radar target and the multipath reflection point is a multipath incident path of the multipath radar target.
In one possible implementation, the first line is a line between a location center of the radar and a cluster center of the multipath radar target;
the second connecting line is a connecting line between the clustering center of the real radar target and the multipath reflecting point.
In one possible implementation manner, acquiring a road edge of a target road according to a multipath reflection point of a first radar frame includes:
performing road edge fitting on the multipath reflection points of the first radar frame to obtain a first transverse distance value corresponding to the multipath reflection points of the first radar frame;
determining the first transverse distance value as the transverse distance value of the road edge of the target road under the condition that the transverse distance value of the current road edge is null;
and under the condition that the transverse distance value of the current road edge is a non-null value, when the difference value between the first transverse distance value and the transverse distance value of the current road edge is smaller than a first preset threshold value, filtering the first transverse distance value and the transverse distance value of the current road edge, and determining the transverse distance value obtained through filtering as the transverse distance value of the road edge of the target road.
In one possible implementation manner, after acquiring the road edge of the target road according to the multipath reflection points of the first radar frame, the method for acquiring the road edge further includes:
acquiring the total number of all multipath reflection points of a first radar frame and a preset number of second radar frames; the second radar frame is a radar frame located before the first radar frame;
and when the total number of the multipath reflecting points is greater than or equal to a second preset threshold value, outputting a lateral distance value of the road edge of the target road.
In a possible implementation manner, the method for acquiring a road edge further includes:
and when the difference value between the first transverse distance value and the transverse distance value of the current road edge is greater than or equal to a first preset threshold value, marking the first transverse distance value as a field value.
In one possible implementation manner, after acquiring the road edge of the target road according to the multipath reflection points of the first radar frame, the method for acquiring the road edge further includes:
acquiring the total number of all field values of a first radar frame and a preset number of second radar frames;
and when the total number of the outliers is smaller than a third preset threshold, outputting the transverse distance value of the road edge of the target road.
In one possible implementation manner, after acquiring the road edge of the target road according to the multipath reflection points of the first radar frame, the method for acquiring the road edge further includes:
acquiring the variance of all the transverse distance values of the first radar frame and a preset number of second radar frames;
and when the variance is smaller than a fourth preset threshold value, outputting the lateral distance value of the road edge of the target road.
A second aspect of an embodiment of the present invention provides an apparatus for acquiring a road edge, including:
the target determining module is used for determining a real radar target corresponding to the multipath radar target in a first radar frame when the multipath radar target exists in the first radar frame corresponding to the target road;
a reflection point determination module for determining a multipath reflection point between the multipath radar target and the real radar target in the first radar frame according to a multipath reflection relationship between the multipath radar target and the real radar target;
and the acquisition module is used for acquiring the road edge of the target road according to the multipath reflection points of the first radar frame.
In one possible implementation, the reflection point determining module is further configured to:
acquiring a first connection line between a radar corresponding to a first radar frame and a multipath radar target;
determining multipath reflection points between the multipath radar target and the real radar target in the first connecting line; and the second connecting line of the real radar target and the multipath reflection point is a multipath incident path of the multipath radar target.
In one possible implementation, the first line is a line between a location center of the radar and a cluster center of the multipath radar target; the second connecting line is a connecting line between the clustering center of the real radar target and the multipath reflecting point.
In one possible implementation manner, the obtaining module is further configured to:
performing road edge fitting on the multipath reflection points of the first radar frame to obtain a first transverse distance value corresponding to the multipath reflection points of the first radar frame;
determining the first transverse distance value as the transverse distance value of the road edge of the target road under the condition that the transverse distance value of the current road edge is null;
and under the condition that the transverse distance value of the current road edge is a non-null value, when the difference value between the first transverse distance value and the transverse distance value of the current road edge is smaller than a first preset threshold value, filtering the first transverse distance value and the transverse distance value of the current road edge, and determining the transverse distance value obtained through filtering as the transverse distance value of the road edge of the target road.
In a possible implementation manner, the apparatus for acquiring a road edge further includes an output module, configured to:
acquiring the total number of all multipath reflection points of a first radar frame and a preset number of second radar frames; the second radar frame is a radar frame located before the first radar frame;
and when the total number of the multipath reflecting points is greater than or equal to a second preset threshold value, outputting a lateral distance value of the road edge of the target road.
In a possible implementation manner, the device for acquiring a road edge further includes a marking module, configured to:
and when the difference value between the first transverse distance value and the transverse distance value of the current road edge is greater than or equal to a first preset threshold value, marking the first transverse distance value as a field value.
In one possible implementation, the output module is further configured to:
acquiring the total number of all field values of a first radar frame and a preset number of second radar frames;
and when the total number of the outliers is smaller than a third preset threshold, outputting the transverse distance value of the road edge of the target road.
In one possible implementation, the output module is further configured to:
acquiring the variance of all the transverse distance values of the first radar frame and a preset number of second radar frames;
and when the variance is smaller than a fourth preset threshold value, outputting the lateral distance value of the road edge of the target road.
A third aspect of embodiments of the present invention provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method according to the first aspect when executing the computer program.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
when the multipath radar target is detected to exist in the first radar frame corresponding to the target road, the real radar target corresponding to the multipath radar target can be determined in the first radar frame. Then, a multipath reflection point between the multipath radar target and the real radar target may be determined in the first radar frame according to a multipath reflection relationship between the multipath radar target and the real radar target. Finally, the road edge of the target road may be obtained according to the multipath reflection points of the first radar frame. Therefore, the method for acquiring the road edge by using the multipath is provided, and the road edge can be acquired in the dark weather scene or the open scene, so that the application scene of the road edge acquisition mode is greatly widened.
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 flowchart illustrating steps of a method for obtaining a road edge according to an embodiment of the present invention;
fig. 2 is a schematic diagram of searching a connection according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a road edge obtaining apparatus according to an embodiment of the present invention;
fig. 4 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.
In the related art, some road edge acquisition methods exist, but the road edge acquisition methods have the problem of limited application scenarios.
For example, a lane line and an edge color change in a road are edge-detected by a visual sensor to obtain a road edge, but the visual sensor cannot perform edge detection in a weather scene unsuitable for the visual sensor, such as a dark rain and fog scene.
For another example, the point cloud position distribution condition of the target in the road is detected through a radar sensor, and then road edge fitting is performed to obtain the road edge, but in an open scene, because of too few effective road targets, the existing road fitting method cannot fit to form the road edge.
In order to solve the problem of the prior art, embodiments of the present invention provide a method and an apparatus for acquiring a road edge, and a terminal device. First, a method for acquiring a road edge according to an embodiment of the present invention will be described.
In order to facilitate understanding of the method for acquiring a road edge provided by the embodiment of the present invention, the related technical terms are explained.
1. A real radar target.
The electromagnetic wave is refracted and reflected for many times in the natural environment and then received by the terminal equipment such as the receiver, and the information carried by the electromagnetic wave can be extracted and analyzed through various signal processing and data processing methods. From this information, information such as distance and angle to the transmitter or the environmental object can be known. In a relatively open environment, electromagnetic waves can be received by a receiver of the radar after being reflected by a space target, and at the moment, a receiving system can demodulate and resolve target information normally, and the target can be called a real radar target.
2. A multipath radar target.
When the space of the target is complex, such as indoor, urban area, tunnel, etc., the receiving device receives the electromagnetic wave directly reflected by the target, and also receives the echo generated by multiple combined reflections of the target and the surrounding complex reflecting surface, i.e., the multipath wave. Due to multiple reflections of the multipath signal, the radar will detect a false target at a location in space where no target exists, which may be referred to as a multipath radar target corresponding to a real target.
Since multipath is usually a negative impact of information, it is usually suppressed or culled after the multipath radar target is found. However, the inventors have made further studies on multipath and have proposed a method of acquiring a road edge using multipath.
Next, an implementation body of the road edge obtaining method provided by the embodiment of the present invention is described.
The main executing body of the method for acquiring a road edge may be an acquiring device of a road edge, and the acquiring device of a road edge may be a terminal device having a processor and a memory, such as a microwave radar, a vehicle-mounted radar, a traffic radar, a security radar, and the like, and the embodiment of the present invention is not particularly limited.
As shown in fig. 1, the method for acquiring a road edge according to an embodiment of the present invention may include the following steps:
and step S110, when the first radar frame corresponding to the target road is detected to have the multipath radar target, determining a real radar target corresponding to the multipath radar target in the first radar frame.
In some embodiments, the radar frame corresponding to the target road may include a large number of points reflecting information such as distances, speeds, etc. of various types of targets on the target road, and the sum of these points may be referred to as a point cloud. By clustering the points in the point cloud, radar targets existing in the radar frame, including real radar targets and multipath radar targets, can be acquired. And then, the real radar target corresponding to the multipath radar target in the radar frame can be identified through a track analysis mode and the like.
In this way, when the multipath radar target is detected in the first radar frame corresponding to the target road, the real radar target corresponding to the multipath radar target can be determined.
And step S120, determining multipath reflection points between the multipath radar target and the real radar target in the first radar frame according to the multipath reflection relation between the multipath radar target and the real radar target.
Because the multipath radar target is formed by reflecting the electromagnetic wave reflected by the real radar target by other reflectors, such as wall surfaces on two sides of a road, guardrails, vehicles, billboards and the like, the multipath reflection relationship between the multipath radar target and the real radar target can be determined by utilizing the reflection rule that the incident angle is equal to the exit angle. And then determining a multipath reflection point between the multipath radar target and the real radar target, namely the reflector in the first radar frame according to the multipath reflection relation between the multipath radar target and the real radar target.
It should be noted that the above-mentioned reflector may be regarded as a road edge, i.e., an area where the vehicle cannot currently run. In addition, when there are many reflectors, that is, when there are many multipath reflection points, the distances between the multipath reflection points and the radar can be used to obtain a road edge that is closer to the practical significance, for example, the distances between the multipath reflection points and the radar are processed in a filtering manner to obtain a smooth road edge track.
In some embodiments, a line, i.e., a first line, between the radar corresponding to the first radar frame and the multipath radar target may be acquired. Then, a multipath reflection point between the multipath radar target and the real radar target may be determined in the first connection line, and a connection line of the multipath reflection point and the real radar target, i.e., the second connection line, is a multipath incident path of the multipath radar target.
Specifically, the first line may be a line between a position center of the radar and a cluster center of the multipath radar target. The second line may be a line between the cluster center of the real radar target and the multipath reflection point. An X-Y-O planar coordinate system with the position center of the radar as the origin may be constructed, and then the first connection line and the second connection line may be searched in the planar coordinate system by using the above-mentioned multipath reflection relationship, and accordingly, the intersection point of the first connection line and the second connection line is the multipath reflection point.
Referring to fig. 2, fig. 2 shows a schematic diagram of searching a first link and a second link using a straight line equation, and in fig. 2, a lateral distance search range may be set according to positions of a real radar target a and a multi-path radar target B. If the lateral distance of A is Rx1 and the lateral distance of B is Rx2, the search range is (Rx1, Rx 2). The search process is as follows:
the ith search is carried out, the transverse distance of the search is set to Rxi, Rx1< Rxi < Rx2), and at this time, the equation of a straight line can be corresponding to y-Rxi; and finding the intersection point of the first connecting line OB and the straight line equation to be C, and connecting the two points AC. It is determined whether AC and OC satisfy a "incident angle equal to reflection angle" condition with respect to the straight line, i.e., < 1 ═ 2. If so, considering that the AC is the second connecting line, namely the multipath incident path of the multipath radar target, and the point C is the multipath reflection point, thus considering that the search result of the ith search is effective.
Thus, the first connection and the second connection can be searched in the above manner.
And step S130, acquiring the road edge of the target road according to the multipath reflection points of the first radar frame.
In some embodiments, when a multipath reflection point between the multipath radar target and the real radar target in the first radar frame is determined, the multipath reflection point may be used to perform road edge fitting, so as to obtain a lateral distance value, i.e., a first lateral distance value, of a road edge of the target road corresponding to the multipath reflection point, where the first lateral distance value may be a distance from the multipath reflection point to the radar.
Thereafter, in a case where the lateral distance value of the current road edge is null, the first lateral distance value may be determined as the lateral distance value of the road edge of the target road. Correspondingly, in the case that the current lateral distance value of the road edge is a non-null value, and when the difference between the first lateral distance value and the current lateral distance value of the road edge is smaller than a first preset threshold value, for example, a commonly used empirical threshold value, the first lateral distance value and the current lateral distance value of the road edge may be filtered, and then the filtered lateral distance value may be determined as the lateral distance value of the road edge of the target road. Thus, the road edge corresponding to the first radar frame can be obtained.
As shown again in fig. 2, in the planar coordinate system with the position center of the radar as the origin, the first lateral distance value may be the lateral coordinate of the multipath reflection point. Furthermore, the left road edge and the right road edge may be acquired simultaneously. Specifically, when the coordinate of the first lateral distance value is positive, that is, the multipath reflection point is located on the right side of the radar, the first lateral distance value is the lateral distance value of the right road edge of the target road. Accordingly, when the coordinate of the first lateral distance value is negative, i.e., the multi-path reflection point is located on the left side of the radar, the first lateral distance value is the lateral distance value of the left road edge of the target road.
It will be readily appreciated that since radars are typically installed in vehicles, this lateral distance value may be considered to be the distance of the multipath reflecting point from the vehicle.
In some embodiments, the first lateral distance value and the current lateral distance value of the road edge may be filtered by using a mean filtering method. Specifically, filtering may be performed by using RxEdge ═ RxEdge + Rx2)/2, where RxEdge' is the lateral distance value obtained by the filtering, RxEdge is the lateral distance value of the current road edge, and Rx2 is the first lateral distance value.
It is worth mentioning that, because the radar can generate the radar frame continuously, the multipath reflection point can be obtained continuously, and thus, the road edge with a longer length and a longer time can be drawn by using the continuously obtained information of the multipath reflection point.
Through the processing of the embodiment, the method for acquiring the road edge by utilizing the multipath is provided, and the road edge can be acquired in the weather scene such as dark rain and fog or in the open scene, so that the application scene of the road edge acquisition mode is greatly widened.
It should be noted that the application scenario of the method for acquiring a road edge provided in the embodiment of the present invention is not limited to a weather scenario such as a dark rain fog or an open scenario, but is also applicable to other scenarios, and is not specifically limited herein.
Optionally, when the method for acquiring a road edge provided in the embodiment of the present invention is applied simultaneously with other types of methods for acquiring a side road edge, the method for acquiring a road edge provided in the embodiment of the present invention may be adopted when the following conditions are satisfied, and corresponding processing may be as follows: acquiring the total number of all multipath reflection points of a first radar frame and a preset number of second radar frames; and the second radar frame is a radar frame before the first radar frame. Thereafter, when the total number of the multi-path reflection points is greater than or equal to a second preset threshold, a lateral distance value of a road edge of the target road may be output.
In some embodiments, the second preset threshold may be set as a point lower limit MinEdgeNum, and when the total number of the multi-path reflection points exceeds MinEdgeNum, the confidence may be considered to be high, and at this time, the lateral distance value of the road edge of the target road may be output, that is, by using the method for acquiring a road edge provided in the embodiments of the present invention, the accuracy of the acquired road edge is effectively improved.
Optionally, when the following conditions are satisfied, the method for acquiring a road edge provided by the embodiment of the present invention may also be adopted, and the corresponding processing may be as follows: and acquiring the total quantity of all field values of the first radar frame and the second radar frames with the preset quantity. When the total number of the outliers is smaller than the third preset threshold, the confidence is considered to be high, and at this time, the lateral distance value of the road edge of the target road can be output, that is, the method for acquiring the road edge provided by the embodiment of the invention is adopted, so that the accuracy of the acquired road edge is effectively improved.
In some embodiments, when the difference between the first lateral distance value and the current lateral distance value of the road edge is greater than or equal to a first preset threshold, the first lateral distance value may be marked as the outlier. Therefore, the total quantity of all the field values of the first radar frame and the preset number of second radar frames can be quickly acquired based on the pre-marked field values.
Optionally, when the following conditions are satisfied, the method for acquiring a road edge provided by the embodiment of the present invention may also be adopted, and the corresponding processing may be as follows: and acquiring the variance of all the transverse distance values of the first radar frame and a preset number of second radar frames. When the variance is smaller than the fourth preset threshold, the confidence coefficient is considered to be high, and at this time, the transverse distance value of the road edge of the target road can be output, that is, the accuracy of the obtained road edge is effectively improved by adopting the method for obtaining the road edge provided by the embodiment of the invention.
In the embodiment of the invention, when the multipath radar target exists in the first radar frame corresponding to the target road, the real radar target corresponding to the multipath radar target can be determined in the first radar frame. Then, a multipath reflection point between the multipath radar target and the real radar target may be determined in the first radar frame according to a multipath reflection relationship between the multipath radar target and the real radar target. Finally, the road edge of the target road may be obtained according to the multipath reflection points of the first radar frame. Therefore, the method for acquiring the road edge by using the multipath is provided, and the road edge can be acquired in the dark weather scene or the open scene, so that the application scene of the road edge acquisition mode is greatly widened.
Based on the method for acquiring the road edge provided by the embodiment, correspondingly, the invention further provides a specific implementation mode of the device for acquiring the road edge, which is applied to the method for acquiring the road edge. Please see the examples below.
As shown in fig. 3, there is provided a road edge acquisition apparatus 300, comprising:
the target determining module 310 is configured to determine, when it is detected that a multipath radar target exists in a first radar frame corresponding to a target road, a real radar target corresponding to the multipath radar target in the first radar frame;
a reflection point determining module 320, configured to determine a multipath reflection point between the multipath radar target and the real radar target in the first radar frame according to a multipath reflection relationship between the multipath radar target and the real radar target;
the obtaining module 330 is configured to obtain a road edge of the target road according to the multipath reflection points of the first radar frame.
In one possible implementation, the reflection point determining module is further configured to:
acquiring a first connection line between a radar corresponding to a first radar frame and a multipath radar target;
determining multipath reflection points between the multipath radar target and the real radar target in the first connecting line; and the second connecting line of the real radar target and the multipath reflection point is a multipath incident path of the multipath radar target.
In one possible implementation, the first line is a line between a location center of the radar and a cluster center of the multipath radar target; the second connecting line is a connecting line between the clustering center of the real radar target and the multipath reflecting point.
In one possible implementation manner, the obtaining module is further configured to:
performing road edge fitting on the multipath reflection points of the first radar frame to obtain a first transverse distance value corresponding to the multipath reflection points of the first radar frame;
determining the first transverse distance value as the transverse distance value of the road edge of the target road under the condition that the transverse distance value of the current road edge is null;
and under the condition that the transverse distance value of the current road edge is a non-null value, when the difference value between the first transverse distance value and the transverse distance value of the current road edge is smaller than a first preset threshold value, filtering the first transverse distance value and the transverse distance value of the current road edge, and determining the transverse distance value obtained through filtering as the transverse distance value of the road edge of the target road.
In a possible implementation manner, the apparatus for acquiring a road edge further includes an output module, configured to:
acquiring the total number of all multipath reflection points of a first radar frame and a preset number of second radar frames; the second radar frame is a radar frame located before the first radar frame;
and when the total number of the multipath reflecting points is greater than or equal to a second preset threshold value, outputting a lateral distance value of the road edge of the target road.
In a possible implementation manner, the device for acquiring a road edge further includes a marking module, configured to:
and when the difference value between the first transverse distance value and the transverse distance value of the current road edge is greater than or equal to a first preset threshold value, marking the first transverse distance value as a field value.
In one possible implementation, the output module is further configured to:
acquiring the total number of all field values of a first radar frame and a preset number of second radar frames;
and when the total number of the outliers is smaller than a third preset threshold, outputting the transverse distance value of the road edge of the target road.
In one possible implementation, the output module is further configured to:
acquiring the variance of all the transverse distance values of the first radar frame and a preset number of second radar frames;
and when the variance is smaller than a fourth preset threshold value, outputting the lateral distance value of the road edge of the target road.
In the embodiment of the invention, when the multipath radar target exists in the first radar frame corresponding to the target road, the real radar target corresponding to the multipath radar target can be determined in the first radar frame. Then, a multipath reflection point between the multipath radar target and the real radar target may be determined in the first radar frame according to a multipath reflection relationship between the multipath radar target and the real radar target. Finally, the road edge of the target road may be obtained according to the multipath reflection points of the first radar frame. Therefore, the method for acquiring the road edge by using the multipath is provided, and the road edge can be acquired in the dark weather scene or the open scene, so that the application scene of the road edge acquisition mode is greatly widened.
Fig. 4 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 4, the terminal device 4 of this embodiment includes: a processor 40, a memory 41 and a computer program 42 stored in said memory 41 and executable on said processor 40. The processor 40 implements the steps in the above-described embodiments of the method for obtaining a road edge when executing the computer program 42. Alternatively, the processor 40 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 42.
Illustratively, the computer program 42 may be partitioned into one or more modules/units that are stored in the memory 41 and executed by the processor 40 to implement 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 42 in the terminal device 4. For example, the computer program 42 may be divided into a target cutting module, a reflection point determining module, and an obtaining module, and each module specifically functions as follows:
the target determining module is used for determining a real radar target corresponding to a multipath radar target in a first radar frame when the multipath radar target exists in the first radar frame corresponding to a target road;
a reflection point determination module, configured to determine, in the first radar frame, a multipath reflection point between the multipath radar target and the real radar target according to a multipath reflection relationship between the multipath radar target and the real radar target;
and the acquisition module is used for acquiring the road edge of the target road according to the multipath reflection points of the first radar frame.
The terminal device 4 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 40, a memory 41. Those skilled in the art will appreciate that fig. 4 is merely an example of a terminal device 4 and does not constitute a limitation of terminal device 4 and may include more or fewer components than 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 40 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 41 may be an internal storage unit of the terminal device 4, such as a hard disk or a memory of the terminal device 4. The memory 41 may also be an external storage device of the terminal device 4, 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 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the terminal device 4. The memory 41 is used for storing the computer program and other programs and data required by the terminal device. The memory 41 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 method of obtaining a road edge, comprising:
when a first radar frame corresponding to a target road is detected to have a multipath radar target, determining a real radar target corresponding to the multipath radar target in the first radar frame;
determining multipath reflection points between the multipath radar target and the real radar target in the first radar frame according to the multipath reflection relationship between the multipath radar target and the real radar target;
and acquiring the road edge of the target road according to the multipath reflection points of the first radar frame.
2. The method for acquiring a road edge according to claim 1, wherein the determining the multipath reflection point between the multipath radar target and the real radar target in the first radar frame according to the multipath reflection relationship between the multipath radar target and the real radar target comprises:
acquiring a first connecting line between the radar corresponding to the first radar frame and the multipath radar target;
determining multipath reflection points between the multipath radar target and the real radar target in the first connection line; and a second connecting line of the real radar target and the multipath reflection point is a multipath incident path of the multipath radar target.
3. The method of acquiring a road edge according to claim 2, wherein the first line is a line between a position center of the radar and a cluster center of the multipath radar target;
and the second connecting line is a connecting line between the clustering center of the real radar target and the multi-path reflecting point.
4. The method for acquiring a road edge according to claim 1, wherein the acquiring a road edge of the target road based on the multipath reflection points of the first radar frame comprises:
performing road edge fitting on the multipath reflection points of the first radar frame to obtain a first transverse distance value corresponding to the multipath reflection points of the first radar frame;
determining the first transverse distance value as the transverse distance value of the road edge of the target road under the condition that the transverse distance value of the current road edge is a null value;
and under the condition that the current road edge transverse distance value is a non-null value, when the difference value between the first transverse distance value and the current road edge transverse distance value is smaller than a first preset threshold value, filtering the first transverse distance value and the current road edge transverse distance value, and determining the transverse distance value obtained through filtering as the transverse distance value of the road edge of the target road.
5. The method of acquiring a road edge according to claim 4, wherein after the acquiring the road edge of the target road from the multipath reflection points of the first radar frame, the method further comprises:
acquiring the total number of all multipath reflection points of the first radar frame and the preset number of second radar frames; the second radar frame is a radar frame located before the first radar frame;
and when the total number of the multi-path reflection points is greater than or equal to a second preset threshold value, outputting a transverse distance value of the road edge of the target road.
6. The method of claim 4, further comprising:
and when the difference value between the first transverse distance value and the transverse distance value of the current road edge is greater than or equal to the first preset threshold value, marking the first transverse distance value as a wild value.
7. The method of acquiring a road edge according to claim 6, wherein after the acquiring the road edge of the target road from the multipath reflection points of the first radar frame, the method further comprises:
acquiring the total number of all field values of the first radar frame and the preset number of second radar frames;
and when the total number of the outliers is smaller than a third preset threshold value, outputting a transverse distance value of the road edge of the target road.
8. The method of acquiring a road edge according to claim 4, wherein after the acquiring the road edge of the target road from the multipath reflection points of the first radar frame, the method further comprises:
acquiring the variance of all the transverse distance values of the first radar frame and the preset number of second radar frames;
and when the variance is smaller than a fourth preset threshold value, outputting a transverse distance value of the road edge of the target road.
9. An apparatus for obtaining a road edge, comprising:
the target determining module is used for determining a real radar target corresponding to a multipath radar target in a first radar frame when the multipath radar target exists in the first radar frame corresponding to a target road;
a reflection point determination module, configured to determine, in the first radar frame, a multipath reflection point between the multipath radar target and the real radar target according to a multipath reflection relationship between the multipath radar target and the real radar target;
and the acquisition module is used for acquiring the road edge of the target road according to the multipath reflection points of the first radar frame.
10. 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 8 when executing the computer program.
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