CN113589246A

CN113589246A - Target detection method and device based on radar and computer equipment

Info

Publication number: CN113589246A
Application number: CN202110567137.5A
Authority: CN
Inventors: 王宁; 胡哲; 高东明; 周兴杰; 黄永立; 文慧山; 邓杰; 李鑫; 蒋道宇; 汲广; 左干清; 赵刚; 岑贞锦; 林斯保; 郑力勇; 王启颖; 游日晴; 张维佳
Original assignee: Guangzhou Bureau of Extra High Voltage Power Transmission Co
Current assignee: Haikou Branch Of Guangzhou Bureau Of China Southern Power Grid Co ltd
Priority date: 2021-05-24
Filing date: 2021-05-24
Publication date: 2021-11-02
Anticipated expiration: 2041-05-24
Also published as: CN113589246B

Abstract

The application relates to a target detection method and device based on radar, computer equipment and a storage medium. The method comprises the following steps: acquiring a given area drawn by a user, and determining a target boundary formed by taking a radar center as a circle center and a preset distance as a radius; determining a current azimuth in a plurality of azimuths uniformly arranged in a scanning range of the radar, and determining a line segment which takes the center of the radar as an endpoint in the current azimuth; determining a plurality of intersection points of the line segment and the given area and a plurality of sub-line segments; determining the flag bit corresponding to each line segment; traversing all directions in the scanning range of the radar, and obtaining a plurality of flag bits on each direction; when a detection echo signal of a target object is received, acquiring a plurality of scanning sampling points of the target object; and acquiring a detection result of whether the target object is in the given area or not according to the zone bit corresponding to the sub-line segment where the plurality of scanning sampling points are located. The method can improve the detection accuracy.

Description

Target detection method and device based on radar and computer equipment

Technical Field

The present application relates to the field of radar technologies, and in particular, to a target detection method and apparatus based on radar, a computer device, and a storage medium.

Background

Since the shore base mainly monitors the offshore area of the sea radar, the monitoring of non-offshore areas such as land and islands is not needed, and the monitoring data of the non-offshore areas such as land and islands can increase the data processing capacity of the radar terminal, reduce the data processing efficiency and influence the target discovery and tracking effect. On the other hand, as the sea area is large, the key monitoring of the sea traffic main road or other hot spot areas is sometimes needed. Thus, the shielded area needs to be mapped so that the radar no longer monitors and tracks the targets within the shielded area.

However, the radar shielding area provided in the prior art is a regular pattern such as a rectangle, a sector or a ring, and the shape is too rough when facing to the terrain such as a coastline and an island, and the outline of the actual area cannot be drawn, so that the accuracy is low when detecting the target, and misjudgment is easily caused.

Disclosure of Invention

In view of the above, it is necessary to provide a radar-based target detection method, apparatus, computer device and storage medium capable of improving target detection accuracy.

A radar-based target detection method, the method comprising:

acquiring a given area drawn by a user, and determining a target boundary which is formed by taking a radar center as a circle center and taking a preset distance as a radius; wherein the given region is in the shape of an irregular polygon; the preset distance is larger than the scanning radius of the radar, and a plurality of boundary points exist on the target boundary;

selecting one azimuth as a current azimuth from a plurality of azimuths uniformly arranged in the scanning range of the radar, and determining a line segment which takes the center of the radar as an end point on the current azimuth and takes a boundary point corresponding to the current azimuth on the target boundary as another end point;

determining a plurality of intersection points of the line segment and the given area, and determining a plurality of sub-line segments formed by the intersection points in sequence in the current orientation;

determining flag bits respectively corresponding to the plurality of sub-line segments in the current azimuth according to the relative position relationship of the radar center relative to the given area;

returning to the step of selecting one azimuth from the plurality of azimuths as the current azimuth and continuing to execute the step until all azimuths in the scanning range of the radar are traversed and a plurality of flag bits on each azimuth are obtained;

transmitting a detection signal through the radar, and acquiring a plurality of scanning sampling points of a target object detected based on the detection information when a detection echo signal returned by the target object in response to the detection signal is received;

and acquiring a detection result of whether the target object is in the given area or not according to the zone bit corresponding to the sub-line segment where the plurality of scanning sampling points are located.

In one embodiment, the plurality of azimuths are uniformly arranged in the scanning range of the radar according to the equipment information of the radar and preset azimuth interval angles.

In one embodiment, the relative positional relationship of the radar center with respect to the given area includes: the radar center is located inside the given area, or the radar center is located outside the given area.

In one embodiment, the step of determining the relative positional relationship of the radar center with respect to the given area includes:

determining a circumscribed rectangular area of the given area based on position information of each end point of the given area;

determining whether the radar center is positioned in the circumscribed rectangular area or not according to the position information of the radar center;

when the radar center is determined to be located inside the circumscribed rectangular area, determining intersection points of rays which take the radar center as an end point and face a preset direction and the given area, and determining that the radar center is located inside or outside the given area according to the number of the intersection points;

when it is determined that the radar center is located outside the circumscribed rectangular area, it is directly determined that the radar center is located outside the given area.

In one embodiment, the determining, according to a relative positional relationship between the radar center and the given area, the flag bits corresponding to the plurality of sub-line segments in the current orientation respectively includes:

when the radar center is determined to be located in the given area, setting the zone bits of the odd-order sub-line segments of the radar center facing the current position to be first zone bits, and setting the zone bits of the even-order sub-line segments to be second zone bits; wherein the second flag bit is different from the first flag bit;

when the radar center is determined to be located outside the given area, setting the zone bits of even-order sub-line segments of the radar center facing the current position to be first zone bits, and setting the zone bits of odd-order sub-line segments to be second zone bits; .

In one embodiment, the obtaining, according to a flag bit corresponding to a sub-line segment where the plurality of scanning sampling points are located, a detection result of whether the target object is in the given area includes:

selecting a scanning sampling point positioned at the center as a target sampling point from the plurality of scanning sampling points;

and acquiring a detection result of whether the target object is in the given area or not according to the zone bit corresponding to the sub-line segment where the target sampling point is located.

In one embodiment, the method further comprises:

when the given area is a shielding area and the detection result represents that the target object is in the given area, shielding the detection echo signal of the target object;

and when the given area is a warning area and the detection result represents that the target object is in the given area, generating an alarm prompt.

In one embodiment, the apparatus comprises:

the processing module is used for acquiring a given area drawn by a user and determining a target boundary which takes a radar center as a circle center and takes a preset distance as a radius; wherein the given region is in the shape of an irregular polygon; the preset distance is larger than the scanning radius of the radar, and a plurality of boundary points exist on the target boundary;

the processing module is further configured to select one of the azimuths uniformly set within the scanning range of the radar as a current azimuth, and determine a line segment which takes the center of the radar as an end point in the current azimuth and takes a boundary point corresponding to the current azimuth on the target boundary as another end point;

the processing module is further configured to determine a plurality of intersection points of the line segment with the given area, and determine a plurality of sub-line segments sequentially formed by the plurality of intersection points in the current orientation;

the processing module is further configured to determine flag bits corresponding to the plurality of sub-line segments in the current azimuth according to a relative position relationship between the radar center and the given area;

the processing module is further configured to return to the step of selecting one azimuth from the plurality of azimuths as the current azimuth and continue to execute the step until all azimuths within the scanning range of the radar are traversed, and obtain a plurality of flag bits on each azimuth;

the detection module is used for transmitting a detection signal through the radar and acquiring a plurality of scanning sampling points of a target object detected based on the detection information when a detection echo signal returned by the target object in response to the detection signal is received;

the detection module is further configured to obtain a detection result of whether the target object is in the given area according to the flag bit corresponding to the sub-line segment where the plurality of scanning sampling points are located.

A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

According to the target detection method, the target detection device, the computer equipment and the storage medium based on the radar, the drawing mode of the given area of the irregular polygon is provided for a user, compared with the regular shape, the target detection method and the target detection device are more suitable for the outline of the actual terrain, and the set given area is more accurate; meanwhile, for a given area of the drawn irregular polygon, a target boundary is formed by selecting a distance which cannot be acted by the radar as a radius, the scanning range of the radar is subdivided into a plurality of azimuths, a line segment which faces the target boundary with the center of the radar as an end point and takes a corresponding boundary point as the other end point in each azimuth is respectively determined, a corresponding sub-line segment is determined according to the intersection point of the line segment and the given area, and a mark bit corresponding to each sub-line segment is set, so that when the radar transmits a detection signal and detects a detection echo signal of a target object, the detection result of whether the target object is in the given area can be determined according to the mark bit corresponding to the sub-line segment where a corresponding scanning sampling point is located, and compared with a rough detection mode of a round, rectangular and other regular graph, the detection accuracy can be greatly improved, and the misjudgment is avoided.

Drawings

FIG. 1 is a schematic flow chart diagram of a radar-based target detection method in one embodiment;

FIG. 2a is a schematic diagram of a computing principle of a radar-based target detection method in one embodiment;

FIG. 2b is a schematic diagram of a calculation principle of a radar-based target detection method in another embodiment;

FIG. 2c is a schematic diagram of a radar-based target detection method in yet another embodiment;

FIG. 2d is a schematic view of a scene in which a plurality of scan sampling points corresponding to a target object are obtained according to an embodiment;

FIG. 3 is a schematic flow chart illustrating the steps of determining the relative position of the radar center with respect to the given area in one embodiment;

FIG. 4 is a schematic flowchart illustrating a step of determining flag bits corresponding to the sub-line segments in the current direction according to a relative position relationship between the radar center and the given area in one embodiment;

FIG. 5 is a schematic flow chart diagram of a radar-based target detection method in one embodiment;

FIG. 6 is a block diagram of a radar-based target detection apparatus in one embodiment;

FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Since the shore-based sea-to-sea radar is generally used for detecting a target object on the sea surface without being concerned about areas such as land and islands, a detection environment to which the shore-based sea-to-sea radar is applied is largely different from a vehicle-mounted radar and the like that are generally used for detecting ground environments such as streets and indoors, and furthermore, a target detection method to which a type of radar such as a vehicle-mounted radar is applied is not suitable for the shore-based sea-to-sea radar. For simplicity of description, the shore-based sea-to-sea radar is simply referred to as a radar hereinafter, and will not be described in detail later.

In view of this, in an embodiment, as shown in fig. 1, a radar-based target detection method is provided, and this embodiment is illustrated by applying the method to a terminal, it is to be understood that the method may also be applied to a server, and may also be applied to a system including the terminal and the server, and is implemented by interaction between the terminal and the server. The terminal is, for example, an electronic device such as a smart phone, a notebook computer, and a portable processing terminal. Illustratively, the terminal is, for example, a computer device associated with a shore-based sea-to-sea radar, including but not limited to, a transmitter, a transmitting antenna, a receiver, a receiving antenna, a processor, a display, and the like; accordingly, the terminal receives and processes data detected by the shore-based sea-to-sea radar. In this embodiment, the method includes the steps of:

step S102, obtaining a given area drawn by a user, and determining a target boundary which takes a radar center as a circle center and takes a preset distance as a radius; wherein the given area is in the shape of an irregular polygon; the preset distance is larger than the scanning radius of the radar, and a plurality of boundary points exist on the target boundary.

The given area is drawn by the user based on actual requirements and comprises a shielding area, an alarm area, a capture area and the like. The shielding area is used for shielding detection echo signals returned by the target objects in the area, so that unnecessary calculation power consumption is reduced. For the alarm area, when the target object is detected in the area, the terminal sends out an alarm prompt. For the capture area, when a target object is detected in the area, the terminal captures a detection echo signal returned by the target object and continuously tracks the target object.

Generally, a given area drawn by a user, such as a shielded area, is generally a regular shape, such as a circle, or a rectangle, as limited by the detection algorithm. However, in an actual scene, terrains such as land, islands, beaches and the like are complex, and the regular shapes cannot be well attached to the actual terrains, so that misjudgment is easily caused, and the accuracy of subsequent target detection is seriously affected. Therefore, the method and the device for detecting the target provide a drawing mode of the given area of the irregular polygon for a user, and accordingly provide a target detection algorithm for the given area of the irregular polygon, so that the accuracy of target detection is improved. After the user draws the given area of the irregular polygon, the terminal can simultaneously acquire longitude information and latitude information of each point on each side of the given area.

Specifically, the terminal establishes a two-dimensional plane coordinate system with a Latitude (Latitude) as a horizontal axis LAT and a Longitude (Longitude) as a vertical axis LON, and after a given area of an irregular polygon drawn by a user is obtained, the terminal obtains position information of a radar center, and forms a circle on the two-dimensional plane coordinate system with the radar center as a circle center and a preset distance as a radius, wherein a boundary corresponding to the circle is a target boundary. The radar center refers to the installation position of the radar antenna, and is generally the center point of the scanning range of the radar. The location information of the radar center is longitude information and latitude information of the radar center. It should be noted that a plurality of boundary points exist on the boundary of the object, which are used for facilitating subsequent description and facilitating calculation by the terminal, and do not refer to the boundary points that actually exist.

In order to ensure that a given area drawn by the user can be effective (for example, to mask a detected echo signal in a drawn shielded area), the preset distance should be selected to be out of the range where the radar cannot reach, that is, the preset distance should be greater than the maximum scanning radius of the radar. Usually, the scanning radius of the shore-based sea radar is 10 to 20 nautical miles, and the preset distance may be, for example, 60 nautical miles, 80 nautical miles, or 100 nautical miles.

And step S104, selecting one azimuth as a current azimuth from a plurality of azimuths uniformly arranged in the scanning range of the radar, and determining a line segment which takes the center of the radar as an endpoint on the current azimuth and takes a boundary point corresponding to the current azimuth on a target boundary as another endpoint.

Specifically, the terminal sets up a plurality of azimuths in the scanning range that radar scanning round formed to supply subsequent detection more accurate. In some embodiments, the plurality of azimuths are uniformly arranged within the scanning range of the radar according to the device information of the radar and a preset azimuth interval angle. The device information of the radar includes, but is not limited to, model, frequency, waveform, detection distance, resolution, antenna type, azimuth beam width, elevation beam width, rotation speed, azimuth pointing accuracy, and the like. Due to the limitation of the device information of the radar, and in order to secure the accuracy and efficiency of the calculation, the orientations uniformly set within the scanning range of the radar may be, for example, 512, 128, or the like. That is, 512 azimuths are set within the scanning range of the radar so as to evenly subdivide 360 degrees of one revolution of the radar scan into 512 parts, each occupying about 0.7 degree of central angle.

Among the set plurality of orientations, the terminal selects one of the orientations as a current orientation and starts calculation. Illustratively, assuming that the radar center R is located inside the given area 202, fig. 2a shows a two-dimensional planar coordinate system with latitude as the horizontal axis LAT and longitude as the vertical axis LON, the given area 202 of the user-drawn irregular polygon, the radar center R, and the target boundary 204. The terminal selects the position where the RA is located as the current position, and determines a line segment RA which takes the radar center R as an end point and a boundary point A corresponding to the current position on the target boundary 204 as another end point on the current position.

Illustratively, assuming that the radar center R is located outside the given area 202, fig. 2b shows a two-dimensional planar coordinate system with latitude as the horizontal axis LAT and longitude as the vertical axis LON, the user-drawn given area 202 ' of irregular polygons, the radar center R ', and the target boundary 204 '. The terminal selects the position where the R ' A ' is located as the current position, and determines a line segment R ' A ' which takes the radar center R ' as an end point and a boundary point A ' corresponding to the current position on the target boundary 204 ' as another end point on the current position.

Step S106, a plurality of intersection points of the line segment and the given area are determined, and a plurality of sub-line segments formed by the intersection points in sequence in the current direction are determined.

Specifically, the terminal may intersect with the given region or may not intersect with the given region according to a line segment which has the radar center as an end point in the current position and a boundary point corresponding to the current position on the target boundary as another end point. In the case where the line segment does not intersect the given region, its sub-line segment is the entire line segment.

In the case where a current line segment intersects a given area, there are at least two points of intersection of the line segment with the given area. And the terminal determines all the intersection points of the current line segment and the given area, and sequentially determines a sub-line segment formed by the radar center and the first intersection point, a sub-line segment formed by the first intersection point and the second intersection point, and a sub-line segment … … formed by the second intersection point and the third intersection point in the current direction by taking the radar center as an end point, and so on, thereby obtaining a plurality of sub-line segments formed by a plurality of intersection points in sequence in the current direction.

For example, as shown in FIG. 2a, assuming that the radar center R is located inside the given area 202, the terminal is located at the intersection C of the given area 202 with the line segment RA₁、C₂、C₃And C₄Sequentially determining the intersection point C at the current position₁、C₂、C₃And C₄A plurality of sub-line segments RC formed in sequence₁、C₁C₂、C₂C₃And C₃C₄。

As another example, as shown in FIG. 2b, assuming that the radar center R is located outside the given area 202, the terminal end is located according to the intersection C of the line segment R 'A' and the given area 202₁’、C₂', and C₃', sequentially determined at the current orientation by the intersection point C₁’、C₂', and C₃'sequentially formed plurality of sub-line segments R' C₁’、C₁’C₂', and C₂’C₃’。

And S108, determining the zone bits respectively corresponding to the plurality of sub-line segments in the current direction according to the relative position relation of the radar center relative to the given area.

Wherein, the relative position relation of the radar center relative to the given area comprises: the radar center is located inside the given area, or the radar center is located outside the given area.

In some embodiments, as shown in fig. 3, the step of determining the relative positional relationship of the radar center with respect to the given area includes:

step S302, determining a circumscribed rectangular area of the given area based on the position information of each end point of the given area.

Specifically, when acquiring a given area drawn by a user, the terminal may acquire position information, that is, longitude information and latitude information, of each endpoint of the given area at the same time. Alternatively, the terminal may also obtain the position information when it needs to calculate by using the position information of the end point of the given area, and the timing at which the terminal obtains the position information of each end point of the given area is not limited in this embodiment.

According to the position information of each end point of the given area, the terminal can determine the minimum longitude, the maximum longitude, the minimum latitude and the maximum latitude of the longitude and the latitude of each end point, and accordingly determine a rectangular area formed by the minimum longitude, the maximum longitude, the minimum latitude and the maximum latitude, wherein the rectangular area is a circumscribed rectangular area (hereinafter referred to as a rectangular area) of the given area.

For example, as shown in fig. 2c, after acquiring the longitude and latitude of each endpoint of the given area 202, the terminal determines a rectangular area 206 composed of a minimum longitude Lon1, a maximum longitude Lon2, a minimum latitude Lat1, and a maximum latitude Lat2, and accordingly determines the rectangular area 206, which is a circumscribed rectangular area of the given area, of the minimum longitude Lon1, the maximum longitude Lon2, the minimum latitude Lat1, and the maximum latitude Lat 2.

And step S304, determining whether the radar center is positioned inside the circumscribed rectangular area or not according to the position information of the radar center.

Specifically, the terminal determines whether the radar center is located inside the rectangular area by determining the longitude and latitude lons Lon1, Lon2, Lat1, and Lat2 corresponding to the longitude information and the latitude information of the radar center and the four sides of the rectangular area according to the longitude information and the latitude information of the radar center.

Step S306, when the radar center is determined to be located inside the circumscribed rectangular area, determining the intersection points of the ray which takes the radar center as an end point and faces the preset direction and the given area, and determining that the radar center is located inside or outside the given area according to the number of the intersection points.

Specifically, when the terminal determines that the radar center is located inside the circumscribed rectangular area, it is necessary to further determine that the radar center is located inside or outside the given area. The terminal takes the radar center as an end point, makes a ray towards a preset direction, and determines the intersection point of the ray and the given area, so that the terminal can determine that the radar center is positioned inside or outside the given area according to the fact that the number of the intersection points is odd or even. For example, for convenience of calculation, the terminal may select a position in the south, east, west, north, or north to east 45 degrees as the preset position. Wherein a ray made towards the predetermined orientation with the radar center as an end point may also intersect the given area, another orientation may be selected such that the ray intersects the given area.

Illustratively, as shown in FIG. 2a, the intersection C of ray RA with a given region 202₁、C₂、C₃、C₄Is even, the radar center R is outside the given area 202. As another example, as shown in FIG. 2b, the intersection C of ray R ' A ' with 202 ' of a given region₁’、C₂’、C₃The number of ' is odd, the radar center R ' is located inside the given area 202 '.

And step S308, when the radar center is determined to be positioned outside the circumscribed rectangular area, directly determining that the radar center is positioned outside the given area.

Specifically, when the terminal determines that the radar center is located outside the circumscribed rectangular area, it can be directly determined that the radar center is located outside the given area.

It should be noted that the step of determining the relative positional relationship between the radar center and the given area is not limited to the step after step S106, and the determination may be performed after the given area drawn by the user is acquired.

By judging whether the radar center is in the given area or not by the terminal, the terminal can obtain a plurality of intersection points of a line segment which takes the radar center as an endpoint and faces to one direction and one boundary point on a target boundary as the other endpoint and the edge of the given area according to the relative position relation of the radar center and the given area, thereby determining the line segment which is formed by the radar center and the intersection points in sequence and being convenient for better calculating the position information of the given area.

In some embodiments, as shown in fig. 4, the determining, by the terminal, the flag bits corresponding to the plurality of sub-line segments in the current azimuth according to the relative position relationship of the radar center with respect to the given area includes:

step S402, when the radar center is determined to be located in the given area, setting the zone bit of the odd-order sub-line segment facing the radar center to the current position as a first zone bit, and setting the zone bit of the even-order sub-line segment as a second zone bit; wherein the second flag bit is different from the first flag bit;

and S404, when the radar center is determined to be positioned outside the given area, setting the zone bit of the even-order sub-line segment facing the radar center to the current position as a first zone bit, and setting the zone bit of the odd-order sub-line segment as a second zone bit.

The first flag bit and the second flag bit are both used for describing the flag bit corresponding to the sub-line segment, but the first flag bit is different from the second flag bit. The first flag bit and the second flag bit are used to indicate that the corresponding sub-line segment is located inside or outside of a given region. In some embodiments, the flag bit of a corresponding sub-line segment is set to a first flag bit when the sub-line segment is inside the given region, and otherwise, the flag bit of the sub-line segment is set to a second flag bit when the corresponding sub-line segment is outside the given region. For another example, when the corresponding sub-line segment is located outside the given region, the flag bit of the sub-line segment is set as the first flag bit, otherwise, when the corresponding sub-line segment is located inside the given region, the flag bit of the sub-line segment is set as the second flag bit.

When a line segment does not intersect a given region, there is accordingly no intersection point, and the sub-line segment of the line segment is the line segment itself. At this time, since the line segment does not intersect with the given region, the terminal sets the flag bit corresponding to the line segment as the second flag bit.

Illustratively, for ease of computation by the processor and ease of description, the first flag bit is denoted as "1" and, correspondingly, the second flag bit is denoted as "0". Of course, it should be understood by those skilled in the art that the first flag bit and the second flag bit are respectively represented by "1" and "0" as an example, and are not limited to the first flag bit and the second flag bit; for example, the first flag bit may also be represented as "+", the second flag bit as "-", or the first flag bit as "inner", the second flag bit as "outer", and so on.

Specifically, when the terminal determines that the radar center is located in a given area, setting the zone bit of the odd-order sub-line segment facing the radar center to the current position as a first zone bit, and setting the zone bit of the even-order sub-line segment as a second zone bit; otherwise, when the terminal determines that the radar center is located outside the given area, the zone bit of the even-order sub-line segment facing the radar center to the current position is set as the first zone bit, and the zone bit of the odd-order sub-line segment is set as the second zone bit.

For example, as shown in fig. 2a, when the terminal determines that the radar center R is located outside the given area 202, the flag of the even-order sub-line segment toward the radar center R in the current azimuth RA is set as the first flag, i.e., the sub-line segment is set as the first flagLine segment C₁C₂Sub-line segment C₃C₄The corresponding flag bit is set as the first flag bit. Meanwhile, the terminal sets the flag bit of the sub-line segment in odd order as the second flag bit, i.e., sets the sub-line segment RC₁Sub-line segment C₂C₃The corresponding flag bit is set to the second flag bit. Taking the first flag bit as "1" and the second flag bit as "0" as examples, the sub-line segment RC₁、C₁C₂、C₂C₃、C₃C₄The corresponding flag bits are 0, 1, 0 and 1 in sequence.

As another example, as shown in FIG. 2b, when the terminal determines that the radar center R ' is outside the given region 202 ', the flag of the sub-line segment in odd order toward the current bearing R ' A ', i.e., the sub-line segment R ' C, is set to the first flag₁', sub-line segment C₂’C₃' the corresponding flag is set to the first flag. Meanwhile, the terminal sets the flag bit of the even-order sub-line segment as the second flag bit, i.e., the sub-line segment C₁’C₂' the corresponding flag bit is set to the second flag bit. Taking the first flag bit as "1" and the second flag bit as "0", for example, the sub-line segment R' C₁’、C₁’C₂’、C₂’C₃The' corresponding flag bits are 1, 0 and 1 in sequence.

When the line segment RA (R 'a') does not intersect the given region, there is no intersection point accordingly, and the sub-line segment of the line segment RA (R 'a') is RA (R 'a') itself. At this time, since the segment RA does not intersect with the given region, the terminal sets the flag corresponding to the segment RA (R 'a') to "0".

And step S110, returning to the step of selecting one azimuth from the plurality of azimuths as the current azimuth and continuing to execute the steps until all azimuths in the scanning range of the radar are traversed, and obtaining a plurality of flag bits on each azimuth.

Specifically, after the terminal determines that the flag bits of each sub-line segment of the line segment in the current azimuth are completed, the terminal selects the next azimuth to repeat the steps of S104 to S108 until the terminal completes the determination of the flag bits for all the divided azimuths, thereby obtaining a plurality of flag bits of the radar in each azimuth (the flag bits in one azimuth may be simply referred to as azimuth flags).

The terminal can store a plurality of zone bits of the acquired radar in all directions in the scanning range, so that the zone bits can be used for calculation in target detection.

Step S112, transmitting a detection signal through the radar, and when receiving a detection echo signal returned by the target object in response to the detection signal, acquiring a plurality of scanning sampling points of the target object detected based on the detection signal.

When the scanning line scans and detects the target object clockwise or anticlockwise, the terminal can display the scanning sampling point corresponding to the target object on the corresponding scanning line. Since the target object has a certain volume size, when the radar detects the target object, the terminal displays that the scanning sampling points exist on a plurality of scanning lines correspondingly.

Specifically, the detection signal is continuously transmitted by the radar, and the terminal continuously detects whether a detection echo signal returned by the detection signal irradiated to the target object exists in the scanning range. When a detection echo signal returned by the target object in response to the detection signal is received, the terminal acquires a plurality of scanning sampling points on at least one scanning line of the target object detected based on the detection signal.

And step S114, acquiring a detection result of whether the target object is in a given area according to the zone bit corresponding to the sub-line segment where the plurality of scanning sampling points are located.

Specifically, the terminal determines one of the scanning sampling points as a scanning sampling point for determining a detection result according to the plurality of scanning sampling points, and acquires the detection result of whether the target object is in the given area according to the flag bit corresponding to the sub-line segment where the scanning sampling point is located.

In some embodiments, the step of acquiring, by the terminal, a detection result of whether the target object is in the given area according to the flag bit corresponding to the sub-line segment where the plurality of scanning sampling points are located includes: selecting a scanning sampling point positioned at the center as a target sampling point from the plurality of scanning sampling points; and acquiring a detection result of whether the target object is in the given area or not according to the zone bit corresponding to the sub-line segment where the target sampling point is located.

Specifically, when the terminal acquires a plurality of scanning sampling points corresponding to the target object, longitude information and latitude information corresponding to each scanning sampling point can be acquired. According to the longitude information and the latitude information of the radar center, the terminal can respectively determine the distance value between each scanning sampling point and the radar center and determine the direction of each scanning sampling point. Therefore, the terminal selects the scanning sampling point with the intermediate distance value and the intermediate azimuth as the target sampling point from the plurality of scanning sampling points. Illustratively, as shown in fig. 2d, when the radar detects a target object 210, the terminal acquires a plurality of scan sample points 212 formed by a plurality of scan lines 208 and the target object. In order to reduce the amount of calculation and improve the calculation efficiency, the terminal takes the scanning sampling point with the intermediate distance value and the intermediate azimuth as the target sampling point 214. By determining that the zone bit corresponding to the sub-line segment where the target sampling point is located is the first zone bit or the second zone bit, the terminal can determine whether the target object is in the detection result of the given area. For example, when the flag corresponding to the sub-line segment (or line segment) corresponding to the target sampling point 214 is the first flag, it is determined that the target object is located inside the given area. For another example, when the flag corresponding to the sub-line segment (or line segment) corresponding to the target sampling point 214 is the second flag, it is determined that the target object is located outside the given area.

In the radar-based target detection method, the drawing mode of the given area of the irregular polygon is provided for a user, and compared with the regular shape, the target detection method is more suitable for the outline of the actual terrain, and the set given area is more accurate; meanwhile, for a given area of the drawn irregular polygon, a target boundary is formed by selecting a distance which cannot be acted by the radar as a radius, the scanning range of the radar is subdivided into a plurality of azimuths, a line segment which faces the target boundary with the center of the radar as an end point and takes a corresponding boundary point as the other end point in each azimuth is respectively determined, a corresponding sub-line segment is determined according to the intersection point of the line segment and the given area, and a mark bit corresponding to each sub-line segment is set, so that when the radar transmits a detection signal and detects a detection echo signal of a target object, the detection result of whether the target object is in the given area can be determined according to the mark bit corresponding to the sub-line segment where the corresponding scanning sampling point is located, and compared with a rough detection mode of regular figures such as a circle or a rectangle, the detection accuracy can be greatly improved, and the misjudgment is avoided.

In some embodiments, the steps in the above embodiments may be performed on the terminal by means of a program or a program block. As shown in fig. 5, in a specific example, the steps of the terminal, for example, by running a program, executing the radar-based target detection method according to the embodiment of the present application include:

step S501, drawing a given area, and acquiring and storing the longitude and latitude of an endpoint of the given area;

step S502, establishing a two-dimensional plane coordinate system with latitude as a horizontal axis and longitude as a vertical axis;

step S503, mapping the end point of the given area and the radar center to a coordinate system;

step S504, obtaining the maximum longitude and latitude and the minimum longitude and latitude of the endpoint of the given area and determining an externally tangent rectangle;

step S505, judging whether the radar is in the external rectangular area; if yes, go to step S506; otherwise, go to step S508;

step S506, calculating the longitude and latitude of the position of a preset azimuth (for example, 80 nautical miles in the due north direction), and connecting the point and the center of the radar to form a line segment;

step S507, calculating the number of the intersection points of the ray and the given area; if the number is even, the radar center is outside the given area, and if the number is odd, the radar center is inside the given area;

step S508, thinning 360 degrees into 512 directions, and setting a finish point at 80 nautical miles of each direction;

step S509, connecting the ending point of the azimuth with the center of the radar to form a line segment RA, and calculating the longitude and latitude of the point;

step S510, calculating the intersection points of the line segment RA and each side of the given area, and solving the distance between the intersection points and the radar center;

s511, sorting R, C1, C2 and C3 … from small to large according to the distance between the intersection point and the radar center;

step S512, judging whether the radar center is in a given area; if yes, go to step S513; otherwise, go to step S514;

step S513, the RC1 line segment is inside the given area, the C1C2 is outside, … …, and so on;

step S514, the RC1 line segment is outside the given area, the C1C2 is inside, … …, and so on;

step S515, saving the orientation mark and selecting the next orientation;

step S516, judging whether the traversing is 360 degrees or not; if yes, go to step S517; otherwise, the process returns to step S509 to continue execution;

and step S517, comparing the received scanning sampling points of the target object, and detecting the target object.

Specifically, a user draws a given area, a terminal acquires the given area and stores the longitude and latitude of an end point of the given area, then a two-dimensional plane coordinate system with the latitude as a horizontal axis and the longitude as a vertical axis is established, and the end point of the given area and a radar center are mapped into the coordinate system. And the terminal determines the maximum longitude and latitude and the minimum longitude and latitude of the end point of the given area according to the saved longitude and latitude of the end point of the given area and determines the circumscribed rectangular area. According to the circumscribed rectangular area of the given area, the terminal judges whether the radar is in the circumscribed rectangular area; if so, it is further determined whether the radar is inside the given area. For example, the terminal connects the point and the radar center to form a line segment by calculating the longitude and latitude of the position in the true north direction 80 nautical miles, and calculates the number of intersection points of the ray and the given area; the radar center is outside the given area if it is even, and inside the given area if it is odd. When the terminal determines that the radar center is outside the circumscribed rectangular area through judgment, the radar center is directly determined to be outside the given area.

Then, the terminal refines 360 ° of rotation for one turn of radar scanning to 512 azimuths, and sets an end point a (i.e., a boundary point) at 80 nautical miles per azimuth. For one azimuth, the terminal connects the end point of the azimuth with the center of the radar to form a line segment RA, and the longitude and latitude of the point A are calculated. Thus, the terminal may calculate the intersection R, C of the line segment RA with the sides of a given area₁、C₂、C₃、C₄…, calculating the distance between the intersection point and the radar center; according to the distance between the intersection point and the radar center from small to large, the stator line sections RC can be determined in sequence₁、C₁C₂、C₂C₃、C₃C₄…。

Then, the terminal determines whether the radar center is inside the given area. If the terminal determines that the radar center is in the given area through judgment, determining the RC₁The line segment being inside a given area, C₁C₂Externally, … …, and so on; if the terminal determines that the radar center is outside the given area through judgment, determining RC₁The line segment being outside the given area, C₁C₂Internally, … …, and so on. Thus, the terminal acquires the orientation flag of the current orientation. The terminal stores the orientation mark in the orientation and selects the next orientation. After the terminal selects the next direction, whether the direction exceeds 512 preset directions is judged, that is, whether all 360-degree traversal is completed is judged. If not, the terminal returns to step S509 to continue execution until all 360 ° traversals are completed.

And after the terminal finishes the determination of the orientation mark of each orientation of 360 degrees, the determination result can be stored for calculation by utilizing the determination result during detection. When the terminal receives the scanning sampling point of the target object subsequently, the line segment where the scanning sampling point of the target object is located is compared with the sub-line segment obtained before, and the zone bit of the sub-line segment corresponding to the line segment where the scanning sampling point is located is determined, so that whether the target object is in a given area or not is judged, and then the target object is detected.

In some embodiments, the radar-based target detection method further includes a step of performing a shielding process on the given area, where the step specifically includes: and when the given area is a shielding area and the detection result represents that the target object is in the given area, shielding the detection echo signal of the target object. When the user sets the drawn given area as a mask area, the terminal needs to perform mask processing on the detection echo signal in the given area. Specifically, the terminal masks all detected echo signals within the range represented by the given region, for example, the terminal sets the amplitude of the scanning sampling point within the given region to 0, thereby realizing that the target object is not tracked and displayed any more subsequently. Alternatively, the terminal sets the tracking mask to the detection echo signal of the target object in the given area, and displays only the detection echo signal, but does not display the detection echo signal any more

In some embodiments, the radar-based target detection method further includes a step of generating an alarm prompt when a target object is detected in the given area, where the step specifically includes: and when the given area is the warning area and the detection result represents that the target object is in the given area, generating an alarm prompt. Specifically, when detecting that a detection echo signal exists in the given area, the terminal generates an alarm prompt and performs visualization through a display or performs alarm through sound or voice so as to prompt a user or an operator that a target object enters the alarm area.

It should be understood that although the various steps in the flowcharts of fig. 1, and 3-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1, and 3-5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least some of the other steps.

In one embodiment, as shown in fig. 6, there is provided a radar-based target detecting apparatus including: a processing module 601 and a detection module 602, wherein:

the processing module 601 is configured to obtain a given area drawn by a user, and determine a target boundary formed by taking a radar center as a circle center and a preset distance as a radius; wherein the given area is in the shape of an irregular polygon; the preset distance is larger than the scanning radius of the radar, and a plurality of boundary points exist on the target boundary.

The processing module 601 is further configured to select one of the azimuths uniformly set within the scanning range of the radar as a current azimuth, and determine a line segment that takes the center of the radar as an end point in the current azimuth and a boundary point corresponding to the current azimuth on a target boundary as another end point.

The processing module 601 is further configured to determine a plurality of intersections of the line segment with the given area, and determine a plurality of sub-line segments sequentially formed by the plurality of intersections in the current orientation.

The processing module 601 is further configured to determine flag bits corresponding to the plurality of sub-line segments in the current azimuth according to a relative position relationship between the radar center and the given area.

The processing module 601 is further configured to return to the step of selecting one of the plurality of orientations as the current orientation and continue the execution until all orientations within the scanning range of the radar are traversed, and obtain a plurality of flag bits at each orientation.

The detection module 602 is configured to transmit a detection signal through a radar, and when a detection echo signal returned by a target object in response to the detection signal is received, obtain a plurality of scanning sampling points of the target object detected based on the detection information.

The detecting module 602 is further configured to obtain a detection result of whether the target object is in the given area according to the flag bit corresponding to the sub-line segment where the plurality of scanning sampling points are located.

In some embodiments, the processing module is further configured to uniformly set a plurality of directions within a scanning range of the radar according to the device information of the radar and according to a preset azimuth interval angle.

In some embodiments, the processing module is further configured to determine a relative positional relationship of the radar center with respect to the given area, i.e., the processing module is further configured to determine a circumscribed rectangular area of the given area based on positional information of endpoints of the given area; determining whether the radar center is positioned in the circumscribed rectangular area or not according to the position information of the radar center; when the radar center is determined to be located inside the circumscribed rectangular area, determining intersection points of rays which take the radar center as an end point and face a preset direction and the given area, and determining that the radar center is located inside or outside the given area according to the number of the intersection points; when it is determined that the radar center is located outside the circumscribed rectangular area, it is directly determined that the radar center is located outside the given area.

In some embodiments, the processing module is further configured to determine flag bits corresponding to the plurality of sub-line segments in the current orientation according to a relative position relationship of the radar center with respect to the given area, that is, when it is determined that the radar center is located inside the given area, the processing module is further configured to set the flag bits of the sub-line segments in the odd-numbered order, which are oriented toward the current orientation, of the radar center as a first flag bit, and set the flag bits of the sub-line segments in the even-numbered order as a second flag bit; wherein the second flag bit is different from the first flag bit; when it is determined that the radar center is located outside the given area, the flag of the even-order sub-line segment toward the radar center in the current azimuth is set to a first flag, and the flag of the odd-order sub-line segment is set to a second flag.

In some embodiments, the detection module is further configured to select, from the plurality of scanning sampling points, a scanning sampling point located at the center as the target sampling point; and acquiring a detection result of whether the target object is in the given area or not according to the zone bit corresponding to the sub-line segment where the target sampling point is located.

In some embodiments, the radar-based target detection apparatus further includes a shielding module, configured to shield a detection echo signal of the target object when the given area is a shielding area and the detection result indicates that the target object is within the given area.

In some embodiments, the radar-based target detection apparatus further includes an alert module configured to generate an alert prompt when the given area is an alert area and the detection result indicates that the target object is within the given area.

For specific limitations of the radar-based target detection apparatus, reference may be made to the above limitations of the radar-based target detection method, which are not described herein again. The various modules in the radar-based target detection apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a radar-based target detection method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: acquiring a given area drawn by a user, and determining a target boundary which is formed by taking a radar center as a circle center and taking a preset distance as a radius; wherein the given area is in the shape of an irregular polygon; the preset distance is larger than the scanning radius of the radar, and a plurality of boundary points exist on the target boundary; selecting one azimuth as a current azimuth from a plurality of azimuths uniformly arranged in a scanning range of the radar, and determining a line segment which takes the center of the radar as an endpoint on the current azimuth and takes a boundary point corresponding to the current azimuth on a target boundary as another endpoint; determining a plurality of intersection points of the line segment and the given area, and determining a plurality of sub-line segments formed by the intersection points in sequence in the current direction; determining flag bits respectively corresponding to the plurality of sub-line segments in the current direction according to the relative position relation of the radar center relative to the given area; returning to the step of selecting one azimuth from the plurality of azimuths as the current azimuth and continuing to execute the step until all azimuths in the scanning range of the traversing radar are traversed and obtaining a plurality of flag bits on each azimuth; transmitting a detection signal through a radar, and when a detection echo signal returned by a target object in response to the detection signal is received, acquiring a plurality of scanning sampling points of the target object detected based on the detection signal; and acquiring a detection result of whether the target object is in the given area or not according to the zone bit corresponding to the sub-line segment where the plurality of scanning sampling points are located.

In one embodiment, the processor, when executing the computer program, further performs the steps of: and uniformly setting a plurality of directions within the scanning range of the radar according to the equipment information of the radar and the preset azimuth interval angle.

In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a circumscribed rectangular area of the given area based on the position information of each end point of the given area; determining whether the radar center is positioned in the circumscribed rectangular area or not according to the position information of the radar center; when the radar center is determined to be located inside the circumscribed rectangular area, determining intersection points of rays which take the radar center as an end point and face a preset direction and the given area, and determining that the radar center is located inside or outside the given area according to the number of the intersection points; when it is determined that the radar center is located outside the circumscribed rectangular area, it is directly determined that the radar center is located outside the given area.

In one embodiment, the processor, when executing the computer program, further performs the steps of: when the radar center is determined to be located in a given area, setting the zone bits of the odd-order sub-line segments of the radar center facing the current position as first zone bits, and setting the zone bits of the even-order sub-line segments as second zone bits; wherein the second flag bit is different from the first flag bit; when it is determined that the radar center is located outside the given area, the flag of the even-order sub-line segment toward the radar center in the current azimuth is set to a first flag, and the flag of the odd-order sub-line segment is set to a second flag.

In one embodiment, the processor, when executing the computer program, further performs the steps of: selecting a scanning sampling point positioned at the center as a target sampling point from the plurality of scanning sampling points; and acquiring a detection result of whether the target object is in the given area or not according to the zone bit corresponding to the sub-line segment where the target sampling point is located.

In one embodiment, the processor, when executing the computer program, further performs the steps of: when the given area is a shielding area and the detection result represents that the target object is in the given area, shielding the detection echo signal of the target object; and when the given area is the warning area and the detection result represents that the target object is in the given area, generating an alarm prompt.

In the computer equipment, the given area of the irregular polygon is provided for the user in a drawing mode, and the set given area is more accurate compared with the outline of the actual terrain which is more fit for the regular shape; meanwhile, for a given area of the drawn irregular polygon, a target boundary is formed by selecting a distance which cannot be reached by radar as a radius, subdividing the scanning range of the radar into a plurality of azimuths, respectively determining a line segment which takes the center of the radar as an endpoint and faces to the target boundary and takes the corresponding boundary point as another endpoint on each azimuth, determining corresponding sub-line segments according to the intersection points of the line segments and the given area, setting the corresponding zone bit of each sub-line segment, therefore, when the radar transmits a detection signal and detects a detection echo signal of a target object, according to the mark bit corresponding to the sub-line segment where the corresponding scanning sampling point is positioned, the detection result of whether the target object is in the given area can be determined, and compared with a rough detection mode for regular graphs such as circles and rectangles, the detection accuracy can be greatly improved, and misjudgment is avoided.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring a given area drawn by a user, and determining a target boundary which is formed by taking a radar center as a circle center and taking a preset distance as a radius; wherein the given area is in the shape of an irregular polygon; the preset distance is larger than the scanning radius of the radar, and a plurality of boundary points exist on the target boundary; selecting one azimuth as a current azimuth from a plurality of azimuths uniformly arranged in a scanning range of the radar, and determining a line segment which takes the center of the radar as an endpoint on the current azimuth and takes a boundary point corresponding to the current azimuth on a target boundary as another endpoint; determining a plurality of intersection points of the line segment and the given area, and determining a plurality of sub-line segments formed by the intersection points in sequence in the current direction; determining flag bits respectively corresponding to the plurality of sub-line segments in the current direction according to the relative position relation of the radar center relative to the given area; returning to the step of selecting one azimuth from the plurality of azimuths as the current azimuth and continuing to execute the step until all azimuths in the scanning range of the traversing radar are traversed and obtaining a plurality of flag bits on each azimuth; transmitting a detection signal through a radar, and when a detection echo signal returned by a target object in response to the detection signal is received, acquiring a plurality of scanning sampling points of the target object detected based on the detection signal; and acquiring a detection result of whether the target object is in the given area or not according to the zone bit corresponding to the sub-line segment where the plurality of scanning sampling points are located.

In one embodiment, the computer program when executed by the processor further performs the steps of: according to the equipment information of the radar, a plurality of azimuths are uniformly arranged in the scanning range of the radar according to a preset azimuth interval angle.

In one embodiment, the computer program when executed by the processor further performs the steps of: determining a circumscribed rectangular area of the given area based on the position information of each end point of the given area; determining whether the radar center is positioned in the circumscribed rectangular area or not according to the position information of the radar center; when the radar center is determined to be located inside the circumscribed rectangular area, determining intersection points of rays which take the radar center as an end point and face a preset direction and the given area, and determining that the radar center is located inside or outside the given area according to the number of the intersection points; when it is determined that the radar center is located outside the circumscribed rectangular area, it is directly determined that the radar center is located outside the given area.

In one embodiment, the computer program when executed by the processor further performs the steps of: when the radar center is determined to be located in a given area, setting the zone bits of the odd-order sub-line segments of the radar center facing the current position as first zone bits, and setting the zone bits of the even-order sub-line segments as second zone bits; wherein the second flag bit is different from the first flag bit; when it is determined that the radar center is located outside the given area, the flag of the even-order sub-line segment toward the radar center in the current azimuth is set to a first flag, and the flag of the odd-order sub-line segment is set to a second flag.

In one embodiment, the computer program when executed by the processor further performs the steps of: selecting a scanning sampling point positioned at the center as a target sampling point from the plurality of scanning sampling points; and acquiring a detection result of whether the target object is in the given area or not according to the zone bit corresponding to the sub-line segment where the target sampling point is located.

In one embodiment, the computer program when executed by the processor further performs the steps of: when the given area is a shielding area and the detection result represents that the target object is in the given area, shielding the detection echo signal of the target object; and when the given area is the warning area and the detection result represents that the target object is in the given area, generating an alarm prompt.

In the computer-readable storage medium, by providing a drawing mode of a given area of an irregular polygon to a user, the set given area is more accurate compared with a regular shape which is more fit to the outline of an actual terrain; meanwhile, for a given area of the drawn irregular polygon, a target boundary is formed by selecting a distance which cannot be reached by radar as a radius, subdividing the scanning range of the radar into a plurality of azimuths, respectively determining a line segment which takes the center of the radar as an endpoint and faces to the target boundary and takes the corresponding boundary point as another endpoint on each azimuth, determining corresponding sub-line segments according to the intersection points of the line segments and the given area, setting the corresponding zone bit of each sub-line segment, therefore, when the radar transmits a detection signal and detects a detection echo signal of a target object, according to the mark bit corresponding to the sub-line segment where the corresponding scanning sampling point is positioned, the detection result of whether the target object is in the given area can be determined, and compared with a rough detection mode for regular graphs such as circles and rectangles, the detection accuracy can be greatly improved, and misjudgment is avoided.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A radar-based target detection method, the method comprising:

transmitting a detection signal through the radar, and acquiring a plurality of scanning sampling points of a target object detected based on the detection signal when a detection echo signal returned by the target object in response to the detection signal is received;

2. The method of claim 1, wherein the plurality of azimuths are uniformly arranged within a scanning range of the radar according to a preset azimuth interval angle based on device information of the radar.

3. The method of claim 1, wherein the relative positional relationship of the radar center with respect to the given area comprises: the radar center is located inside the given area, or the radar center is located outside the given area.

4. The method of claim 3, wherein the step of determining the relative positional relationship of the radar center with respect to the given area comprises:

5. The method according to claim 3, wherein the determining the flag bits corresponding to the sub-line segments in the current orientation according to the relative position relationship of the radar center with respect to the given area comprises:

when the radar center is determined to be located outside the given area, setting the zone bits of even-order sub-line segments of the radar center facing the current position to be first zone bits, and setting the zone bits of odd-order sub-line segments to be second zone bits.

6. The method according to claim 1, wherein the obtaining a detection result of whether the target object is in the given area according to the flag bit corresponding to the sub-line segment where the plurality of scanning sampling points are located comprises:

7. The method of claim 1, further comprising:

8. A radar-based object detection apparatus, the apparatus comprising:

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.