CN113589254A - Radar-based moving target detection method and device and radar detection equipment - Google Patents
Radar-based moving target detection method and device and radar detection equipment Download PDFInfo
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- CN113589254A CN113589254A CN202110966299.6A CN202110966299A CN113589254A CN 113589254 A CN113589254 A CN 113589254A CN 202110966299 A CN202110966299 A CN 202110966299A CN 113589254 A CN113589254 A CN 113589254A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Abstract
The invention discloses a radar-based moving target detection method, a radar-based moving target detection device and radar detection equipment, wherein the radar-based moving target detection method comprises the steps of obtaining current speed information of each effective target and reference state information of each effective target in a detection area of a radar; the reference state information of the effective target comprises the state information of the effective target at the previous moment; determining the current state information of the effective target according to the current speed information of the effective target and the reference state information of the effective target; the moving target detection method based on the radar provided by the embodiment of the invention considers the current motion state and the historical motion state of each effective target and avoids the problem that a certain effective target with a motion state is filtered after being static.
Description
Technical Field
The embodiment of the invention relates to the technical field of radar monitoring, in particular to a radar-based moving target detection method and device and radar detection equipment.
Background
In order to filter out clutter and retain moving targets, a Constant False Alarm Rate (CFAR) detector is generally used in the prior art in a signal processing stage of radar detection. After processing the input noise, the CFAR detector can determine a threshold which is quickly and adaptively adjusted along with the change of the noise, the threshold is compared with the amplitude of the signal of the input end, if the amplitude of the signal of the input end exceeds the threshold, the signal is judged to be a target, otherwise, the signal is judged to be a non-target.
The disadvantages of CFAR detectors are: once the target is stationary, the signal amplitude of the target will be lower than the threshold, and then the target will be judged to be not target, and then filtered out, that is, the moving target will disappear after being stationary, and the target is lost.
Disclosure of Invention
The invention provides a radar-based moving target detection method and device and radar detection equipment, which are used for effectively solving the problem of target loss after a target is static.
In a first aspect, an embodiment of the present invention provides a radar-based moving target detection method, including:
based on a radar, acquiring current speed information of each effective target in a detection area of the radar and reference state information of each effective target; the reference state information of the effective target comprises state information of the effective target at the previous moment;
determining the current state information of the effective target according to the current speed information of the effective target and the reference state information of the effective target;
and determining a moving target in each effective target according to the current state information of each effective target.
Optionally, after determining the current state information of the valid target according to the current speed information of the valid target and the reference state information of the valid target, the method further includes:
and storing the current state information of the effective target, and taking the current state information of the effective target as the reference state information of the effective target at the next moment.
Optionally, before obtaining current speed information of each effective target in the radar detection area and reference state information of each effective target based on a radar, the method further includes:
at the initial moment of radar detection, acquiring the speed information of all target objects in the radar detection area based on the radar;
and determining effective targets in all the target objects according to the speed information of the target objects.
Optionally, the speed information includes an actual speed;
determining effective targets in all the target objects according to the speed information of the target objects, wherein the effective targets comprise:
and determining the target object with the actual speed not being 0 in all the target objects as the effective target.
Optionally, after determining, as the valid target, a target whose actual speed is not 0 among all the targets, the method further includes: acquiring position information and speed information of each effective target in the current detection area based on the radar;
determining the type of each effective target by adopting a spatial clustering method according to the position information and the speed information of each effective target;
judging whether the speed information of the effective target is in a speed threshold range corresponding to the type of the effective target;
if yes, determining the current state information of the effective target as a first calibration state;
if not, determining the current state information of the effective target as a second calibration state.
Optionally, determining the current state information of the effective target according to the current speed information of the effective target and the reference state information of the effective target, includes:
determining the calibration speed of the effective target according to the current speed information of the effective target and the type of the effective target;
and determining the current state information of the effective target according to the calibration speed of the effective target and the state information of the effective target at the previous moment.
Optionally, determining the calibration speed of the effective target according to the current speed information of the effective target and the type of the effective target, includes:
judging whether the current speed information of the effective target is within a speed threshold range corresponding to the type of the effective target;
if so, determining the calibration speed of the effective target as a first calibration speed;
if not, determining that the calibration speed of the effective target is a second calibration speed.
Optionally, determining the current state information of the effective target according to the calibration speed of the effective target and the state information of the effective target at the previous time includes:
judging whether the effective target meets a preset condition or not; the preset conditions are that the calibration speed of the effective target is the second calibration speed and the state information at the last moment is the second calibration state;
if so, determining the current state information of the effective target as the second calibration state;
if not, determining that the current state information of the effective target is the first calibration state.
In a second aspect, an embodiment of the present invention further provides a radar-based moving target detection apparatus, including:
the target information acquisition module is used for acquiring the current speed information of each effective target and the reference state information of each effective target in the detection area of the radar based on the radar; the reference state information of the effective target comprises state information of the effective target at the previous moment;
a current state information determining module, configured to determine current state information of the effective target according to the current speed information of the effective target and the reference state information of the effective target;
and the moving target determining module is used for determining a moving target in each effective target according to the current speed information of each effective target and the current state information of each effective target.
In a third aspect, an embodiment of the present invention further provides a radar detection device, including: a radar and a processor;
the radar is used for transmitting electromagnetic waves in real time and receiving reflected echoes in real time, and transmitting the received reflected echoes to the processor;
the processor is used for acquiring the position information and the speed information of each target object according to the information carried by the received reflection echo, and executing the radar-based moving target detection method.
The radar-based moving target detection method provided by the embodiment of the invention is characterized in that the current speed information and the last-moment state information of each effective target are obtained based on the radar, the current state information of the effective target is determined according to the current speed information and the last-moment state information of the effective target, and the moving target is determined according to the current state information of each effective target, so that the current state and the historical state of each effective target are considered when the moving target is determined, the phenomenon that the effective target moving at the previous moment is lost due to the fact that the current moment is static is prevented, and the moving target can be determined comprehensively and accurately.
Drawings
Fig. 1 is a flowchart of a radar-based moving target detection method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another radar-based moving object detection method according to an embodiment of the present invention;
FIG. 3 is a flow chart of another radar-based moving object detection method provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a radar-based moving-target detection apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another radar-based moving-object detecting apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another radar-based moving-target detecting apparatus according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the invention provides a radar-based moving target detection method, which can solve the problem that a target is lost after the moving target is static, and can be executed by the radar-based moving target detection device provided by the embodiment of the invention, the radar-based moving target detection device can be realized by software and/or hardware, and the radar-based moving target detection device can be integrated in the radar detection equipment provided by the embodiment of the invention.
Fig. 1 is a flowchart of a radar-based moving object detection method according to an embodiment of the present invention, and as shown in fig. 1, the radar-based moving object detection method includes:
s110, acquiring current speed information of each effective target and reference state information of each effective target in a detection area of the radar based on the radar.
The reference state information of the effective target comprises the state information of the effective target at the last moment.
Specifically, the radar transmits electromagnetic waves into the detection area, the electromagnetic waves are reflected after contacting with the target to generate reflection echoes, the radar receives the reflection echoes reflected by the target and then sends information to the processor, the processor can acquire the current relative position and relative speed of each effective target by processing the transmission waves of the radar and the received reflection echoes, and the relative speed of the target is the actual speed of the target at the moment because the radar is static, wherein the effective target can be a target with the speed different from 0. The state information of the effective target can reflect whether the effective target is in a moving state at present or has a moving state at one time, and the current speed information and the state information of the effective target at the previous moment are acquired, so that the state information of each effective target can be acquired in an all-around manner. Wherein, the radar can be selected as millimeter wave radar.
And S120, determining the current state information of the effective target according to the current speed information of the effective target and the reference state information of the effective target.
Specifically, whether the effective target is currently in a moving state can be determined through the current speed information of the effective target, and since the reference state information of the effective target includes the state information of the effective target at the previous moment, that is, the current state information of each effective target is determined according to the current speed information and the state information of the previous moment, whether the effective target has a historical moving state can be determined according to the state information of the effective target at the previous moment, so that the historical moving state of each effective target can be used as a basis for determining the current state information of the effective target, and the problem that an effective target which has a moving state is filtered after being stationary can be avoided.
And S130, determining a moving target in each effective target according to the current state information of each effective target.
Specifically, if the current state information of the effective target is the historical moving state and/or the current moving state, the effective target can be determined to be the moving target; if the current state information of the effective target is determined to be in a static state without the historical moving state, the effective target can be determined to be a target which is not interested.
The radar-based moving target detection method provided by the embodiment of the invention is characterized in that the current speed information and the last-moment state information of each effective target are obtained based on the radar, the current state information of the effective target is determined according to the current speed information and the last-moment state information of the effective target, and the moving target is determined according to the current state information of each effective target, so that the current state and the historical state of each effective target are considered when the moving target is determined, the phenomenon that the effective target moving at the previous moment is lost due to the fact that the current moment is static is prevented, and the moving target can be determined comprehensively and accurately.
Optionally, fig. 2 is a flowchart of another radar-based moving object detection method provided in an embodiment of the present invention, and as shown in fig. 2, the radar-based moving object detection method includes:
s210, at the initial moment of radar detection, acquiring the speed information of all target objects in the radar detection area based on the radar.
And S220, determining effective targets in all the target objects according to the speed information of the target objects.
Specifically, in order to simplify the determination of the moving target, the target objects with a speed of 0, that is, stationary objects, may be included in the target objects in the radar detection area, and at the start time of radar detection, the target objects with a speed of not 0 may be determined as valid targets, and the target objects with a speed of 0 (for example, the ground, buildings, etc.) may be determined as invalid targets and filtered out, based on the speed information of all the target objects detected by the radar.
And S230, acquiring current speed information of each effective target and reference state information of each effective target in a detection area of the radar based on the radar.
And S240, determining the current state information of the effective target according to the current speed information of the effective target and the reference state information of the effective target.
And S250, storing the current state information of the effective target, and taking the current state information of the effective target as the reference state information of the effective target at the next moment.
Specifically, since the reference state includes the state information of the valid target at the previous time, after the current state information of each valid target is determined, the current state information of each valid target is stored so as to serve as the reference state information of the next time and serve as a basis for determining the state information of the next time.
And S260, determining a moving target in each effective target according to the current state information of each effective target.
According to the radar-based moving target detection method provided by the embodiment of the invention, at the initial moment of radar detection, all targets with the speed not being 0 are taken as effective targets, all targets detected by the radar are filtered, and then the effective targets with the current state information being in a historical moving state and/or the current moving state are determined as the moving targets according to the current speed information of the effective targets and the reference state information of the effective targets, so that the number of the targets when the moving targets are determined is reduced, and the determination process of the moving targets is simplified.
Optionally, fig. 3 is a flowchart of another radar-based moving object detection method according to an embodiment of the present invention, and as shown in fig. 3, the radar-based moving object detection method includes:
and S311, acquiring the speed information of all target objects in the radar detection area based on the radar at the initial time of radar detection.
And S312, determining the target object with the actual speed not being 0 in all the target objects as the effective target.
And S313, acquiring the position information and the speed information of each effective target in the current detection area based on the radar.
Specifically, electromagnetic waves transmitted by the radar can be reflected after contacting with an obstacle, reflected waves can be reflected at multiple positions of the same effective target, the reflected electromagnetic waves can be received by the radar and sent to the processor to be processed, the position and the speed information of the target point are obtained, the target points with similar positions and consistent speeds form the same target whole, and therefore the speed information of each effective target can be determined.
And S314, determining the type of each effective target by adopting a spatial clustering method according to the position information and the speed information of each effective target.
Specifically, the target objects in the radar detection area may include stationary target objects with a speed of 0, and at the start time of radar detection, the target objects with a speed of not 0 may be determined as valid targets according to the speed information of all the target objects detected by the radar, invalid targets of the target objects with a speed of 0 (e.g., the ground, buildings, etc.) are filtered out, and then the position information and the speed information of each valid target are collected, so as to determine the type of each valid target by using a spatial clustering method according to the position information and the speed information of each valid target, thereby reducing clustering data and reducing the calculation amount of a clustering algorithm. For example, a density-based noise application spatial clustering method (DBSCAN) can be used to screen out targets with a specific shape and a certain density. For example, if it is determined that the speeds of some target points coincide, the positional relationship satisfies the density requirement, and the formed target shape satisfies the shape requirement of the automobile, the target points may be classified as target points of the same effective target, and the effective target may be determined as the automobile target.
S315, judging whether the speed information of the effective target is in a speed threshold range corresponding to the type of the effective target; if yes, go to S316; if not, S317 is executed.
And S316, determining the current state information of the effective target as a first calibration state.
And S317, determining the current state information of the effective target as a second calibration state.
Specifically, each target category is provided with a corresponding speed threshold value, the speed threshold value is preferably the lowest speed of the corresponding target category, for example, the target category can comprise pedestrians, automobiles and the like, the speed threshold value range of the pedestrian category can be set to be more than 3.5km/h, and the speed threshold value range of the automobile category can be set to be more than 5 km/h. At the starting time of radar detection, for example, at time 0, the speed of each effective target is compared with the speed threshold range of the type to which the effective target belongs, and if the speed of the effective target is within the corresponding type threshold speed range, the state information state of the effective target at time 0 is set0For the first calibration state, it can be represented by "1", i.e. state01 is ═ 1; if the speed of the effective target is not in the corresponding type threshold range, the state information state of the effective target at the time of 0 is set0For the second calibration state, it can be represented by "0", i.e. state0＝0。
S318, acquiring current speed information of each effective target and reference state information of each effective target in a detection area of the radar based on the radar; the reference state information of the effective target comprises the state information of the effective target at the last moment.
S319, determining the calibration speed of the effective target according to the current speed information of the effective target and the type of the effective target.
Specifically, the speed of each effective target is compared with the speed threshold value of the type to which the effective target belongs, and the calibrated speed of each effective target is determined, so that micro-moving targets such as plants swinging along with wind, ground sundries and the like can be eliminated, and the motion state of the effective targets which are not eliminated can be determined, for example, if the speed of a certain pedestrian is determined to be less than 3.5km/h, the pedestrian can be considered to be in a stationary state, and if the speed of the certain pedestrian is greater than 3.5km/h, the pedestrian can be considered to be in a moving state.
For example, whether the current speed information of the effective target is within a speed threshold range corresponding to the type to which the effective target belongs is judged, and if the current speed information of the effective target is determined to be within the speed threshold range corresponding to the type to which the effective target belongs, the calibration speed of the effective target is determined to be a first calibration speed; and if the current speed information of the effective target is determined not to be in the speed threshold range corresponding to the type of the effective target, determining the calibration speed of the effective target to be a second calibration speed.
Specifically, taking the current time as the time k as an example, if it is determined that the current speed information of the effective target is within the speed threshold range corresponding to the type to which the effective target belongs, the calibrated speed of the effective target is determinedkAt the first calibrated speed, it can be represented by "1", i.e. speedk1 is ═ 1; if the current speed information of the effective target is determined not to be within the speed threshold range corresponding to the type of the effective target, determining the calibrated speed of the effective targetkAt the second calibrated speed, it can be represented by "0", i.e. speedk＝0。
S320, determining the current state information of the effective target according to the calibration speed of the effective target and the state information of the effective target at the previous moment.
Specifically, it may be determined whether the effective target is currently in a moving state according to the calibration speed of the effective target, and it may be determined whether the effective target has a moving state according to the state information of the effective target at the previous time.
Illustratively, the current state information of the valid target may be determined by: judging whether the effective target meets a preset condition or not; the calibration speed with the preset condition as the effective target is the second calibration speed and the last time stateThe state information is a second calibration state; if the effective target is determined to meet the preset condition, the calibration speed of the effective target is the second calibration speed (i.e. speed)k0) and the last state information is the second calibration state (i.e., state)k-10), the current state information of the valid target is determined as the second calibration state (i.e. state)k0); if the effective target is determined not to meet the preset condition, the calibration speed of the effective target is the first calibration speed (i.e. speed)k1) and/or the state information at the previous moment is the second calibration state (i.e. state)k-11), the current state information of the valid target is determined as the first calibration state (i.e. state)k＝1)。
S321, storing the current state information of the valid target, and using the current state information of the valid target as the reference state information of the valid target at the next time.
And S322, determining a moving target in each effective target according to the current state information of each effective target.
Specifically, if the current state information of the effective target is the first calibration state, that is, statekAnd if the target is 1, determining the effective target as the moving target.
According to the radar-based moving target detection method provided by the embodiment of the invention, after effective targets are determined according to target speeds, the types of the effective targets are determined by adopting a spatial clustering algorithm, different speed threshold ranges are set for different target types, the speeds of the effective targets are compared with the corresponding speed threshold ranges, so that the state information of the effective targets at the starting moment is determined, the current state information is determined according to the calibration speed of the effective targets and the state information at the previous moment when the detection is continued, the current motion state and the historical motion state of the effective targets are considered, and the situation that the effective targets with motion states exist once are filtered after being static is effectively avoided.
Based on the same inventive concept, embodiments of the present invention further provide a radar-based moving target detection apparatus, which can solve the problem of target loss after a moving target is stationary, and the radar-based moving target detection apparatus may be used to perform the radar-based moving target detection method provided in the embodiments of the present invention, and the radar-based moving target detection apparatus may be implemented by software and/or hardware, and may be integrated in the radar detection device provided in the embodiments of the present invention.
Fig. 4 is a schematic structural diagram of a radar-based moving-target detecting apparatus according to an embodiment of the present invention, and as shown in fig. 4, the radar-based moving-target detecting apparatus includes: a first effective target information obtaining module 100, configured to obtain, based on a radar, current speed information of each effective target and reference state information of each effective target in a detection area of the radar; the reference state information of the effective target comprises the state information of the effective target at the previous moment; a state information determining module 200, configured to determine current state information of an effective target according to current speed information of the effective target and reference state information of the effective target; and a moving target determining module 300, configured to determine a moving target in each valid target according to the current speed information of each valid target and the current state information of each valid target.
The radar-based moving target detection device provided by the embodiment of the invention obtains the current speed information and the state information of the previous time of each effective target based on the radar, determines the current state information of the effective target according to the current speed information and the state information of the previous time of the effective target, and determines the moving target according to the current state information of each effective target, so that the current state and the historical state of each effective target are considered when determining the moving target, the phenomenon that the effective target moving at the previous time is lost due to the static state of the current time is prevented, and the moving target can be determined comprehensively and accurately.
Optionally, fig. 5 is a schematic structural diagram of another radar-based moving object detection apparatus according to an embodiment of the present invention, and as shown in fig. 5, the radar-based moving object detection apparatus further includes a state information storage module 400, configured to store current state information of an effective target, and use the current state information of the effective target as reference state information of the effective target at a next time.
Optionally, referring to fig. 5, the radar-based moving target detection apparatus further includes a speed information obtaining module 500, configured to obtain speed information of all target objects in a radar detection area based on a radar at an initial time of radar detection; and the effective target determining module 600 is configured to determine effective targets in all the target objects according to the speed information of the target objects.
Optionally, fig. 6 is a schematic structural diagram of another radar-based moving object detection apparatus according to an embodiment of the present invention, as shown in fig. 6, the speed information includes an actual speed, and the effective target determination module 600 includes an effective target determination unit 610, configured to determine, as an effective target, a target object whose actual speed is not 0 among all target objects.
Optionally, referring to fig. 6, the radar-based moving target detection apparatus further includes a second effective target information obtaining module 700, configured to obtain, based on the radar, position information and speed information of each effective target in the current detection area after the effective target determining unit 610 determines, as an effective target, a target whose actual speed is not 0 among all the target objects; a target type determining module 800, configured to determine the type of each effective target by using a spatial clustering method according to the position information and the speed information of each effective target; a determining module 900, configured to determine whether the speed information of the valid target is within a speed threshold range corresponding to a category to which the valid target belongs; the calibration state determining module 1000 is configured to determine, when the determining unit determines that the speed information of the valid target is within the speed threshold range corresponding to the type to which the valid target belongs, the current state information of the valid target to be a first calibration state, and determine, when the determining unit determines that the speed information of the valid target is not within the speed threshold range corresponding to the type to which the valid target belongs, the current state information of the valid target to be a second calibration state.
Optionally, with continued reference to fig. 6, the state information determining module 200 includes a calibration speed determining unit 210, configured to determine a calibration speed of the effective target according to the current speed information of the effective target and the category of the effective target; the state information determining unit 220 is configured to determine current state information of the valid target according to the calibrated speed of the valid target and the state information of the valid target at the previous time.
Optionally, with continued reference to fig. 6, the calibration speed determination unit 210 includes: a first determining subunit 211, configured to determine whether current speed information of the valid target is within a speed threshold range corresponding to a category to which the valid target belongs; the calibration speed determining subunit 212 is configured to determine that the calibration speed of the effective target is the first calibration speed when the first determining subunit determines that the current speed information of the effective target is within the speed threshold range corresponding to the category to which the effective target belongs, and determine that the calibration speed of the effective target is the second calibration speed when the first determining subunit determines that the current speed information of the effective target is not within the speed threshold range corresponding to the category to which the effective target belongs.
Optionally, with continuing reference to fig. 6, the state information determining unit 220 includes a second determining subunit 221, configured to determine whether the valid target meets the preset condition; the preset conditions are that the calibration speed of the effective target is a second calibration speed and the state information at the last moment is a second calibration state; a calibration state determining unit 222, configured to determine that the current state information of the valid target is the second calibration state when the second determining subunit 221 determines that the valid target satisfies the preset condition, and determine that the current state information of the valid target is the first calibration state when the second determining subunit 221 determines that the valid target does not satisfy the preset condition.
Based on the same inventive concept, an embodiment of the present invention further provides a radar detection apparatus, including: a radar and a processor; the radar is used for transmitting electromagnetic waves in real time and receiving reflected echoes in real time, and transmitting the received reflected echoes to the processor; the processor is used for receiving information carried by the reflected echo to acquire position information and speed information of each target object, and executing the radar-based moving target detection method provided by any one of the above embodiments.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A radar-based moving target detection method is characterized by comprising the following steps:
based on a radar, acquiring current speed information of each effective target in a detection area of the radar and reference state information of each effective target; the reference state information of the effective target comprises state information of the effective target at the previous moment;
determining the current state information of the effective target according to the current speed information of the effective target and the reference state information of the effective target;
and determining a moving target in each effective target according to the current state information of each effective target.
2. The radar-based moving-target detecting method of claim 1, further comprising, after determining the current state information of the effective target according to the current velocity information of the effective target and the reference state information of the effective target:
and storing the current state information of the effective target, and taking the current state information of the effective target as the reference state information of the effective target at the next moment.
3. The radar-based moving-target detecting method according to claim 1, further comprising, before the radar-based obtaining the current speed information of each valid target and the reference state information of each valid target in the radar detection area, the steps of:
at the initial moment of radar detection, acquiring the speed information of all target objects in the radar detection area based on the radar;
and determining effective targets in all the target objects according to the speed information of the target objects.
4. The radar-based moving object detection method of claim 3, wherein the velocity information includes an actual velocity;
determining effective targets in all the target objects according to the speed information of the target objects, wherein the effective targets comprise:
and determining the target object with the actual speed not being 0 in all the target objects as the effective target.
5. The radar-based moving-object detecting method according to claim 4, further comprising, after determining, as the valid target, a target object whose actual velocity is not 0 among all the target objects:
acquiring position information and speed information of each effective target in the current detection area based on the radar;
determining the type of each effective target by adopting a spatial clustering method according to the position information and the speed information of each effective target;
judging whether the speed information of the effective target is in a speed threshold range corresponding to the type of the effective target;
if yes, determining the current state information of the effective target as a first calibration state;
if not, determining the current state information of the effective target as a second calibration state.
6. The radar-based moving target detection method of claim 5, wherein determining the current state information of the effective target according to the current speed information of the effective target and the reference state information of the effective target comprises:
determining the calibration speed of the effective target according to the current speed information of the effective target and the type of the effective target;
and determining the current state information of the effective target according to the calibration speed of the effective target and the state information of the effective target at the previous moment.
7. The radar-based moving target detection method of claim 6, wherein determining the calibrated speed of the effective target according to the current speed information of the effective target and the type of the effective target comprises:
judging whether the current speed information of the effective target is within a speed threshold range corresponding to the type of the effective target;
if so, determining the calibration speed of the effective target as a first calibration speed;
if not, determining that the calibration speed of the effective target is a second calibration speed.
8. The radar-based moving target detection method of claim 7, wherein determining the current state information of the effective target according to the calibrated speed of the effective target and the state information of the effective target at the previous moment comprises:
judging whether the effective target meets a preset condition or not; the preset conditions are that the calibration speed of the effective target is the second calibration speed and the state information at the last moment is the second calibration state;
if so, determining the current state information of the effective target as the second calibration state;
if not, determining that the current state information of the effective target is the first calibration state.
9. A radar-based moving object detecting apparatus, comprising:
the target information acquisition module is used for acquiring the current speed information of each effective target and the reference state information of each effective target in the detection area of the radar based on the radar; the reference state information of the effective target comprises state information of the effective target at the previous moment;
a current state information determining module, configured to determine current state information of the effective target according to the current speed information of the effective target and the reference state information of the effective target;
and the moving target determining module is used for determining a moving target in each effective target according to the current speed information of each effective target and the current state information of each effective target.
10. A radar detection device, comprising: a radar and a processor;
the radar is used for transmitting electromagnetic waves in real time and receiving reflected echoes in real time, and transmitting the received reflected echoes to the processor;
the processor is used for acquiring the position information and the speed information of each target object according to the information carried by the received reflection echo, and executing the radar-based moving target detection method according to any one of claims 1 to 8.
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