CN114428251A - Method and device for determining radar measurement accuracy - Google Patents
Method and device for determining radar measurement accuracy Download PDFInfo
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- CN114428251A CN114428251A CN202111590740.1A CN202111590740A CN114428251A CN 114428251 A CN114428251 A CN 114428251A CN 202111590740 A CN202111590740 A CN 202111590740A CN 114428251 A CN114428251 A CN 114428251A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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Abstract
The invention discloses a method and a device for determining radar measurement accuracy, which comprise the following steps: measuring a target object by using a target radar to obtain first measurement information corresponding to a plurality of measurement points of the target object; acquiring second measurement information corresponding to a plurality of boundary points of the target object; determining reference information corresponding to the target object based on the second measurement information; determining measurement error information of the target radar based on the first measurement information and the reference information; and determining the measurement precision information of the target radar based on the measurement error information. According to the technical scheme of the invention, the target object is measured by the target radar, the first measurement information corresponding to each of the plurality of measurement points of the target object is obtained, the measurement error information of the target radar is determined based on the first measurement information and the reference information, and the measurement precision information of the target radar is determined based on the measurement error information, so that the determination of the measurement precision of the target radar on the body target is realized.
Description
Technical Field
The invention relates to the technical field of radar measurement, in particular to a method and a device for determining radar measurement accuracy.
Background
With the improvement of the automobile holding capacity and the enhancement of road traffic safety awareness, an Automatic Driving (AD) technology and an Assistant Driving (ADAS) technology are developing vigorously. The automatic driving system can be separated from a driver, complete and autonomous driving of the vehicle is realized under certain preset conditions, and passengers or cargos are conveyed to a desired destination. The auxiliary driving system can sense the surrounding traffic or obstacle conditions and prompt dangerous conditions for the driver in time under the driving condition of the driver, so that the safety of lane changing, turning, door opening, reversing and other actions is ensured.
The sensor is an indispensable component of an automatic driving system or a driving assistance system, and among various sensors, the millimeter wave radar has a very important position. Compared with sensors such as laser radars, ultrasonic radars and cameras, the millimeter wave radar has the advantages of low cost, high speed measurement precision, strong stability, long detection range, all weather, all-day working characteristics, adaptability to various severe weathers and the like. Therefore, at present, various sensor suppliers, even many colleges and scientific research institutions, are involved in the research and development of millimeter wave radars, and show the situation of hundreds of flowers and hundreds of families struggling. Under such a situation, how to evaluate the performance of a millimeter wave radar product becomes a difficult problem to be solved urgently by each development team and thus the host factory.
The existing performance evaluation on millimeter wave radar signal processing focuses on precision evaluation on point targets, but with the improvement of the distance, angle and speed resolution of the existing radar, most of the actual radar application faces the body targets, and the existing evaluation on the measurement performance of the body targets is very lacking.
Disclosure of Invention
The invention aims to provide a method and a device for determining radar measurement accuracy, which are used for measuring a target object by using a target radar to obtain first measurement information corresponding to a plurality of measurement points of the target object, determining reference information corresponding to the target object based on second measurement information corresponding to a plurality of boundary points of the target object, determining measurement error information of the target radar based on the first measurement information and the reference information, and determining measurement accuracy information of the target radar based on the measurement error information, thereby realizing the determination of the measurement accuracy of the target radar to the body target.
In order to achieve the purpose, the invention provides the following scheme:
a method of determining accuracy of radar measurements, the method comprising:
measuring a target object by using a target radar to obtain first measurement information corresponding to a plurality of measurement points of the target object;
acquiring second measurement information corresponding to a plurality of boundary points of the target object;
determining reference information corresponding to the target object based on the second measurement information;
determining measurement error information of the target radar based on the first measurement information and the reference information;
and determining the measurement precision information of the target radar based on the measurement error information.
Optionally, the second measurement information includes second position information and second speed information, and the reference information includes position reference information and speed reference information;
the determining reference information corresponding to the target object based on the second measurement information includes:
determining contour position information corresponding to the target object based on the second position information, and taking the contour position information as the position reference information;
and determining speed range information corresponding to the target object according to the second speed information, and taking the speed range information as the speed reference information.
Optionally, the determining measurement error information of the target radar based on the first measurement information and the reference information includes:
determining error information corresponding to each of the plurality of measurement points based on the first measurement information and the reference information;
and determining the measurement error information of the target radar based on the error information.
Optionally, the determining, based on the first measurement information and the reference information, error information corresponding to each of the plurality of measurement points includes:
comparing first measurement information corresponding to a target measurement point with the reference information, wherein the target measurement point is any one of the plurality of measurement points;
determining that the error information corresponding to the target measuring point is error-free under the condition that the first measuring information corresponding to the target measuring point belongs to the range corresponding to the reference information;
and under the condition that the first measurement information corresponding to the target measurement point does not belong to the range corresponding to the reference information, determining error information corresponding to the target measurement point based on the first measurement information corresponding to the target measurement point and the reference information.
Optionally, the first measurement information includes first position information and first speed information; the measurement error information comprises first measurement error information and second measurement error information;
the determining, when the first measurement information corresponding to the target measurement point does not belong to the range corresponding to the reference information, error information corresponding to the target measurement point based on the first measurement information corresponding to the target measurement point and the reference information includes:
taking a distance between a position point corresponding to the first position information and a target position point of an area corresponding to the contour position information as the first error information when the first position information corresponding to the target measuring point does not belong to a range corresponding to the contour position information;
and under the condition that the first speed information corresponding to the target measuring point does not belong to the speed range information, acquiring the second error information according to the speed range information and the first speed information.
Optionally, the determining, based on the measurement error information, measurement accuracy information of the target radar includes:
obtaining an error threshold;
under the condition that the measurement error information meets the error threshold, determining that the measurement precision information of the target radar meets the precision requirement;
and under the condition that the measurement error information does not meet the error threshold, determining that the measurement precision information of the target radar does not meet the precision requirement.
Optionally, the obtaining the error threshold includes:
obtaining distance information between the target radar and the target object;
obtaining the error threshold based on the distance information.
In another aspect, the present invention further provides an apparatus for determining radar measurement accuracy, where the apparatus includes:
the first measurement information acquisition module is used for measuring a target object by using a target radar to acquire first measurement information corresponding to a plurality of measurement points of the target object;
the second measurement information acquisition module is used for acquiring second measurement information corresponding to a plurality of boundary points of the target object;
a reference information determining module, configured to determine, based on the second measurement information, reference information corresponding to the target object;
a measurement error information determination module for determining measurement error information of the target radar based on the first measurement information and the reference information;
and the precision information determining module is used for determining the measurement precision information of the target radar based on the measurement error information.
In another aspect, the present invention further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the above-described method of determining radar measurement accuracy.
In another aspect, the present invention also provides a non-volatile computer-readable storage medium, on which computer program instructions are stored, wherein the computer program instructions, when executed by a processor, implement the above method for determining the accuracy of radar measurement.
According to the method and the device for determining the radar measurement accuracy, the target object is measured by the target radar, first measurement information corresponding to a plurality of measurement points of the target object is obtained, reference information corresponding to the target object is determined based on second measurement information corresponding to a plurality of boundary points of the target object, measurement error information of the target radar is determined based on the first measurement information and the reference information, measurement accuracy information of the target radar is determined based on the measurement error information, and determination of the measurement accuracy of the target radar on the body target is achieved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art it is also possible to derive other drawings from these drawings without inventive effort.
Fig. 1 is a flowchart of a method for determining radar measurement accuracy according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining reference information corresponding to a target object based on second measurement information according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for determining measurement error information of a target radar based on first measurement information and reference information according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for determining error information corresponding to each of a plurality of measurement points based on first measurement information and reference information according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for determining error information corresponding to a target measurement point based on first measurement information corresponding to the target measurement point and reference information when the first measurement information corresponding to the target measurement point does not belong to a range corresponding to the reference information according to an embodiment of the present invention;
fig. 6 is a flowchart of a method for determining measurement accuracy information of a target radar based on measurement error information according to an embodiment of the present invention;
FIG. 7 is a flowchart of a method for obtaining an error threshold according to an embodiment of the present invention;
fig. 8 is a block diagram of a device for determining radar measurement accuracy according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a radar coordinate system of a target radar according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a target coordinate system of a target object according to an embodiment of the present invention;
FIG. 11 is a schematic diagram illustrating calculation of second speed information according to an embodiment of the present invention;
fig. 12 is a schematic diagram illustrating calculation of second location information according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
An embodiment of a method for determining radar measurement accuracy according to the present invention is described below, and fig. 1 is a flowchart of a method for determining radar measurement accuracy according to the embodiment of the present invention. It is noted that the present specification provides the method steps as described in the examples or flowcharts, but may include more or less steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system products may be executed sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing) in accordance with the methods described in the embodiments or figures. As shown in fig. 1, the present embodiment provides a method for determining radar measurement accuracy, where the method includes:
s101, a target object is measured by using a target radar, and first measurement information corresponding to a plurality of measurement points of the target object is obtained.
The target radar may be a radar whose measurement accuracy of measuring the body target is to be determined. The target object may refer to a measurement object of a radar; specifically, the target object may be a vehicle. The plurality of measurement points of the target object may refer to a plurality of points of the target object measured by the target radar measuring the target object. The first measurement information of each measurement point may refer to measurement information corresponding to each measurement point. The first measurement information of each measurement point may include first position information and first velocity information. It is understood that the target radar may determine the position and velocity of the target object relative to the target radar through the first measurement information corresponding to each of the plurality of measurement points of the target object.
In practical application, a target radar is loaded on a radar vehicle, and a target object is measured by the target radar, so that first measurement information corresponding to each of a plurality of measurement points of the target object is obtained.
It should be noted that, since the position coordinates directly obtained by the target radar measurement are based on a polar coordinate system, in order to determine the measurement error information, the position coordinates of a plurality of measurement points obtained by the radar measurement may be converted from the polar coordinate system to a rectangular coordinate system, and the antenna phase center of the target radar may be used as the origin of the rectangular coordinate system. Specifically, the coordinate conversion process is as follows:
first, a coordinate system used for position coordinates directly measured by a target radar will be described. As shown in fig. 9, the origin of the radar coordinate system is defined at the antenna phase center of the target radar, and is denoted by O, the normal line is perpendicular to the antenna surface and points in a direction away from the antenna surface, and is denoted by T-axis, and the angle rotated counterclockwise from the T-axis is denoted by θ. Assuming that there is a target at point P, the length from the origin O to the target P is the target distance, denoted as R. The coordinates of the target point P can be expressed using (R, θ).
The origin of the rectangular coordinate system of the target object is defined at the center point of the target object, as shown in fig. 10, the U-axis is directed right in front of the target vehicle, and the V-axis is directed in a direction rotated by 90 ° counterclockwise along the U-axis.
After the target radar measures the coordinates of a plurality of measuring points, the coordinates are converted to a rectangular coordinate system corresponding to the positioning measuring device through the following conversion formula, and first position information is output:
s102, second measurement information corresponding to the boundary points of the target object is obtained.
The plurality of boundary points of the target object may refer to a plurality of points on the boundary of the target object as the volume object. It is understood that the boundary contour of the target object can be characterized by connecting a plurality of boundary points, and the more boundary points, the closer the contour formed by connecting a plurality of boundary points is to the real boundary contour of the target object. The second measurement information corresponding to each boundary point may refer to measurement information corresponding to each boundary point obtained by positioning the measurement device. In particular, the positioning measurement device may be used to create a real-time network that tracks multiple targets, measures distance, direction, and relative motion, modeling the targets as a multi-point polygon. The second measurement information of each boundary point may include second position information and second velocity information. It can be understood that, in the case that the accuracy of the positioning measurement device meets the requirement, the second measurement information corresponding to each boundary point is close to the true value information corresponding to the boundary point.
In practical application, two positioning and measuring devices are respectively installed on a radar vehicle and a target object. Specifically, the positioning point of the positioning measurement device of the radar vehicle may be set at the antenna phase center of the target radar; the location point of the location measurement device of the target object may be set at the center point of the target object. By setting the positioning points of the positioning measurement devices of the radar vehicle to the origin of the coordinate system ultimately output by the two positioning measurement devices, the X-axis of the coordinate system is directed directly in front of the radar vehicle and the Y-axis is directed in a direction rotated 90 ° counterclockwise along the X-axis.
The length and the width of the outer contour of the target object can be measured, and points are taken at preset intervals on the front, back, left and right boundaries of the center point of the target object, so that a plurality of boundary points are obtained. And measuring the measurement information corresponding to each boundary point by positioning measurement equipment. Specifically, the positioning measurement device may output the position coordinates of each boundary point by measurement, and take the position coordinates of each boundary point as the second position information of the boundary point; second velocity information for each boundary point on the target object may be obtained based on the position measurement device. Wherein the second velocity information of each boundary point may be a doppler velocity of the boundary point. As shown in fig. 11, the calculation process of the second velocity information for each boundary point is as follows:
velocity vector a of target object:
wherein the content of the first and second substances,
is the speed of the ith boundary point in the X-axis direction,
is the speed of the ith boundary point in the Y-axis direction.
Sight line vector b of target object and radar vehicle:
b＝(Xi，Yi)
wherein, XiIs the relative position of the ith boundary point in the X-axis direction relative to the target radar, YiIs the relative position of the ith boundary point in the Y-axis direction with respect to the target radar.
The two vector included angles cos θ:
doppler velocity VdEqual to the component of the vehicle speed along the sight line direction of the target object and the radar vehicle, thereby calculating the Doppler velocity Vd：
And S103, determining reference information corresponding to the target object based on the second measurement information.
Wherein the reference information can be used as a reference to determine measurement error information of the target radar.
In practical application, the contour position information corresponding to the target object can be determined based on the second position information; speed range information corresponding to the target object may be determined based on the second speed information. The contour position information and the velocity range information may be used as reference information corresponding to the target object.
And S104, determining measurement error information of the target radar based on the first measurement information and the reference information.
Wherein, the measurement error information of the target radar can be used for determining the measurement precision information of the target radar.
In practical application, the measurement error information of the target radar can be obtained by comparing the first measurement information with the reference information.
And S105, determining the measurement precision information of the target radar based on the measurement error information.
The measurement accuracy information of the target radar can represent the measurement performance of the target radar on the body target. The measurement accuracy information may be represented in the form of a numerical value, or may be represented by a plurality of levels, and is not limited herein.
In practical application, the mapping relation between the measurement error information and the measurement precision information can be established in advance; and obtaining the measurement precision information of the target radar based on the measurement error information and the mapping relation.
The method comprises the steps of measuring a target object by using a target radar, obtaining first measurement information corresponding to a plurality of measurement points of the target object, determining reference information corresponding to the target object based on second measurement information corresponding to a plurality of boundary points of the target object, determining measurement error information of the target radar based on the first measurement information and the reference information, and determining measurement precision information of the target radar based on the measurement error information, so that the target radar can determine the measurement precision of the target object.
Fig. 2 is a flowchart of a method for determining reference information corresponding to a target object based on second measurement information according to an embodiment of the present invention. In one possible embodiment, the second measurement information includes second position information and second speed information, and the reference information includes position reference information and speed reference information; as shown in fig. 2, the step S103 may include:
s201, determining outline position information corresponding to the target object based on the second position information, and taking the outline position information as position reference information.
The contour position information corresponding to the target object can represent the relative position of the target object as a body target relative to the target radar.
In practical applications, the position information of the boundary contour formed by connecting the plurality of boundary points is obtained by connecting the plurality of boundary points based on the second position information corresponding to each of the plurality of boundary points, and the position information of the boundary contour is used as the contour position information.
And S202, determining speed range information corresponding to the target object according to the second speed information, and taking the speed range information as speed reference information.
The speed range information corresponding to the target object can represent the relative speed of the target object as a body target relative to the target radar.
In practical applications, since each detected boundary point is on the target object, the vehicle speed at each boundary point is equal, but since the position of each boundary point is different, the doppler velocity has a maximum value and a minimum value. Obtaining the maximum speed and the minimum speed in the plurality of pieces of second speed information through screening processing based on the second speed information corresponding to the plurality of boundary points; based on the maximum speed and the minimum speed, speed range information corresponding to the target object may be determined. Specifically, the maximum speed may be an upper limit of the speed range information, and the minimum speed may be a lower limit of the speed range information.
By taking the contour position information corresponding to the target object as the position reference information and the speed range information as the speed reference information, the target measurement precision of the target radar body is determined, the determination of the target radar body target measurement precision is more accurate, and the method is more favorable for finding and positioning the problem of errors.
Fig. 3 is a flowchart of a method for determining measurement error information of a target radar based on first measurement information and reference information according to an embodiment of the present invention. In one possible embodiment, as shown in fig. 3, the step S104 may include:
s301, determining error information corresponding to each of the plurality of measuring points based on the first measuring information and the reference information.
The error information corresponding to each measuring point can represent the deviation between the information obtained by the target radar measuring the measuring point and the true value.
In one possible implementation, as shown in fig. 4, the step S301 may include:
s401, comparing first measurement information corresponding to a target measurement point with reference information, wherein the target measurement point is any one of a plurality of measurement points.
In practical applications, in the case that the first measurement information includes first position information and first speed information, the comparison processing of the first measurement information and the reference information may be performed by comparing the first position information with position reference information and comparing the first speed information with speed reference information, respectively. Comparing the first measurement information corresponding to each measurement point in the plurality of measurement points with the reference information to determine the error information corresponding to each of the plurality of measurement points.
S402, under the condition that the first measurement information corresponding to the target measurement point belongs to the range corresponding to the reference information, determining that the error information corresponding to the target measurement point is error-free.
Wherein, the error information corresponding to the target measuring point may include first error information and second error information.
In practical application, under the condition that the first position information of the target measuring point belongs to the range corresponding to the position reference information, the first error information of the target measuring point can be determined to be error-free; in the case where the first speed information of the target measurement point belongs to the range corresponding to the speed reference information, it may be determined that the second error information of the target measurement point is error-free.
S403, under the condition that the first measurement information corresponding to the target measurement point does not belong to the range corresponding to the reference information, determining error information corresponding to the target measurement point based on the first measurement information corresponding to the target measurement point and the reference information.
In one possible embodiment, as shown in fig. 5, the step S403 may include:
s501, under the condition that the first position information corresponding to the target measuring point does not belong to the range corresponding to the outline position information, the distance between the position point corresponding to the first position information and the target position point of the area corresponding to the outline position information is used as first error information.
In practical applications, the target location point may be a point on the boundary contour of the target object that is closest to the target measurement point. Specifically, a perpendicular line may be drawn from the target measurement point to the nearest side on the contour boundary of the target object, and an intersection of the perpendicular line and the contour boundary of the target object may be set as the target position point.
The calculation method for the distance between the point which is closest to the target measurement point on the boundary contour of the target object and the target position point can be obtained by calculation based on the Helen formula. Assume that the target measurement point is point A (X)A，YA) If a perpendicular line is drawn from the point to the nearest side of the boundary contour of the target object and the intersection point is B, the value AB is the first error information. As shown in fig. 12, the specific calculation process of AB is as follows:
firstly, finding boundary points on two sides of the intersection B and recording the boundary points as C (X)C，YC) And D (X)D，YD). The coordinate positions of C and D can be obtained by measuring the coordinates of all boundary points through the positioning measuring equipment. AC. The calculation formula of AD and CD is as follows:
the ACD area can be calculated based on the Helen formula, and the value of AB is finally obtained:
s502, under the condition that the first speed information corresponding to the target measuring point does not belong to the speed range information, second error information is obtained according to the speed range information and the first speed information.
In practical application, when the first speed information corresponding to the target measuring point is greater than the upper limit speed corresponding to the speed range information, the difference between the first speed information and the upper limit speed can be used as second error information; when the first speed information corresponding to the target measurement point is smaller than the lower limit speed corresponding to the speed range information, a difference between the first speed information and the lower limit speed may be used as the second error information.
And S302, determining the measurement error information of the target radar based on the error information.
In practical application, based on the error information corresponding to each of the plurality of measurement points, the maximum value and the minimum value can be obtained by screening, and the root mean square value of the error information can also be obtained; the maximum value, the minimum value and/or the root mean square value can be used as the measurement error information of the target radar. It should be noted that, in the process of obtaining the root mean square value, the detected points belonging to the range corresponding to the reference information need to be considered; for example, after a square value of error information at each of a plurality of measurement points is obtained, the square value is divided by the number of the plurality of measurement points to obtain a root mean square value of the error information. Specifically, the measurement error information may include velocity measurement error information and position measurement error information; position measurement error information may be derived based on the first error information and velocity measurement error information may be derived based on the second error information.
The measurement error information of the target radar may be measurement error information calculated based on data of one frame or measurement error information calculated based on data of a plurality of frames. For the case of multiple frames, after the measurement error information of each frame in the multiple frames is obtained, the measurement error information of the target radar can be obtained by taking an average value.
Fig. 6 is a flowchart of a method for determining measurement accuracy information of a target radar based on measurement error information according to an embodiment of the present invention. In one possible embodiment, as shown in fig. 6, the step S105 may include:
s601, obtaining an error threshold value.
Wherein, the error threshold value can be used for determining the measurement accuracy information of the target radar. The error threshold may be obtained by presetting.
In practical applications, in the case that the radar measurement characteristic greatly varies with distance, as shown in fig. 7, the step S601 may include:
s701, obtaining distance information between the target radar and the target object.
The distance information between the target radar and the target object may refer to a distance between the target radar and a central point of the target object, or may be a minimum distance between the target radar and a boundary contour of the target object.
S702, based on the distance information, an error threshold value is obtained.
In practical application, the error threshold value can be obtained according to the distance information in a table look-up manner. It can be understood that, under the condition that the radar measurement characteristic changes greatly along with the distance, the accuracy of the measurement precision information of the target radar can be improved by determining the error threshold value according to the distance information partition sections.
S602, under the condition that the measurement error information meets the error threshold, determining that the measurement precision information of the target radar meets the precision requirement.
In practical applications, the measurement accuracy information may be different levels of information. For example, the measurement accuracy information may be in-accuracy requirement and out-of-accuracy requirement, respectively.
S603, under the condition that the measurement error information does not meet the error threshold, determining that the measurement precision information of the target radar does not meet the precision requirement.
Fig. 8 is a block diagram of a device for determining radar measurement accuracy according to an embodiment of the present invention. On the other hand, as shown in fig. 8, the present embodiment further provides an apparatus for determining radar measurement accuracy, including:
a first measurement information obtaining module 10, configured to perform measurement processing on a target object by using a target radar, and obtain first measurement information corresponding to each of a plurality of measurement points of the target object;
a second measurement information obtaining module 20, configured to obtain second measurement information corresponding to each of a plurality of boundary points of the target object;
a reference information determining module 30, configured to determine, based on the second measurement information, reference information corresponding to the target object;
a measurement error information determination module 40, configured to determine measurement error information of the target radar based on the first measurement information and the reference information;
and the accuracy information determination module 50 is used for determining the measurement accuracy information of the target radar based on the measurement error information.
On the other hand, an embodiment of the present invention further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the above-described method of determining the accuracy of radar measurements.
In another aspect, an embodiment of the present invention further provides a non-volatile computer-readable storage medium, on which computer program instructions are stored, where the computer program instructions, when executed by a processor, implement the method for determining the accuracy of radar measurement.
It is noted that while for simplicity of explanation, the foregoing method embodiments have been presented as a series of interrelated states or acts, it should be appreciated by those skilled in the art that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Similarly, the modules of the apparatus for determining the accuracy of radar measurement refer to computer programs or program segments for performing one or more specific functions, and the distinction between the modules does not mean that the actual program code is also separate. Further, the above embodiments may be arbitrarily combined to obtain other embodiments.
In the foregoing embodiments, the descriptions of the embodiments have their respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described in detail in a certain embodiment. Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The foregoing description has disclosed fully preferred embodiments of the present invention. It should be noted that those skilled in the art can make modifications to the embodiments of the present invention without departing from the scope of the appended claims. Accordingly, the scope of the appended claims is not to be limited to the specific embodiments described above.
Claims (10)
1. A method for determining the accuracy of a radar measurement, the method comprising:
measuring a target object by using a target radar to obtain first measurement information corresponding to a plurality of measurement points of the target object;
acquiring second measurement information corresponding to a plurality of boundary points of the target object;
determining reference information corresponding to the target object based on the second measurement information;
determining measurement error information of the target radar based on the first measurement information and the reference information;
and determining the measurement precision information of the target radar based on the measurement error information.
2. The method of claim 1, wherein the second measurement information comprises second location information and second velocity information, and the reference information comprises location reference information and velocity reference information;
the determining reference information corresponding to the target object based on the second measurement information includes:
determining contour position information corresponding to the target object based on the second position information, and taking the contour position information as the position reference information;
and determining speed range information corresponding to the target object according to the second speed information, and taking the speed range information as the speed reference information.
3. The method of claim 2, wherein determining measurement error information for the target radar based on the first measurement information and the reference information comprises:
determining error information corresponding to each of the plurality of measurement points based on the first measurement information and the reference information;
and determining the measurement error information of the target radar based on the error information.
4. The method of claim 3, wherein determining error information corresponding to each of the plurality of measurement points based on the first measurement information and the reference information comprises:
comparing first measurement information corresponding to a target measurement point with the reference information, wherein the target measurement point is any one of the plurality of measurement points;
determining that the error information corresponding to the target measuring point is error-free under the condition that the first measuring information corresponding to the target measuring point belongs to the range corresponding to the reference information;
and under the condition that the first measurement information corresponding to the target measurement point does not belong to the range corresponding to the reference information, determining error information corresponding to the target measurement point based on the first measurement information corresponding to the target measurement point and the reference information.
5. The method of claim 4, wherein the first measurement information comprises first position information and first velocity information; the error information comprises first error information and second error information;
the determining, when the first measurement information corresponding to the target measurement point does not belong to the range corresponding to the reference information, error information corresponding to the target measurement point based on the first measurement information corresponding to the target measurement point and the reference information includes:
taking a distance between a position point corresponding to the first position information and a target position point of an area corresponding to the contour position information as the first error information when the first position information corresponding to the target measuring point does not belong to a range corresponding to the contour position information;
and under the condition that the first speed information corresponding to the target measuring point does not belong to the speed range information, acquiring the second error information according to the speed range information and the first speed information.
6. The method of claim 1, wherein determining measurement accuracy information of the target radar based on the measurement error information comprises:
obtaining an error threshold;
under the condition that the measurement error information meets the error threshold, determining that the measurement precision information of the target radar meets the precision requirement;
and under the condition that the measurement error information does not meet the error threshold, determining that the measurement precision information of the target radar does not meet the precision requirement.
7. The method of claim 6, wherein obtaining the error threshold comprises:
obtaining distance information between the target radar and the target object;
obtaining the error threshold based on the distance information.
8. An apparatus for determining the accuracy of a radar measurement, the apparatus comprising:
the first measurement information acquisition module is used for measuring a target object by using a target radar to acquire first measurement information corresponding to a plurality of measurement points of the target object;
the second measurement information acquisition module is used for acquiring second measurement information corresponding to a plurality of boundary points of the target object;
a reference information determining module, configured to determine, based on the second measurement information, reference information corresponding to the target object;
a measurement error information determination module for determining measurement error information of the target radar based on the first measurement information and the reference information;
and the precision information determining module is used for determining the measurement precision information of the target radar based on the measurement error information.
9. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute the executable instructions to implement the method of determining radar measurement accuracy of any of claims 1 to 7.
10. A non-transitory computer readable storage medium having stored thereon computer program instructions, wherein the computer program instructions, when executed by a processor, implement the method of determining radar measurement accuracy of any of claims 1 to 7.
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| WO2024012237A1 (en) * | 2022-07-14 | 2024-01-18 | 维沃移动通信有限公司 | Sensing processing method and apparatus, terminal, and device |
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