CN114442100A - Method and device for detecting interference object and vehicle - Google Patents
Method and device for detecting interference object and vehicle Download PDFInfo
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- CN114442100A CN114442100A CN202210058962.7A CN202210058962A CN114442100A CN 114442100 A CN114442100 A CN 114442100A CN 202210058962 A CN202210058962 A CN 202210058962A CN 114442100 A CN114442100 A CN 114442100A
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The embodiment of the invention relates to the technical field of radars, and discloses a method for detecting an interference object, which is applied to a radar arranged in a vehicle and comprises the following steps: acquiring the speed and the driving direction of the vehicle; acquiring an included angle between the detection target detected by the radar and the driving direction; calculating radial frequency in the radial direction relative to the detection target according to the speed and the included angle; acquiring a frequency offset generated by the radar when the detection target is detected; judging whether the difference value between the frequency deviation and the radial frequency is smaller than a first preset threshold value or not; and if so, determining that the detection target is an interference object. Through the mode, the embodiment of the invention can effectively judge the interference target which is static relative to the ground in the radar detection range, and has small error.
Description
Technical Field
The embodiment of the invention relates to the technical field of radar, in particular to a method and a device for detecting an interference object and a vehicle.
Background
In recent years, with the development of technology, driving assistance and intelligent driving become mature, and the driving assistance and the intelligent driving become the functions of the standard allocation of vehicles. The vehicle-mounted radar detects an object through electromagnetic waves and is less influenced by the environment, so that the vehicle-mounted radar is widely applied to auxiliary driving and intelligent driving.
In the process of implementing the embodiment of the present invention, the inventors of the embodiment of the present invention find that: at present, when a vehicle-mounted radar detects an object, a moving target and an interference target which is static relative to the ground need to be distinguished, and a method for identifying the interference target is mainly used for determining whether the object is the interference object or not by comparing a frequency difference detected by the vehicle-mounted radar with a predetermined fixed value, wherein the position of the vehicle is constantly changed in the running process of the vehicle, an included angle and a distance between the radar and the object are changed, the frequency difference is reduced, and the frequency difference and the fixed value are used for comparing to determine the interference target, so that an error is easily caused.
Disclosure of Invention
The technical problem mainly solved by the embodiment of the invention is to provide a method for detecting an interference object, which can effectively judge the interference object which is static relative to the ground in a radar detection range and has small error.
In order to solve the above technical problem, one technical solution adopted by the embodiments of the present invention is: the method for detecting the interferent is applied to a radar which is arranged on a vehicle and comprises the following steps: acquiring the speed and the driving direction of the vehicle; acquiring an included angle between the detection target detected by the radar and the driving direction; calculating radial frequency in the radial direction relative to the detection target according to the speed and the included angle; acquiring a frequency offset generated by the radar when the detection target is detected; judging whether the difference value between the frequency deviation and the radial frequency is smaller than a first preset threshold value or not; and if so, determining that the detection target is an interference object.
Optionally, a distance between the radar and the detection target is obtained; calculating the transverse distance between the detection target and the vehicle according to the distance and the included angle; the step of determining that the detection target is an interfering object further includes: judging whether the transverse distance is greater than or equal to a second preset threshold value or not; and if so, determining that the detection target is an interference object.
Optionally, the calculation formula for calculating the lateral distance between the detection target and the vehicle is as follows: d is R sin (θ), d is a lateral distance, R is the distance, and θ is an included angle.
Optionally, the step of acquiring a frequency offset generated by the radar when the detection target is detected further includes: acquiring a first frequency of a transmission signal transmitted by the radar; acquiring a second frequency of an echo signal reflected by the detection object and received by the radar; and calculating the difference value of the first frequency and the second frequency to obtain the frequency offset.
Optionally, the calculation formula for calculating the radial frequency in the radial direction with respect to the detection target is as follows:
f is the radial frequency, V is the speed of the vehicle, λ is the wavelength of the transmitted signal emitted by the radar, and θ is the included angle.
Optionally, if the difference between the frequency offset and the radial frequency is greater than or equal to a first preset threshold, or the lateral distance is smaller than a second preset threshold, it is determined that the detection target is another vehicle.
In order to solve the above technical problem, another technical solution adopted in the embodiments of the present invention is: there is provided an apparatus for detecting an interfering object, comprising: the first acquisition module is used for acquiring the speed and the driving direction of the vehicle; the second acquisition module is used for acquiring an included angle between the detection target detected by the radar and the driving direction; the calculation module is used for calculating the radial frequency relative to the radial direction of the detection target according to the speed and the included angle; the third acquisition module is used for acquiring frequency offset generated when the radar detects the detection target; the judging module is used for judging whether the difference value between the frequency offset and the radial frequency is smaller than a first preset threshold value or not; and the determining module is used for determining that the detection target is an interference object.
Optionally, the determining module is specifically configured to determine that the detection target is another vehicle if the difference between the frequency offset and the radial frequency is greater than or equal to a first preset threshold, or the lateral distance is smaller than a second preset threshold.
Optionally, a vehicle, comprising: a vehicle body; a radar provided on the vehicle body;
a controller disposed on the vehicle body and coupled to the radar, the controller including a memory and at least one processor, the at least one processor coupled to the memory and the radar, respectively, the memory storing instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
Optionally, a computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method of any one of claims 1-6.
The embodiment of the invention has the beneficial effects that: different from the prior art, an embodiment of the present invention provides a method for detecting an interfering object, which includes obtaining a speed and a driving direction of a vehicle, and an included angle between a detected target detected by a radar and the driving direction, then calculating a radial frequency in a radial direction relative to the detected target according to the speed and the included angle, obtaining a frequency offset generated when the radar detects the detected target, and finally determining whether a difference between the frequency offset and the radial frequency is smaller than a first preset threshold; and if so, determining that the detection target is an interference object. The radial frequency is calculated according to the speed of the vehicle (the speed of the vehicle is the speed of the vehicle equivalent to a stationary object on the ground), and the radial frequency is a comparison object of frequency deviation generated by the radar when the detection object is detected, so that the comparison object is not a constant value and is related to the speed and the included angle of the vehicle, and compared with a constant value mode, the error of the comparison mode is lower and more accurate.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic diagram of an application environment for detecting an interfering object according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of detecting an interfering object according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another application environment for detecting an interfering object according to an embodiment of the present invention;
FIG. 4 is another flow chart of method steps for detecting an interfering object in accordance with an embodiment of the present invention;
FIG. 5 is a flowchart of a further method of step S104 of a method of detecting an interfering object according to an embodiment of the present invention;
FIG. 6 is a block diagram of an apparatus for detecting an interfering object according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a hardware structure of a controller of a vehicle according to an embodiment of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "vertical," "horizontal," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a vehicle 1 according to an embodiment of the present invention, including: automobile body 10, radar 30 and controller 20 all set up in automobile body 10, radar 30 are used for surveying the peripheral object of vehicle, and radar 30 can be laser radar, ultrasonic radar. The controller 20 is connected to the radar 30 and the vehicle body 10, respectively, and the controller 20 is configured to perform processing based on data detected by the radar 30, for example, to control the vehicle body to travel based on the data detected by the radar, to implement automatic driving, and the like.
Referring to fig. 2, the present invention provides a method for detecting an interfering object, which is applied to the radar, and the method includes:
step S101: acquiring the speed and the driving direction of the vehicle;
the vehicle can be a common vehicle, an automatic driving vehicle and the like, and the radar acquires the speed of the vehicle currently running and the passing direction of the vehicle on the current road.
Step S102: acquiring an included angle between the detection target detected by the radar and the driving direction;
the detection range of the radar is a spatial range in which the radar can find a target, and the detection range is mainly related to radar performance, reflection characteristics and other factors, and the detection target can be a driving vehicle on a current running road, a vehicle which is static relative to the ground, a fence and the like. As shown in fig. 3, the included angle is an included angle between the detected target and the radar detection center due to the deviation of the driving direction.
Step S103: calculating radial frequency in the radial direction relative to the detection target according to the speed and the included angle;
as shown in fig. 3, the radial direction of the detection target refers to the direction in which the detection target is perpendicular to the radar. According to the running speed of the current vehicle and the included angle, the formula for calculating the radial frequency is
Wherein f is a radial frequency, V is a speed of the vehicle, λ is a wavelength of a transmission signal transmitted by the radar, and θ is an included angle between a detection target measured by the radar and the driving direction.
As can be seen from the calculation formula of the radial frequency, the radial frequency is directly calculated by using the speed of the vehicle, and the speed of the vehicle is the speed of the vehicle corresponding to the ground, and similarly, the speed of the vehicle is the speed of the vehicle corresponding to the stationary object on the ground.
Step S104: acquiring a frequency offset generated by the radar when the detection target is detected;
when the radar is distant from the target, the frequency of the transmitted signal transmitted by the radar and the frequency of the reflected signal reflected by the target will not be the same, and thus the frequency offset is: the doppler difference, in other words, the frequency offset is the subtraction of the frequency of the transmitted signal and the frequency of the reflected signal of the radar. Specifically, referring to fig. 5, the step of acquiring a frequency offset generated by the radar when detecting the detection target further includes:
step S1041: acquiring a first frequency of a transmission signal transmitted by the radar;
step S1042: acquiring a second frequency of an echo signal reflected by the detection target received by the radar;
and S1043, calculating a difference value between the first frequency and the second frequency to obtain the frequency offset.
Calculating the difference between the first frequency and the second frequency specifically includes: f. of1-f2Δ, wherein f1Is said first frequency, f2Δ is the frequency offset for the second frequency.
Step S105: judging whether the difference value between the frequency deviation and the radial frequency is smaller than a first preset threshold value or not;
step S106: if so, determining that the detection target is an interference object;
the first preset threshold is a predefined value, and a specific value for the value can be set according to actual conditions. When the difference between the frequency offset and the radial frequency is smaller than a first preset threshold value, the frequency offset and the radial frequency are close, the radial frequency is calculated according to the speed of the vehicle (the speed of the vehicle is the speed of the vehicle corresponding to a stationary object on the ground), the radial frequency is a comparison object of the frequency offset generated by the radar when the detection object is detected, the comparison object is not a fixed value and is related to the speed and the included angle of the vehicle, and compared with a fixed value method, the error of the comparison method is lower and more accurate.
In the embodiment of the invention, the speed and the driving direction of the vehicle are obtained, the included angle between the detection target detected by the radar and the driving direction is obtained, then the radial frequency relative to the detection target in the radial direction is calculated according to the speed and the included angle, the frequency deviation generated when the radar detects the detection target is obtained, and finally whether the difference value between the frequency deviation and the radial frequency is smaller than a first preset threshold value is judged; and if so, determining that the detection target is an interference object. The radial frequency is calculated according to the speed of the vehicle (the speed of the vehicle is the speed of the vehicle equivalent to a stationary object on the ground), and the radial frequency is a comparison object of frequency deviation generated by the radar when the detection object is detected, so that the comparison object is not a constant value and is related to the speed and the included angle of the vehicle, and compared with a constant value mode, the error of the comparison mode is lower and more accurate.
Referring to fig. 4, fig. 4 is a flowchart illustrating another embodiment of a method for detecting an interfering object according to the present invention, which is different from the above embodiments in that the method further includes:
step S107: acquiring the distance between the radar and the detection target;
step S108: calculating the transverse distance between the detection target and the vehicle according to the distance and the included angle;
according to the distance between the detection target and the radar and the included angle, the transverse distance is the distance between the actual position of the detection target and the radar, and the calculation of the transverse distance specifically comprises the following steps: d-R sin (θ), where d is a lateral distance, R is a distance that a detection target is perpendicular to the radar, and θ is an included angle.
Step S109: and judging whether the transverse distance is greater than or equal to a second preset threshold value, if so, entering the step S106.
When the transverse distance is greater than or equal to a second preset threshold value, it is indicated that the detected target is a target in a static state relative to the ground, and may be determined as an interference target, where the second preset threshold value is an error value of the radar when the transverse distance is actually detected.
Step S110: and if the difference value between the frequency deviation and the radial frequency is greater than or equal to a first preset threshold value, or the transverse distance is smaller than a second preset threshold value, determining that the detection target is other vehicles.
The embodiment of the invention has the beneficial effects that: different from the situation in the prior art, in the embodiment of the present invention, the distance between the detected object and the radar is obtained, then the lateral distance between the detected object and the vehicle is calculated according to the distance and the included angle, and then it is determined whether the lateral distance is greater than or equal to a second preset threshold, if yes, step S106 is performed, so that the interference object that is stationary relative to the ground within the detection range can be effectively determined, and the error is small.
An embodiment of the present invention further provides an apparatus 100 for detecting an interfering object, please refer to fig. 6, where the apparatus includes: a first obtaining module 110, a second obtaining module 120, a calculating module 130, a third obtaining module 140 and a judging module 150. The first obtaining module 110 is configured to obtain a speed and a driving direction of the vehicle; the second obtaining module 120 is configured to obtain an included angle between the detected target detected by the radar and the driving direction; the calculating module 130 is configured to calculate a radial frequency in a radial direction with respect to the detection target according to the speed and the included angle; the third obtaining module 140 obtains a frequency offset generated by the radar when the detection target is detected; the determining module 150 is configured to determine whether a difference between the frequency offset and the radial frequency is smaller than a first preset threshold.
In some embodiments, the determining module 150 is specifically configured to determine that the detection target is another vehicle if the difference between the frequency offset and the radial frequency is greater than or equal to a first preset threshold, or the lateral distance is smaller than a second preset threshold.
The embodiment of the invention has the beneficial effects that: in contrast to the prior art, an embodiment of the present invention provides an apparatus for detecting an interfering object, including: the first acquisition module is used for acquiring the speed and the driving direction of the vehicle; the second acquisition module is used for acquiring an included angle between the detection target detected by the radar and the driving direction; the calculation module is used for calculating the radial frequency relative to the radial direction of the detection target according to the speed and the included angle; the third acquisition module is used for acquiring frequency offset generated when the radar detects the detection target; the judgment module is used for judging whether the difference value between the frequency deviation and the radial frequency is smaller than a first preset threshold value, and through the mode, the interference target which is static relative to the ground in the detection range can be effectively judged, the error is small, and the filtering effect is good.
Referring to fig. 7, fig. 7 is a schematic diagram of a hardware structure of a controller of a vehicle according to an embodiment of the present invention, and as shown in fig. 7, the controller 20 includes:
one or more processors 201 and a memory 202, one processor being exemplified in fig. 7. The processor 201 and the memory 202 may be connected by a bus or other means, and fig. 7 illustrates an example of a connection by a bus.
The memory 202, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the expert influence generation method in the embodiment of the present invention (for example, the first obtaining module, the second obtaining module, the first generating module, the updating module, and the second generating module shown in fig. 6). The processor executes various functional applications of the server and data processing, that is, a generation method of expert influence and an expert recommendation method, which implement the above-described method embodiments, by running a nonvolatile software program, instructions, and modules stored in the memory.
The memory 202 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the expert influence generating apparatus and the expert recommending apparatus, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory optionally includes memory remotely located from the processor, and these remote memories may be connected to the expert influence generating device and the expert recommending device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory, and when executed by the one or more processors, the method in any of the above-mentioned method embodiments is executed, for example, the method steps S101 to S106 in fig. 2, the method steps S107 to S110 in fig. 4, and the steps S1041 to S1043 in fig. 5 described above are executed, and the product implementing the functions of the module 110 and 150 in fig. 6 can execute the method provided by the embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
Embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer-executable instructions for an electronic device to perform a method in any of the above method embodiments, for example, performing the above-described method steps S101 to S106 in fig. 2, the method steps S107 to S110 in fig. 4, and the steps S1041 to S1043 in fig. 5, and implementing the module 110 and 150 in fig. 6.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Embodiments of the present invention provide a computer program product comprising a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method in any of the above-described method embodiments, e.g., performing the above-described method steps S101 to S107 in fig. 2, method steps S1071 to S1075 in fig. 3, method steps S10751 to S10752 in fig. 4, implementing the functions of the method steps S10771 to S10773 in fig. 5, module 110 and 150 in fig. 6.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for detecting an interfering object, applied to a radar provided in a vehicle, the method comprising:
acquiring the speed and the driving direction of the vehicle;
acquiring an included angle between the detection target detected by the radar and the driving direction;
calculating radial frequency in the radial direction relative to the detection target according to the speed and the included angle;
acquiring a frequency offset generated by the radar when the detection target is detected;
judging whether the difference value between the frequency deviation and the radial frequency is smaller than a first preset threshold value or not;
and if so, determining that the detection target is an interference object.
2. The method of claim 1, further comprising:
acquiring the distance between the radar and the detection target;
calculating the transverse distance between the detection target and the vehicle according to the distance and the included angle;
the step of determining that the detection target is an interfering object further includes:
judging whether the transverse distance is greater than or equal to a second preset threshold value or not;
and if so, determining that the detection target is an interference object.
3. The method of claim 2, wherein the calculation formula for calculating the lateral distance between the detection target and the vehicle is:
d＝R*sin(θ)
d is the transverse distance, R is the distance, and theta is the included angle.
4. The method according to claim 2 or 3, wherein the step of acquiring the frequency offset generated by the radar when the detection target is detected further comprises:
acquiring a first frequency of a transmission signal transmitted by the radar;
acquiring a second frequency of an echo signal reflected by the detection target received by the radar;
and calculating the difference value of the first frequency and the second frequency to obtain the frequency offset.
5. The method according to claim 2 or 3, wherein the calculation formula of calculating the radial frequency in the radial direction with respect to the detection target is:
f is the radial frequency, V is the speed of the vehicle, λ is the wavelength of the transmitted signal emitted by the radar, and θ is the included angle.
6. The method of claim 2 or 3, further comprising:
and if the difference value between the frequency deviation and the radial frequency is greater than or equal to a first preset threshold value, or the transverse distance is smaller than a second preset threshold value, determining that the detection target is other vehicles.
7. An apparatus for detecting an interfering object, applied to a radar, the apparatus comprising:
the first acquisition module is used for acquiring the speed and the driving direction of the vehicle;
the second acquisition module is used for acquiring an included angle between the detection target detected by the radar and the driving direction;
the calculation module is used for calculating the radial frequency in the radial direction relative to the detection target according to the speed and the included angle;
the third acquisition module is used for acquiring frequency offset generated when the radar detects the detection target;
and the judging module is used for judging whether the difference value between the frequency offset and the radial frequency is smaller than a first preset threshold value.
8. The apparatus according to claim 7, wherein the determining module is specifically configured to determine that the detection target is another vehicle if the difference between the frequency offset and the radial frequency is greater than or equal to a first preset threshold, or the lateral distance is smaller than a second preset threshold.
9. A vehicle, comprising:
a vehicle body;
a radar provided on the vehicle body;
a controller disposed on the vehicle body and coupled to the radar, the controller including a memory and at least one processor, the at least one processor coupled to the memory and the radar, respectively, the memory storing instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
10. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method of any one of claims 1-6.
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| CN202210058962.7A CN114442100A (en) | 2022-01-17 | 2022-01-17 | Method and device for detecting interference object and vehicle |
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| CN202210058962.7A CN114442100A (en) | 2022-01-17 | 2022-01-17 | Method and device for detecting interference object and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114779180A (en) * | 2022-06-20 | 2022-07-22 | 成都瑞达物联科技有限公司 | Multipath interference mirror image target filtering method for vehicle-road cooperative radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114779180A (en) * | 2022-06-20 | 2022-07-22 | 成都瑞达物联科技有限公司 | Multipath interference mirror image target filtering method for vehicle-road cooperative radar |
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