CN114488115A - Target detection method and device, computer equipment and readable storage medium - Google Patents

Target detection method and device, computer equipment and readable storage medium Download PDF

Info

Publication number
CN114488115A
CN114488115A CN202210065057.4A CN202210065057A CN114488115A CN 114488115 A CN114488115 A CN 114488115A CN 202210065057 A CN202210065057 A CN 202210065057A CN 114488115 A CN114488115 A CN 114488115A
Authority
CN
China
Prior art keywords
speed
target
radar
detected
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210065057.4A
Other languages
Chinese (zh)
Inventor
张强
李晨曲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Feirui Intelligent Co ltd
Original Assignee
Shenzhen Feirui Intelligent Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Feirui Intelligent Co ltd filed Critical Shenzhen Feirui Intelligent Co ltd
Priority to CN202210065057.4A priority Critical patent/CN114488115A/en
Publication of CN114488115A publication Critical patent/CN114488115A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • 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
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • G06F18/243—Classification techniques relating to the number of classes
    • G06F18/24323—Tree-organised classifiers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/046—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by electromagnetic means

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Evolutionary Computation (AREA)
  • Evolutionary Biology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Artificial Intelligence (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Electromagnetism (AREA)
  • Human Computer Interaction (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention provides a target detection method, which comprises the following steps: collecting a plurality of data to be processed reflected by an object to be detected in a preset time period through a radar, and preprocessing the plurality of data to be processed collected each time to obtain a plurality of echo intermediate frequency data; analyzing the multiple echo intermediate frequency data, and obtaining a target distance between the object to be detected and the radar, the speed of the object to be detected and energy values corresponding to the multiple echo intermediate frequency data; judging whether the energy value meets a target detection condition; if the energy value meets the target detection condition, judging whether the type of the object to be detected is a target object or not according to the target distance and the speed; and determining whether the object to be detected is the target object according to the energy value, the target distance and the speed obtained by analyzing the echo intermediate frequency data and according to the energy value and the two judgments of the target distance and the speed, thereby effectively improving the target detection precision.

Description

Target detection method and device, computer equipment and readable storage medium
Technical Field
The embodiment of the invention relates to the technical field of sensor detection, in particular to a target detection method, a target detection device, computer equipment and a computer readable storage medium.
Background
The target detection is used as an important component of human-computer interaction, is widely applied in the fields of intelligent home, mechanical control and the like, and the research and development of the target detection influence the naturalness and flexibility of the human-computer interaction.
Currently, detection of targets on carriers on the market is usually performed using pressure sensors. However, the method for detecting the target by using the pressure sensor technology has high power consumption, and the pressure sensor is subject to the pressure of the object to be detected when detecting data, so that the target detection precision is easily influenced by the external pressure.
Disclosure of Invention
In view of this, embodiments of the present invention provide a target detection method, an apparatus, a computer device, and a computer-readable storage medium, which are used to solve the problem of low detection accuracy of a method for detecting a target by using a pressure sensing technology.
The embodiment of the invention solves the technical problems through the following technical scheme:
one aspect of the present invention provides a target detection method, including:
collecting a plurality of data to be processed reflected by an object to be detected in a preset time period through a radar, and preprocessing the plurality of data to be processed collected each time to obtain a plurality of echo intermediate frequency data;
analyzing the multiple echo intermediate frequency data, and obtaining a target distance between the object to be detected and the radar, the speed of the object to be detected and energy values corresponding to the multiple echo intermediate frequency data;
judging whether the energy value meets a target detection condition; and
and if the energy value meets the target detection condition, judging whether the type of the object to be detected is a target object or not according to the target distance and the speed.
Optionally, the analyzing the multiple echo intermediate frequency data, and obtaining a target distance between the object to be measured and the radar, a speed of the object to be measured, and an energy value corresponding to the multiple echo intermediate frequency data includes:
acquiring a sweep frequency period and a sweep frequency bandwidth of the radar;
analyzing the intermediate frequency data of the plurality of echoes, and obtaining the reflection power and the reflection frequency of the radar;
calculating to obtain speed resolution and distance resolution according to the sweep frequency period, the electromagnetic wave wavelength, the light speed and the sweep frequency bandwidth;
calculating the speed of the object to be detected according to the speed resolution;
calculating to obtain the target distance according to the distance resolution, preset emission power, the speed of the object to be detected, the wavelength of the electromagnetic wave, the speed of light, the sweep frequency period and the sweep frequency bandwidth; and
and calculating to obtain a plurality of energy values based on the reflected power, the transmitting power, the electromagnetic wave wavelength, the target distance and the antenna gain of the radar.
Optionally, the determining whether the energy value satisfies a target detection condition includes:
judging whether any energy value in the energy values is larger than a preset energy threshold value or not;
in a corresponding manner, the first and second optical fibers are,
if any energy value in the energy values is larger than the preset threshold value, judging whether the type of the object to be detected is a target object or not according to the target distance and the speed.
Optionally, the determining whether the type of the object to be detected is a target object according to the target distance and the speed includes:
if the target distance is smaller than the preset distance, judging whether the type of the object to be detected is the target object or not according to the speed;
calculating a first difference value between target distances of adjacent time in a preset time period; and
and if the first difference is greater than a preset distance difference and the second difference is greater than a preset speed difference, determining that the type of the object to be detected is the target object.
Optionally, the radar is a frequency modulated continuous wave radar.
An aspect of the present invention further provides an object detection apparatus, comprising:
the acquisition module is used for acquiring a plurality of data to be processed reflected by the object to be detected in a preset time period through a radar and preprocessing the plurality of data to be processed acquired each time to obtain a plurality of echo intermediate frequency data;
the analysis module is used for analyzing the echo intermediate frequency data and obtaining a target distance between the object to be detected and the radar, the speed of the object to be detected and energy values corresponding to the echo intermediate frequency data;
the first judgment module is used for judging whether the energy value meets a target detection condition or not; and
and the second judgment module is used for judging whether the type of the object to be detected is a target object or not according to the target distance and the speed if the energy value meets the target detection condition.
Optionally, the parsing module is further configured to:
acquiring a sweep frequency period and a sweep frequency bandwidth of the radar;
analyzing the intermediate frequency data of the plurality of echoes, and obtaining the reflection power and the reflection frequency of the radar;
calculating to obtain speed resolution and distance resolution according to the sweep frequency period, the electromagnetic wave wavelength, the light speed and the sweep frequency bandwidth;
calculating the speed of the object to be measured according to the speed resolution;
calculating to obtain the target distance according to the distance resolution, preset emission power, the speed of the object to be detected, the wavelength of the electromagnetic wave, the speed of light, the sweep frequency period and the sweep frequency bandwidth; and
and calculating to obtain a plurality of energy values based on the reflected power, the transmitting power, the electromagnetic wave wavelength, the target distance and the antenna gain of the radar.
Optionally, the first determining module is further configured to:
judging whether any energy value in the energy values is larger than a preset energy threshold value or not;
correspondingly, the second judging module is further configured to:
if any energy value in the energy values is larger than the preset threshold value, judging whether the type of the object to be detected is a target object or not according to the target distance and the speed.
An aspect of the embodiments of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the object detection method as described above.
An aspect of the embodiments of the present invention further provides a computer-readable storage medium, including a memory, a processor, and a computer program stored on the memory and executable on at least one processor, the at least one processor implementing the steps of the object detection method as described above when executing the computer program.
According to the target detection method, the target detection device, the computer equipment and the computer readable storage medium, multiple pieces of data to be processed reflected by an object to be detected are collected within a preset time period through a radar, and the multiple pieces of data to be processed collected each time are preprocessed to obtain multiple pieces of echo intermediate frequency data; analyzing the multiple echo intermediate frequency data, and obtaining a target distance between the object to be detected and the radar, the speed of the object to be detected and energy values corresponding to the multiple echo intermediate frequency data; judging whether the energy value meets a target detection condition; if the energy value meets the target detection condition, judging whether the type of the object to be detected is a target object or not according to the target distance and the speed; and determining whether the object to be detected is the target object according to the energy value, the target distance and the speed obtained by analyzing the echo intermediate frequency data and according to the energy value and the two judgments of the target distance and the speed, thereby effectively improving the target detection precision.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
FIG. 1 schematically illustrates an example flow diagram of a target detection method of an embodiment of this invention;
fig. 2 schematically shows an exemplary flowchart for analyzing the intermediate frequency data of the multiple echoes and obtaining an energy value, a target distance and a speed in the target detection method according to the embodiment of the present invention;
FIG. 3 schematically illustrates an example flow chart of determining whether the energy value satisfies a target detection condition in a target detection method of an embodiment of the invention;
fig. 4 schematically illustrates an exemplary flowchart for determining whether the type of the object to be detected is the object in the object detection method according to the embodiment of the present invention;
FIG. 5 schematically shows a block diagram of an object detection apparatus according to a second embodiment of the present invention; and
fig. 6 schematically shows a hardware architecture diagram of a computer device suitable for implementing the target detection method according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the descriptions relating to "first", "second", etc. in the embodiments of the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but must be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
In the description of the present invention, it should be understood that the numerical references before the steps do not identify the order of performing the steps, but merely serve to facilitate the description of the present invention and to distinguish each step, and thus should not be construed as limiting the present invention.
Example one
Referring to fig. 1, a flowchart illustrating steps of a target detection method according to an embodiment of the invention is shown. It is to be understood that the flow charts in the embodiments of the present method are not used to limit the order in which the steps are performed. The following description is given by taking a computer device as an execution subject, specifically as follows:
as shown in fig. 1, the target detection method may include steps S100 to S106, in which:
step S100, a plurality of data to be processed reflected by the object to be detected are collected in a preset time period through a radar, and the data to be processed collected each time are preprocessed to obtain a plurality of echo intermediate frequency data.
The object to be tested includes, but is not limited to, a human, an animal, other objects, and the like. The data to be processed is a signal which is reflected by an object to be detected and received by the radar, and is transmitted by the radar (microwave sensor) at a fixed transmitting frequency, and the data to be processed is preprocessed by a chip of the radar and converted to obtain a plurality of medium frequency data.
In an exemplary embodiment, the radar is configured as a Frequency Modulated Continuous Wave (FMCW) radar. The modulation mode of the radar is frequency modulation continuous wave. In this embodiment, both distance measurement and speed measurement can be performed by frequency modulated continuous wave radar.
In an exemplary embodiment, the radar may be set to transmit signals by using electromagnetic waves of different frequency bands according to actual requirements.
At present, a pressure sensor is often adopted in the market to detect a target object of an object to be detected on a carrier. However, when the pressure sensor is used for detection, only one point or a certain angle range can be detected, the detection range is small, and the detection efficiency is low; the applicability is low and the practicability is poor. Compared with the prior art that a pressure sensor is adopted for detection, in the embodiment of the invention, the radar is adopted, and the advantages are that: the detection range is large; the appearance is beautiful; the installation is simple and convenient; the detection efficiency is high; the applicability is strong; the practicability is high; the integration level is high; the volume is small; the power consumption is low; the cost is low.
Step S102, analyzing the multiple echo intermediate frequency data, and obtaining a target distance between the object to be measured and the radar, a speed of the object to be measured, and energy values corresponding to the multiple echo intermediate frequency data.
In order to quickly process the intermediate frequency data of a plurality of echoes received by the radar, the speed and the target distance of the object to be measured can be calculated by a 2D-FFT (two-dimensional Fourier transform) algorithm. Referring to fig. 2, the step S102 of analyzing the echo intermediate frequency data and obtaining the target distance between the object to be measured and the radar, the speed of the object to be measured, and the energy values corresponding to the echo intermediate frequency data may further include the following steps S200 to S210, where: step S200, acquiring a sweep frequency period and a sweep frequency bandwidth of the radar; step S202, analyzing the intermediate frequency data of the multiple echoes, and obtaining the reflection power and the reflection frequency of the radar; step S204, calculating to obtain speed resolution and distance resolution according to the sweep frequency period, the electromagnetic wave wavelength, the light speed and the sweep frequency bandwidth; step S206, calculating the speed of the object to be detected according to the speed resolution; step S208, calculating to obtain the target distance according to the distance resolution, preset emission power, the speed of the object to be detected, the electromagnetic wave wavelength, the light speed, the sweep frequency period and the sweep frequency bandwidth; and step S210, calculating a plurality of energy values based on the reflected power, the transmitting power, the electromagnetic wave wavelength, the target distance and the antenna gain of the radar.
In this embodiment, data such as distance resolution, sweep frequency bandwidth, and reflection frequency are related to the target distance and speed of the object to be measured; performing discrete Fourier transform on the data; determining the distance resolution is related to the target distance and speed of the object to be measured. Performing N-point FFT on the echo intermediate frequency data in each frequency sweep period, and performing M-point FFT on the Fourier transform calculation results in M frequency sweep periods according to each distance unit to obtain a three-dimensional simulation stereogram of the two-dimensional FFT; and analyzing to obtain the speed resolution and the distance resolution according to the maximum amplitude in the three-dimensional simulation stereogram.
Thus, over the sweep period, the velocity resolution can be calculated by equation 1 below:
Figure BDA0003479807490000071
wherein f isvExpressed as a velocity resolution; λ represents an electromagnetic wave wavelength; t is denoted as the sweep period of the radar.
The speed of the object to be measured can be calculated by the following formula 2:
Figure BDA0003479807490000072
wherein v represents the velocity of the analyte; f. of0Expressed as the initial carrier frequency of the radar; b is expressed as the sweep bandwidth of the radar; c is expressed as the speed of light; f. ofvExpressed as the velocity resolution.
The distance resolution can be calculated by the following equation 3:
Figure BDA0003479807490000073
wherein f ismExpressed as a distance resolution; b represents the sweep bandwidth of the radar; and c is expressed as the speed of light.
The target distance between the object to be measured and the radar can be calculated by the following formula 4:
Figure BDA0003479807490000074
wherein R represents the target distance of the object to be detected; f. ofmExpressed as a distance resolution; f. of0Denoted as radarInitial carrier frequency; v represents the velocity of the test object; c is expressed as the speed of light; t represents the sweep frequency period of the radar; b is denoted as the swept bandwidth of the radar.
In the present embodiment, the energy value can be understood as a radar reflection section; the radar reflection cross section is a physical quantity for measuring the strength of the radar signal reflection capability of the object to be measured in the radar receiving direction. Wherein, the radar reflection cross section can be calculated by the following formula 5:
Figure BDA0003479807490000081
wherein, σ is expressed as an energy value and can also be understood as a radar reflection section; r represents the target distance of the object to be detected; prRepresenting a transmit power of the radar; ptRepresenting a reflected power of the radar; g is the antenna gain of the radar; λ represents the electromagnetic wave wavelength.
And step S104, judging whether the energy value meets a target detection condition.
In order to improve the data processing efficiency, in an exemplary embodiment, the target detection condition is to determine whether any energy value is greater than a preset energy threshold; referring to fig. 3, the analysis of energy values may also be obtained by: step S300, judging whether any energy value in the energy values is larger than a preset energy threshold value; and step S302, if any energy value in the energy values is larger than the preset threshold value, judging whether the type of the object to be detected is a target object or not according to the target distance and the speed. In this embodiment, by determining the energy value and the preset energy threshold, it can be quickly determined whether a strong reflector, such as a person, exists within a preset distance from the radar. And if any energy value in the energy values is larger than a preset energy threshold value, determining that a strong reflector exists within a preset distance from the radar.
And S106, if the energy value meets the target detection condition, judging whether the type of the object to be detected is a target object according to the target distance and the speed.
Wherein, the energy value satisfies the target detection condition, which can be understood as that any energy value in the energy values is greater than the preset threshold.
In order to further improve the data processing efficiency, referring to fig. 4, the step S106 of determining whether the type of the object to be measured is the target object according to the target distance and the speed may further include the following steps S400 to S404, where: step S400, if the target distance is smaller than the preset distance, judging whether the type of the object to be detected is the target object or not according to the speed; step S402, calculating a first difference value between target distances of adjacent time in a preset time period; and step S404, if the first difference is larger than a preset distance difference and the second difference is larger than a preset speed difference, determining that the type of the object to be detected is the target object. In this embodiment, first, by comparing the target distance with the preset distance, it is determined whether the object to be measured is within a preset area (for example, a preset sector area) formed by using the radar as the origin and the preset distance as the radius. If the object to be measured is in the preset area, comparing each target distance corresponding to each echo intermediate frequency data acquired at each time point in a preset time period, comparing a first difference value between target distances of adjacent time, and comparing a second difference value between speeds of adjacent time; if the first difference is greater than a preset distance difference (e.g., 0) and the second difference is greater than a preset speed difference (e.g., 0), determining that the object to be measured is a micro-animal body and determining that the object to be measured is a target object (e.g., a human). In this embodiment, the preset difference may be set according to actual requirements, and is not specifically limited herein. And if each first difference value is smaller than or equal to a preset distance difference value and each second difference value is smaller than or equal to a preset speed difference value, determining that the object to be detected is in a static state, and determining that the object to be detected is a non-target object.
In the embodiment of the invention, the target detection method can detect whether a person is on the vehicle; for example, whether a person is present on a seat cushion of a vehicle such as an electric vehicle or a bicycle is detected.
The scheme for target detection based on the radar in the embodiment of the invention at least has the following beneficial effects:
(1) by adopting a non-contact measurement mode through the radar, the influence of external pressure on the measurement accuracy is reduced, and the service life is prolonged.
(2) Target detection is carried out through the radar, and the detection efficiency is effectively improved by utilizing the high-resolution characteristic of the radar.
(3) According to the method, the energy value, the target distance and the speed are obtained by analyzing the data detected by the radar, and whether the object to be detected is the target object can be quickly judged according to the energy value and the two judgments of the target distance and the speed, so that the target detection precision and the accuracy are effectively improved; the reliability is high.
Example two
Referring to fig. 5, a schematic diagram of program modules of an object detection device 50 according to an embodiment of the invention is shown. In this embodiment, the object detection device 50 may include or be divided into one or more program modules, and the one or more program modules are stored in the embedded memory chip and executed by one or more processors to implement the present invention and implement the object detection method. The program modules referred to in the embodiments of the present invention refer to a series of computer program instruction segments capable of performing specific functions, and are more suitable than the program itself for describing the execution process of the object detection device 50 in the storage medium. The following description will specifically describe the functions of the program modules of the present embodiment:
the device comprises: an acquisition module 500, an analysis module 502, a first judgment module 504, and a second judgment module 506, wherein:
the acquisition module 500 is configured to acquire a plurality of pieces of data to be processed reflected by an object to be detected within a preset time period by using a radar, and preprocess the plurality of pieces of data to be processed acquired each time to obtain a plurality of pieces of echo intermediate frequency data;
an analyzing module 502, configured to analyze the multiple echo intermediate frequency data, and obtain a target distance between the object to be measured and the radar, a speed of the object to be measured, and an energy value corresponding to the multiple echo intermediate frequency data;
a first determining module 504, configured to determine whether the energy value meets a target detection condition; and
a second determining module 506, configured to determine whether the type of the object to be detected is a target object according to the target distance and the speed if the energy value satisfies the target detection condition.
In an exemplary embodiment, the parsing module 502 is further configured to: acquiring a sweep frequency period and a sweep frequency bandwidth of the radar; analyzing the intermediate frequency data of the multiple echoes, and obtaining the reflection power and the reflection frequency of the radar; calculating to obtain speed resolution and distance resolution according to the sweep frequency period, the electromagnetic wave wavelength, the light speed and the sweep frequency bandwidth; calculating the speed of the object to be detected according to the speed resolution; calculating to obtain the target distance according to the distance resolution, preset emission power, the speed of the object to be detected, the wavelength of the electromagnetic wave, the speed of light, the sweep frequency period and the sweep frequency bandwidth; and calculating to obtain a plurality of energy values based on the reflected power, the transmitted power, the electromagnetic wave wavelength, the target distance and the antenna gain of the radar.
In this embodiment, data such as distance resolution, sweep frequency bandwidth, and reflection frequency are related to the target distance and speed of the object to be measured; performing discrete Fourier transform on the data; determining the distance resolution is related to the target distance and speed of the object to be measured. Performing N-point FFT on the echo intermediate frequency data in each frequency sweep period, and performing M-point FFT on the Fourier transform calculation results in M frequency sweep periods according to each distance unit to obtain a three-dimensional simulation stereogram of the two-dimensional FFT; and analyzing to obtain the speed resolution and the distance resolution according to the maximum amplitude in the three-dimensional simulation stereogram.
Thus, over the sweep period, the velocity resolution can be calculated by equation 1 below:
Figure BDA0003479807490000111
wherein, fvExpressed as a velocity resolution; λ represents an electromagnetic wave wavelength; t is denoted as the sweep period of the radar.
The speed of the object to be measured can be calculated by the following formula 2:
Figure BDA0003479807490000112
wherein v represents the velocity of the analyte; f. of0Expressed as the initial carrier frequency of the radar; b is expressed as the sweep bandwidth of the radar; c is expressed as the speed of light; f. ofvExpressed as the velocity resolution.
The distance resolution can be calculated by the following equation 3:
Figure BDA0003479807490000113
wherein f ismExpressed as a distance resolution; b represents the sweep bandwidth of the radar; and c is expressed as the speed of light.
The target distance between the object to be measured and the radar can be calculated by the following formula 4:
Figure BDA0003479807490000114
wherein R represents the target distance of the object to be detected; f. ofmExpressed as a distance resolution; f. of0Expressed as the initial carrier frequency of the radar; v represents the velocity of the test object; c is expressed as the speed of light; t represents the sweep frequency period of the radar; b is denoted as the swept bandwidth of the radar.
In the present embodiment, the energy value can be understood as a radar reflection cross section; the radar reflection cross section is a physical quantity for measuring the strength of the radar signal reflection capability of the object to be measured in the radar receiving direction. Wherein, the radar reflection cross section can be calculated by the following formula 5:
Figure BDA0003479807490000115
wherein, σ is expressed as an energy value and can also be understood as a radar reflection section; r represents the target distance of the object to be detected; prRepresenting a transmit power of the radar; ptRepresenting a reflected power of the radar; g is the antenna gain of the radar; λ represents the electromagnetic wave wavelength.
In an exemplary embodiment, the first determining module 504 is further configured to: judging whether any energy value in the energy values is larger than a preset energy threshold value or not; the second determining module 506 is further configured to: and if any energy value in the energy values is larger than the preset threshold value, judging whether the type of the object to be detected is a target object or not according to the target distance and the speed.
In an exemplary embodiment, the second determining module 506 is further configured to: if the target distance is smaller than the preset distance, judging whether the type of the object to be detected is the target object or not according to the speed; calculating a first difference value between target distances of adjacent time in a preset time period; and if the first difference is larger than a preset distance difference and the second difference is larger than a preset speed difference, determining that the type of the object to be detected is the target object.
In an exemplary embodiment, the radar is a frequency modulated continuous wave radar.
EXAMPLE III
Fig. 6 schematically shows a hardware architecture diagram of a computer device 10000 suitable for implementing an object detection method according to a third embodiment of the present invention. In this embodiment, the computer device 10000 is a device capable of automatically performing score calculation and/or information processing according to a preset or stored instruction. For example, the server may be a smart phone, a tablet computer, a notebook computer, a desktop computer, a rack server, a blade server, a tower server or a rack server (including an independent server or a server cluster composed of a plurality of servers), a gateway, and the like. As shown in fig. 6, computer device 10000 includes at least, but is not limited to: the memory 10010, processor 10020, and network interface 10030 may be communicatively linked to each other via a system bus. Wherein:
the memory 10010 includes at least one type of computer-readable storage medium including a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, the storage 10010 may be an internal storage module of the computer device 10000, such as a hard disk or a memory of the computer device 10000. In other embodiments, the memory 10010 may also be an external storage device of the computer device 10000, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the computer device 10000. Of course, the memory 10010 may also include both internal and external memory modules of the computer device 10000. In this embodiment, the memory 10010 is generally used for storing an operating system and various application software installed in the computer device 10000, such as a program code of an object detection method. In addition, the memory 10010 may also be used to temporarily store various types of data that have been output or are to be output.
Processor 10020, in some embodiments, can be a Central Processing Unit (CPU), controller, microcontroller, microprocessor, or other data Processing chip. The processor 10020 is generally configured to control overall operations of the computer device 10000, such as performing control and processing related to data interaction or communication with the computer device 10000. In this embodiment, the processor 10020 is configured to execute program codes stored in the memory 10010 or process data.
Network interface 10030 may comprise a wireless network interface or a wired network interface, and network interface 10030 is generally used to establish a communication link between computer device 10000 and other computer devices. For example, the network interface 10030 is used to connect the computer device 10000 to an external terminal through a network, establish a data transmission channel and a communication link between the computer device 10000 and the external terminal, and the like. The network may be a wireless or wired network such as an Intranet (Intranet), the Internet (Internet), a Global System of Mobile communication (GSM), Wideband Code Division Multiple Access (WCDMA), a 4G network, a 5G network, Bluetooth (Bluetooth), or Wi-Fi.
It should be noted that fig. 6 only illustrates a computer device having the components 10010-10030, but it is to be understood that not all illustrated components are required and that more or less components may be implemented instead.
In this embodiment, the object detection method stored in the memory 10010 can be further divided into one or more program modules and executed by the processor (in this embodiment, the processor 10020) to complete the embodiment of the present invention.
Example four
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by at least one processor, performs the steps of the object detection method in an embodiment.
In this embodiment, the computer-readable storage medium includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, the computer readable storage medium may be an internal storage unit of the computer device, such as a hard disk or a memory of the computer device. In other embodiments, the computer readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk equipped on the computer device, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), and the like. Of course, the computer-readable storage medium may also include both internal and external storage devices for the computer device. In this embodiment, the computer-readable storage medium is generally used for storing an operating system and various types of application software installed in the computer device, for example, the program code of the object detection method in the embodiment, and the like. Furthermore, the computer-readable storage medium may also be used to temporarily store various types of data that have been output or are to be output.
It will be apparent to those skilled in the art that the modules or steps of the embodiments of the invention described above may be implemented in a general purpose computing device, centralized on a single computing device or distributed across a network of computing devices, or alternatively, in program code executable by a computing device, such that the steps shown and described may be executed by a computing device stored in a memory device and, in some cases, executed in a sequence different from that shown and described herein, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module with multiple modules or steps included therein. Thus, embodiments of the invention are not limited to any specific combination of hardware and software.
The above description is only a preferred 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, which are made by the contents of the present specification and drawings, or used directly or indirectly in other related fields, are included in the scope of the present invention.

Claims (10)

1. A method of object detection, comprising:
collecting a plurality of data to be processed reflected by an object to be detected in a preset time period through a radar, and preprocessing the plurality of data to be processed collected each time to obtain a plurality of echo intermediate frequency data;
analyzing the multiple echo intermediate frequency data, and obtaining a target distance between the object to be detected and the radar, the speed of the object to be detected and energy values corresponding to the multiple echo intermediate frequency data;
judging whether the energy value meets a target detection condition; and
and if the energy value meets the target detection condition, judging whether the type of the object to be detected is a target object or not according to the target distance and the speed.
2. The method of claim 1, wherein the analyzing the echo intermediate frequency data to obtain a target distance between the object to be measured and the radar, a speed of the object to be measured, and an energy value corresponding to the echo intermediate frequency data includes:
acquiring a sweep frequency period and a sweep frequency bandwidth of the radar;
analyzing the intermediate frequency data of the plurality of echoes, and obtaining the reflection power and the reflection frequency of the radar;
calculating to obtain speed resolution and distance resolution according to the sweep frequency period, the electromagnetic wave wavelength, the light speed and the sweep frequency bandwidth;
calculating the speed of the object to be detected according to the speed resolution;
calculating to obtain the target distance according to the distance resolution, preset emission power, the speed of the object to be detected, the wavelength of the electromagnetic wave, the speed of light, the sweep frequency period and the sweep frequency bandwidth; and
and calculating to obtain a plurality of energy values based on the reflected power, the transmitting power, the electromagnetic wave wavelength, the target distance and the antenna gain of the radar.
3. The object detection method of claim 2, wherein the determining whether the energy value satisfies an object detection condition comprises:
judging whether any energy value in the energy values is larger than a preset energy threshold value or not;
in a corresponding manner, the first and second optical fibers are,
if any energy value in the energy values is larger than the preset threshold value, judging whether the type of the object to be detected is a target object or not according to the target distance and the speed.
4. The target detection method of claim 3, wherein the determining whether the type of the object to be detected is a target object according to the target distance and the speed comprises:
if the target distance is smaller than the preset distance, judging whether the type of the object to be detected is the target object or not according to the speed;
calculating a first difference between target distances of adjacent times within a preset time period and a second difference between speeds of the adjacent times within the preset time period; and
and if the first difference is greater than a preset distance difference and the second difference is greater than a preset speed difference, determining that the type of the object to be detected is the target object.
5. The object detection method of claim 1, wherein the radar is a frequency modulated continuous wave radar.
6. An object detection apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring a plurality of to-be-processed data reflected by the object to be detected in a preset time period through a radar and preprocessing the plurality of to-be-processed data acquired each time to obtain a plurality of echo intermediate frequency data;
the analysis module is used for analyzing the echo intermediate frequency data and obtaining a target distance between the object to be detected and the radar, the speed of the object to be detected and energy values corresponding to the echo intermediate frequency data;
the first judgment module is used for judging whether the energy value meets a target detection condition or not; and
and the second judgment module is used for judging whether the type of the object to be detected is a target object or not according to the target distance and the speed if the energy value meets the target detection condition.
7. The object detection device of claim 6, wherein the parsing module is further configured to:
acquiring a sweep frequency period and a sweep frequency bandwidth of the radar;
analyzing the intermediate frequency data of the plurality of echoes, and obtaining the reflection power and the reflection frequency of the radar;
calculating to obtain speed resolution and distance resolution according to the sweep frequency period, the electromagnetic wave wavelength, the light speed and the sweep frequency bandwidth;
calculating the speed of the object to be detected according to the speed resolution;
calculating to obtain the target distance according to the distance resolution, preset emission power, the speed of the object to be measured, the wavelength of the electromagnetic wave, the light speed, the sweep frequency period and the sweep frequency bandwidth; and
and calculating to obtain a plurality of energy values based on the reflected power, the transmitting power, the electromagnetic wave wavelength, the target distance and the antenna gain of the radar.
8. The object detecting device of claim 7, wherein the first determining module is further configured to:
judging whether any energy value in the energy values is larger than a preset energy threshold value or not;
correspondingly, the second judging module is further configured to:
if any energy value in the energy values is larger than the preset threshold value, judging whether the type of the object to be detected is a target object or not according to the target distance and the speed.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, is adapted to carry out the steps of the object detection method of any of claims 1-5.
10. A computer-readable storage medium, having stored thereon a computer program which is executable by at least one processor to cause the at least one processor to perform the steps of the object detection method of any one of claims 1 to 5.
CN202210065057.4A 2022-01-20 2022-01-20 Target detection method and device, computer equipment and readable storage medium Pending CN114488115A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210065057.4A CN114488115A (en) 2022-01-20 2022-01-20 Target detection method and device, computer equipment and readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210065057.4A CN114488115A (en) 2022-01-20 2022-01-20 Target detection method and device, computer equipment and readable storage medium

Publications (1)

Publication Number Publication Date
CN114488115A true CN114488115A (en) 2022-05-13

Family

ID=81472175

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210065057.4A Pending CN114488115A (en) 2022-01-20 2022-01-20 Target detection method and device, computer equipment and readable storage medium

Country Status (1)

Country Link
CN (1) CN114488115A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116156626A (en) * 2023-04-24 2023-05-23 深圳市飞睿智能有限公司 Four-antenna system and positioning method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116156626A (en) * 2023-04-24 2023-05-23 深圳市飞睿智能有限公司 Four-antenna system and positioning method
CN116156626B (en) * 2023-04-24 2023-06-27 深圳市飞睿智能有限公司 Four-antenna system and positioning method

Similar Documents

Publication Publication Date Title
US11340332B2 (en) Method and apparatus for processing radar data
CN110646773B (en) Weak target detection method, tracking method and system based on automobile millimeter wave radar
CN111045008B (en) Vehicle millimeter wave radar target identification method based on widening calculation
CN113536850B (en) Target object size testing method and device based on 77G millimeter wave radar
JPWO2016194036A1 (en) Radar signal processing device
CN108765937A (en) Vehicle identifier, roadside unit and method for ETC system
CN113109802B (en) Target motion state judging method, device, radar equipment and storage medium
CN113009441B (en) Method and device for identifying multipath target of radar moving reflecting surface
KR102440355B1 (en) Deep Learning-based Ocean Cluster Data Measurement System Using Sea Level Wave Reflectance
CN116106855B (en) Tumble detection method and tumble detection device
CN113009442B (en) Method and device for identifying multipath target of radar static reflecting surface
CN114488115A (en) Target detection method and device, computer equipment and readable storage medium
CN116027318A (en) Method, device, electronic equipment and storage medium for multi-sensor signal fusion
US6844843B2 (en) Signal processing apparatus of radio radar
CN112946623B (en) Speed measuring method and device based on 77G millimeter wave radar installed on vehicle
CN111610515A (en) Detection method, detection device, millimeter wave radar and computer readable storage medium
Chen et al. Soil moisture sensing with mmWave radar
CN111308467A (en) Detection method and detection device
CN116027288A (en) Method and device for generating data, electronic equipment and storage medium
CN113777574A (en) Sparse array grating lobe arrangement method, device and related equipment
CN116068503A (en) Combined calibration method and device for millimeter wave radar and laser radar and terminal equipment
CN112763998A (en) Device, sensor system and method for determining a radar target list
CN113820704A (en) Method and device for detecting moving target and electronic equipment
CN113589326B (en) Object identification method, device and equipment of laser radar and storage medium
CN116047442A (en) Method and device for detecting target angle and electronic equipment

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination