CN114578305B - Target detection confidence determining method and device, electronic equipment and storage medium - Google Patents
Target detection confidence determining method and device, electronic equipment and storage medium Download PDFInfo
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- CN114578305B CN114578305B CN202210483801.2A CN202210483801A CN114578305B CN 114578305 B CN114578305 B CN 114578305B CN 202210483801 A CN202210483801 A CN 202210483801A CN 114578305 B CN114578305 B CN 114578305B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention relates to a method and a device for determining a confidence coefficient of target detection, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring an array signal based on the echo signal and carrying out beam forming on the array signal to obtain an angle spectrum of which the signal intensity changes along with the detection angle; determining a target main peak corresponding to a target detection angle and a correlation main peak correlated with the target main peak according to the angle spectrum, and determining a first intensity ratio, a second intensity ratio and a third intensity ratio according to the peak intensity corresponding to the target main peak, the peak intensity corresponding to the correlation main peak and the signal intensities corresponding to all angles in the field angle of the radar; carrying out shape fitting on the target main peak to obtain an intensity value curve, and determining the difference degree between the intensity value curve and the target main peak; and determining the confidence coefficient of the target detection according to the first intensity ratio, the second intensity ratio, the third intensity ratio and the difference degree, and providing a reliable confidence coefficient calculation method.
Description
Technical Field
The present invention relates to the field of radar technologies, and in particular, to a method and an apparatus for determining a confidence level of target detection, an electronic device, and a storage medium.
Background
Millimeter-wave radars are radars that operate in the millimeter wave band (millimeter wave) for detection. Usually, the millimeter wave is in the frequency domain of 30 to 300GHz (with a wavelength of 1 to 10 mm). Millimeter-wave radar combines some of the advantages of microwave radar and photoelectric radar because the wavelength of millimeter waves is between that of microwaves and centimeter waves.
The detection point of the millimeter wave radar changes randomly along with the scattering intensity and the relative phase of different parts of a complex target, so that the wave front of the target echo phase is distorted, and the angle measurement error is inevitably caused by the inclination and random swing of the wave front on the aperture surface of the receiving antenna, namely the angle flicker phenomenon occurs. The angle flicker causes the target to jump in space, namely the target detection point is unstable, and in order to judge the stability degree of the detection point, the concept of a confidence coefficient is used for evaluation, so how to accurately evaluate the target detection confidence coefficient of the radar and the stability of the millimeter wave radar target detection point is a technical problem which needs to be solved urgently.
Disclosure of Invention
The invention provides a method, a device, electronic equipment and a storage medium for determining confidence of target detection, wherein a first intensity ratio, a second intensity ratio and a third intensity ratio are determined in an angle spectrum obtained by performing beamforming on an array signal, the difference degree is determined according to a target main peak and a fitted intensity value curve, and a confidence calculation model is constructed according to the first intensity ratio, the second intensity ratio, the third intensity ratio and the difference degree, so that the confidence of the target detection is determined, and the specific scheme is as follows:
in a first aspect, a method for determining confidence of target detection is provided, where the method includes:
receiving an echo signal fed back by a target aiming at a detection signal transmitted by the radar;
acquiring an array signal based on the echo signal, wherein the array signal comprises amplitude phase information carried by the echo signal;
carrying out beam forming on the array signals to obtain an angle spectrum of which the signal intensity changes along with the detection angle;
determining a target main peak corresponding to a target detection angle and an associated main peak associated with the target main peak according to the angle spectrum, and determining a first intensity ratio according to peak intensity corresponding to the target main peak and peak intensity corresponding to the associated main peak;
determining a second intensity ratio according to the peak intensity corresponding to the target main peak and the average intensity of the signal intensities corresponding to all angles in the angle of view of the radar in the angle spectrum;
determining a third intensity ratio according to the peak intensity corresponding to the target main peak and the total intensity of the signal intensities corresponding to all angles in the angle of view of the radar in the angle spectrum;
carrying out shape fitting on the target main peak in a preset mode to obtain an intensity value curve, and determining the difference degree between the intensity value curve and the target main peak;
and determining the confidence degree of target detection according to the first intensity ratio, the second intensity ratio, the third intensity ratio and the difference degree.
Further, the determining a first intensity ratio according to the peak intensity corresponding to the target main peak and the peak intensity corresponding to the associated main peak includes:
determining the first intensity ratio according to:
wherein dBR is the first intensity ratio, AmIs the peak intensity corresponding to the target main peak, AsAnd the peak intensity corresponding to the correlation main peak.
Further, the determining a second intensity ratio according to the peak intensity corresponding to the target main peak and the average intensity of the signal intensities corresponding to all angles within the field angle of the radar in the angle spectrum includes:
determining the second intensity ratio according to:
wherein SNR is the second intensity ratio, AmMean (a) is the average intensity of the signal intensities corresponding to all angles within the field angle of the radar in the angular spectrum, which is the peak intensity corresponding to the target main peak.
Further, the determining a third intensity ratio according to the peak intensity corresponding to the target main peak and the total intensity of the signal intensities corresponding to all angles within the field angle of the radar in the angle spectrum includes:
determining the third intensity ratio according to:
wherein dBC is the third intensity ratio, AmSum (a) is the total intensity of signal intensities corresponding to all angles within the field angle of the radar in the angular spectrum, which is the peak intensity corresponding to the target main peak.
Further, the obtaining of the intensity value curve by performing shape fitting on the target main peak in a preset manner includes:
acquiring signal intensity values corresponding to all angle values of the target main peak in a preset range;
and performing shape fitting on a curve formed by the signal intensity values corresponding to all the angle values in the preset range according to the following formula to obtain a fitted intensity value curve:
wherein a, h and k are all preset constants, ynIs the nth angle value x in the preset rangenCorresponding fitted intensity values.
Further, the determining the degree of difference between the intensity value curve and the target main peak comprises:
determining the degree of difference between the intensity value curve and the target main peak according to the following formula:
wherein dBV is the degree of difference, AnThe nth angle value x of the target main peak in the preset range is taken asnCorresponding intensity value, ynIs the nth angle value x in the preset rangenAnd N is the number of sampling points of the angle spectrum in the preset range.
Further, the determining the confidence of the target detection according to the first intensity ratio, the second intensity ratio, the third intensity ratio and the degree of difference includes:
constructing a confidence coefficient calculation model;
the first intensity ratio, the second intensity ratio, the third intensity ratio and the degree of difference are brought into the confidence level calculation model to determine the confidence level.
Further, the confidence calculation model is:
wherein P is the confidence, dBR is the first intensity ratio, SNR is the second intensity ratio, dBC is the third intensity ratio, dBV is the degree of difference, dBR is the confidence0、SNR0、dBC0、dBV0The first intensity ratio, the second intensity ratio, the third intensity ratio and the empirical reference value corresponding to the difference degree are respectively.
Further, the target main peak is a main lobe peak and the associated main peak is a side lobe peak.
In a second aspect, an apparatus for determining confidence of target detection is provided, the apparatus comprising:
the receiving module is used for receiving an echo signal fed back by a target aiming at a detection signal transmitted by the radar;
the acquisition module is used for acquiring an array signal based on the echo signal, wherein the array signal comprises amplitude phase information carried by the echo signal;
the beam forming module is used for carrying out beam forming on the array signals to obtain an angle spectrum of which the signal intensity changes along with the detection angle;
a first intensity ratio determination module, configured to determine, according to the angle spectrum, a target main peak corresponding to a target detection angle and an associated main peak associated with the target main peak, and according to a peak intensity corresponding to the target main peak and a peak intensity corresponding to the associated main peak;
a second intensity ratio determination module, configured to determine a second intensity ratio according to peak intensities corresponding to the target main peak and an average intensity of signal intensities corresponding to all angles within a field angle of the radar in the angle spectrum;
a third intensity ratio determining module, configured to determine a third intensity ratio according to a peak intensity corresponding to the target main peak and a total intensity of signal intensities corresponding to all angles in the angle of view of the radar in the angle spectrum;
the fitting module is used for carrying out shape fitting on the target main peak in a preset mode to obtain an intensity value curve and determining the difference degree between the intensity value curve and the target main peak;
and the confidence degree determining module is used for determining the confidence degree of the target detection according to the first intensity ratio, the second intensity ratio, the third intensity ratio and the difference degree.
In a third aspect, an electronic device is provided, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method as described above when executing the program.
In a fourth aspect, a non-transitory computer readable storage medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method as described above.
In the invention, a target main peak and an associated main peak are determined in an angle spectrum obtained by performing wave beam forming on an array signal, then a first intensity ratio, a second intensity ratio and a third intensity ratio are determined according to the signal intensity corresponding to the target main peak, the signal intensity of the associated main peak and the signal intensities corresponding to all angles in the angle spectrum, the difference degree is determined according to the target main peak and a fitted intensity value curve, a confidence coefficient calculation model is constructed according to the first intensity ratio, the second intensity ratio, the third intensity ratio and the difference degree, so as to determine the confidence coefficient of target detection, the confidence coefficient calculation combines the peak intensity corresponding to the target main peak of a target detection angle and the peak intensity, the average signal intensity and the ratio condition of the total signal intensity as well as the difference degree of the target main peak and the fitted intensity value curve, the credibility of the target detection is reflected from multiple aspects, and the reliability of confidence calculation is improved, so that the reliability of the target detection is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for determining confidence in target detection according to the present invention;
FIG. 2 is a diagram illustrating an angle spectrum obtained after beamforming an array signal according to a first embodiment of the present invention;
FIG. 3 is a graph obtained after fitting the main lobe peak in the angle spectrum according to the first embodiment of the present invention;
fig. 4 is a schematic diagram of the target detection confidence determining apparatus according to the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of 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.
Throughout the specification, reference to "one embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples.
As shown in fig. 1, the present invention provides a method for determining confidence of target detection, including:
s101, receiving an echo signal fed back by a target aiming at a detection signal transmitted by a radar;
s102, acquiring an array signal based on the echo signal, wherein the array signal comprises amplitude phase information carried by the echo signal;
s103, carrying out beam forming on the array signals to obtain an angle spectrum of which the signal intensity changes along with the detection angle;
s104, determining a target main peak corresponding to a target detection angle and an associated main peak associated with the target main peak according to the angle spectrum, and determining a first intensity ratio according to peak intensity corresponding to the target main peak and peak intensity corresponding to the associated main peak;
s105, determining a second intensity ratio according to the peak intensity of the target main peak and the average intensity of the signal intensities corresponding to all angles in the field angle of the radar in the angle spectrum;
s106, determining a third intensity ratio according to the peak intensity of the target main peak and the total intensity of the signal intensities corresponding to all angles in the field angle of the radar in the angle spectrum;
s107, carrying out shape fitting on the target main peak in a preset mode to obtain an intensity value curve, and determining the difference degree between the intensity value curve and the target main peak;
and S108, determining the confidence degree of the target detection according to the first intensity ratio, the second intensity ratio, the third intensity ratio and the difference degree.
Before step S101, the radar transmits a probe signal to a target, and the radar may be a MIMO radar, where MIMO (Multiple-Input Multiple-Output) technology refers to using Multiple transmitting antennas and Multiple receiving antennas at a transmitting end and a receiving end, respectively, and transmitting and receiving signals through the Multiple antennas at the transmitting end and the receiving end, so as to improve communication quality, and for example, for a MIMO radar with three transmitters and four receivers, a total of 12 channels for transmission and reception are formed. After receiving the detection signal, the target generates a corresponding echo signal and transmits the echo signal to the radar.
In step S102, the array signal includes amplitude phase information of echo signals received by all channels, for example, for a three-transmit four-receive MIMO radar, for a certain moving target, the speed is V, and the azimuth angle is θ, then different channels may have differences in amplitude phase information of echo signals received by different channels due to the arrangement of antennas.
In step S103, a beam forming is performed on the array signal to obtain an angle spectrum of which the signal strength varies with the detection angle, and the angle spectrum may be, for example, the detection angle as an independent variable and the signal power corresponding to each detection angle as a dependent variable.
In step S104, the confidence calculation is usually performed on two main peaks, which are the target main peak and the associated main peak, in the angle spectrum, if the main peak corresponding to the maximum signal intensity is the main lobe peak (i.e. the main lobe peak amplitude), and the main peak corresponding to the second largest signal intensity is the side lobe peak (i.e. the side lobe peak amplitude), in the angle spectrum, if the peak intensity of the main lobe peak is greatly different from the peak intensity of the side lobe peak, the detection angle corresponding to the main lobe peak is the target detection angle, the confidence calculation needs to be performed on the result obtained by detecting the main lobe peak, the target main peak is the main lobe peak, the associated main peak is the side lobe peak, and if the peak intensity of the main lobe peak is less different from the peak intensity of the side lobe peak in the angle spectrum, then the detection angles corresponding to the main lobe peak and the side lobe peak may both be the target detection angles, and therefore, the confidence degree of the detected results of the main lobe peak and the side lobe peak needs to be calculated, at this time, when the confidence degree corresponding to the main lobe peak is calculated, the target main peak is the main lobe peak, the associated main peak is the side lobe peak, and when the confidence degree corresponding to the side lobe peak is calculated, the target main peak is the side lobe peak, and the associated main peak is the main lobe peak.
In this step, a first intensity ratio is determined by the peak intensity of the target main peak and the peak intensity of the associated main peak, so as to reflect the difference between the signal intensities corresponding to the target main peak and the associated main peak.
For example, in step S104, determining the first intensity ratio according to the peak intensity corresponding to the target main peak and the peak intensity corresponding to the associated main peak includes:
determining a first intensity ratio according to:
wherein dBR is the first intensity ratio, AmIs the peak intensity corresponding to the target main peak, AsThe peak intensity corresponding to the main peak of the correlation.
Wherein dBR is a self-defined variable, and R (ratio), dB is the meaning of log.
In step S105, each angle in the angle spectrum corresponds to a corresponding signal intensity, and the peak intensity of the main target peak and the average intensity of the signal intensities corresponding to all angles in the angle of view of the radar in the angle spectrum are determined as a second intensity ratio, so as to reflect the ratio of the peak intensity of the main target peak to the average intensity of all signal intensities.
Specifically, S105, determining the second intensity ratio according to the peak intensity corresponding to the target main peak and the average intensity of the signal intensities corresponding to all angles within the field angle of the radar in the angle spectrum includes:
determining a second intensity ratio according to:
wherein SNR is a second intensity ratio, AmMean (a) is the average intensity of the signal intensities corresponding to all angles within the field of view of the radar in the angular spectrum, which is the peak intensity corresponding to the main peak of the target.
In the step, the SNR is Signal Noise Ratio, which means Signal-to-Noise Ratio.
In step S106, a third intensity ratio is determined according to the peak intensity corresponding to the target main peak and the total intensity of the signal intensities corresponding to all angles within the field angle of the radar in the angle spectrum, so as to reflect the proportion of the peak intensity of the target main peak to all the signal intensities.
Specifically, determining the third intensity ratio according to the peak intensity corresponding to the target main peak and the total intensity of the signal intensities corresponding to all angles within the field angle of the radar in the angle spectrum includes:
determining a third intensity ratio according to:
wherein dBC is the third intensity ratio, AmSum (a) is the total intensity of signal intensities corresponding to all angles within the field angle of the radar in the angular spectrum, which is the peak intensity corresponding to the target main peak.
In this step, in dBC, C means Center Frequency, which is a concept of transition of an index dBC/Hz related to phase noise.
In step S107, firstly, a preset mode is required to perform shape fitting on the target main peak, and further, the obtaining of the intensity value curve by performing shape fitting on the target main peak in the preset mode includes:
acquiring signal intensity values corresponding to all angle values of a target main peak within a preset angle range;
and performing shape fitting on a curve formed by the signal intensity values corresponding to all the angle values in the preset range according to the following formula to obtain a fitted intensity value curve:
wherein a, h and k are all preset constants, ynIs the n angle value x in the preset rangenCorresponding fitted intensity values.
Exemplarily, in this step, the preset mode is to use an approximate model of the sinc function, and if the target main peak is a main lobe peak, when the shape of the target main peak is fitted, that is, the shape of the main lobe is fitted, that is, the preset angle range is an angle value ± a preset angle value corresponding to a peak intensity of the target main peak, and then the preset angle range is brought into the approximate model of the sinc function
And obtaining a fitted intensity value curve.
After determining the fitted intensity value curve, determining a difference degree between a main lobe shape corresponding to the target main peak and the fitted theoretical main lobe, that is, the intensity value curve, specifically, determining the difference degree between the intensity value curve and the target main peak includes:
determining the difference degree between the intensity value curve and the target main peak according to the following formula:
wherein dBV is the degree of difference, V is Variance, AnAn nth angle value x of the target main peak in a preset rangenCorresponding intensity value, ynIs the n angle value x in the preset rangenAnd N is the number of sampling points of the angle spectrum in the preset range.
In step S108, after determining the first intensity ratio, the second intensity ratio, the third intensity ratio and the difference degree, a confidence level calculation model is constructed, specifically, the confidence level calculation model is:
wherein P is confidence, dBR is a first intensity ratio, SNR is a second intensity ratio, dBC is a third intensity ratio, dBV is a degree of difference, dBR is a first intensity ratio, dBR is a second intensity ratio, dBC is a third intensity ratio, dBV is a third intensity ratio, dBR is a first intensity ratio, a first intensity ratio and a second intensity ratio0、SNR0、dBC0、dBV0The first intensity ratio, the second intensity ratio, the third intensity ratio and the empirical reference value corresponding to the difference degree are respectively. dBR0、SNR0、dBC0、dBV0Actually, the method for obtaining the online line can be obtained by theoretical calculation, but actually, the method is obtained by counting the existing data, for example, a radar is installed on a vehicle, the road test is carried out on the vehicle, and meanwhile, the related data is collected and stored; counting dBR, SNR, dBC and dBV corresponding to the data; eliminating singular values to avoid influencing most data and marking the maximum value in the rest data as dBR0、SNR0、dBC0、dBV0。
Therefore, when calculating the confidence, only the first intensity ratio, the second intensity ratio, the third intensity ratio and the difference degree need to be brought into the confidence calculation model to determine the confidence.
In the invention, a target main peak and an associated main peak are determined in an angle spectrum obtained by performing wave beam forming on an array signal, then a first intensity ratio, a second intensity ratio and a third intensity ratio are determined according to the signal intensity corresponding to the target main peak, the signal intensity of the associated main peak and the signal intensities corresponding to all angles in the angle spectrum, the difference degree is determined according to the target main peak and a fitted intensity value curve, a confidence coefficient calculation model is constructed according to the first intensity ratio, the second intensity ratio, the third intensity ratio and the difference degree, so as to determine the confidence coefficient of target detection, the confidence coefficient calculation combines the peak intensity corresponding to the target main peak of a target detection angle and the peak intensity, the average signal intensity and the ratio condition of the total signal intensity as well as the difference degree of the target main peak and the fitted intensity value curve, the credibility of the target detection is reflected from multiple aspects, and the reliability of confidence calculation is improved, so that the reliability of the target detection is improved.
The method for determining the confidence of target detection in the present invention will be described with reference to the following embodiments.
Example one
As shown in fig. 2, in order to perform beamforming on the array signal to obtain an angle spectrum whose signal intensity varies with the detection angle, as can be seen from fig. 2, the peak intensity of the main lobe peak 201 and the peak intensity of the side lobe peak 202 have a large difference, so that the target main peak corresponding to the target detection angle is the main lobe peak, and the associated main peak is the side lobe peak.
Obtaining a first definite first intensity ratio dBR according to the logarithm of the ratio of the peak intensity of the main lobe peak 201 to the peak intensity corresponding to the side lobe peak 202:
wherein A ismIs the peak intensity, A, corresponding to the main lobe peak 201sThe peak intensity corresponding to the side lobe peak 202.
Determining a second intensity ratio SNR according to the logarithm of the ratio of the peak intensity corresponding to the main lobe peak 201 to the average intensity of the signal intensities corresponding to all angles in the angle of view of the radar in the angle spectrum:
wherein A ismMean (a) is the average intensity of the signal intensities corresponding to all angles within the field angle of the radar in the angular spectrum, which is the peak intensity corresponding to the main lobe peak 201.
Determining a third intensity ratio dBC by taking a logarithm according to the ratio of the peak intensity corresponding to the main lobe peak 201 to the total intensity of the signal intensities corresponding to all angles in the field angle of the radar in the angle spectrum:
wherein A ismThe sum (a) is the total intensity of signal intensities corresponding to all angles in the angle spectrum of the radar within the field angle, which is the peak intensity corresponding to the main lobe peak 201.
Fitting the main lobe peak in a preset angle range by using an approximate model of a sinc function to obtain an intensity fitting curve, as shown in fig. 3, wherein the thickened curve is an intensity fitting curve, specifically, calculating the square and logarithm of the difference value between the main lobe peak and the intensity fitting curve in-4 dB beam width to obtain the difference degree dBV between the intensity value curve and a target main lobe, and evaluating the difference degree between the main lobe shape of the measured angle spectrum and the theoretical main lobe by using the dBV:
wherein a, h and k are all preset constants, ynIs the n angle value x in the preset rangenCorresponding fitted intensity values;
determining the difference degree dBV between the intensity value curve and the target main peak according to the following formula:
wherein A isnFor the nth angle value x of the main lobe peak 201 within-4 dB beam widthnCorresponding intensity value, ynIs the nth angle value x within-4 dB beam widthnAnd N is the number of sampling points of the angle spectrum in-4 dB beam width corresponding to the fitted intensity value.
After determining the first intensity ratio, the second intensity ratio, the third intensity ratio and the difference degree, constructing a confidence coefficient calculation model, specifically, the confidence coefficient calculation model is:
wherein dBR is the first intensity ratio, SNR is the second intensity ratio, dBC is the third intensity ratio, dBV is the degree of difference, dBR is the second intensity ratio, dBR is the third intensity ratio, dBV is the degree of difference, dBR is the degree of difference, and the first intensity ratio is the second intensity ratio0、SNR0、dBC0、dBV0The first intensity ratio, the second intensity ratio, the third intensity ratio and the empirical reference value corresponding to the difference degree are respectively.
As shown in fig. 4, the present invention also provides an apparatus for determining confidence of target detection, including:
a receiving module 401, configured to receive an echo signal fed back by a target with respect to a detection signal transmitted by a radar;
an obtaining module 402, configured to obtain an array signal based on the echo signal, where the array signal includes amplitude phase information carried by the echo signal;
a beam forming module 403, configured to perform beam forming on the array signal to obtain an angle spectrum of which the signal intensity changes with the detection angle;
a first intensity ratio determining module 404, configured to determine a target main peak corresponding to the target detection angle and an associated main peak associated with the target main peak according to the angle spectrum, and determine a peak intensity corresponding to the target main peak and a peak intensity corresponding to the associated main peak according to the peak intensity corresponding to the target main peak;
a second intensity ratio determining module 405, configured to determine a second intensity ratio according to peak intensity corresponding to the target main peak and average intensity of signal intensities corresponding to all angles within a field angle of the radar in the angle spectrum;
a third intensity ratio determining module 406, configured to determine a third intensity ratio according to a peak intensity corresponding to the target main peak and a total intensity of signal intensities corresponding to all angles within a field angle of the radar in the angle spectrum;
the fitting module 407 is configured to perform shape fitting on the target main peak in a preset manner to obtain an intensity value curve, and determine a difference degree between the obtained intensity value curve and the target main peak;
the confidence determining module 408 is configured to determine a confidence of the target detection according to the first intensity ratio, the second intensity ratio, the third intensity ratio, and the difference degree.
Further, the first intensity ratio determination module 404 is further configured to determine the first intensity ratio according to the following equation:
wherein dBR is the first intensity ratio, AmIs the peak intensity corresponding to the target main peak, AsThe peak intensity corresponding to the main peak of the correlation.
Further, the second intensity ratio determination module 405 is further configured to determine the second intensity ratio according to the following formula:
wherein SNR is a second intensity ratio, AmMean (a) is the average intensity of signal intensities corresponding to all angles within the field angle of the radar in the angular spectrum, which is the peak intensity corresponding to the target main peak.
Further, the third intensity ratio determining module 406 is further configured to determine the third intensity ratio according to the following formula:
wherein dBC is the third intensity ratio, AmSum (a) is the total intensity of signal intensities corresponding to all angles within the field angle of the radar in the angular spectrum, which is the peak intensity corresponding to the target main peak.
Further, the fitting module 407 is further configured to obtain signal strength values corresponding to all angle values of the standard main peak within a preset range;
and performing shape fitting on a curve formed by the signal intensity values corresponding to all the angle values in the preset range according to the following formula to obtain a fitted intensity value curve:
wherein a, h and k are preset constants, ynIs the n angle value x in the preset rangenCorresponding fitted intensity values.
Further, the fitting module 407 is further configured to determine a difference degree between the intensity value curve and the target main peak according to the following formula:
wherein dBV is the degree of difference, AnThe nth angle value x of the target main peak in the preset range is taken asnCorresponding intensity value, ynIs the n angle value x in the preset rangenAnd N is the number of sampling points of the angle spectrum in the preset range.
Further, the confidence determination module 408 is also used for constructing a confidence calculation model;
and the first intensity ratio, the second intensity ratio, the third intensity ratio and the difference degree are brought into the confidence coefficient calculation model to determine the confidence coefficient.
Further, the confidence calculation model is:
wherein P is confidence, dBR is a first intensity ratio, SNR is a second intensity ratio, dBC is a third intensity ratio, dBV is a degree of difference, dBR is a first intensity ratio, dBR is a second intensity ratio, dBC is a third intensity ratio, dBV is a third intensity ratio, dBR is a first intensity ratio, a first intensity ratio and a second intensity ratio0、SNR0、dBC0、dBV0The first intensity ratio, the second intensity ratio, the third intensity ratio and the empirical reference value corresponding to the difference degree are respectively.
Further, the target main peak is a main lobe peak, and the associated main peak is a side lobe peak.
The present invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method for determining confidence in object detection as described above when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the method for determining confidence in detection of an object as described above.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, therefore, the scope of the present invention shall be determined by the appended claims.
Claims (12)
1. A method for determining confidence in detection of an object, the method comprising:
receiving an echo signal fed back by a target aiming at a detection signal transmitted by a radar;
acquiring an array signal based on the echo signal, wherein the array signal comprises amplitude phase information carried by the echo signal;
carrying out beam forming on the array signals to obtain an angle spectrum of which the signal intensity changes along with the detection angle;
determining a target main peak corresponding to a target detection angle and an associated main peak associated with the target main peak according to the angle spectrum, and determining a first intensity ratio according to peak intensity corresponding to the target main peak and peak intensity corresponding to the associated main peak;
determining a second intensity ratio according to the peak intensity corresponding to the target main peak and the average intensity of the signal intensities corresponding to all angles in the angle of view of the radar in the angle spectrum;
determining a third intensity ratio according to the peak intensity corresponding to the target main peak and the total intensity of the signal intensities corresponding to all angles in the angle of view of the radar in the angle spectrum;
carrying out shape fitting on the target main peak in a preset mode to obtain an intensity value curve, and determining the difference degree between the intensity value curve and the target main peak;
and determining the confidence degree of target detection according to the first intensity ratio, the second intensity ratio, the third intensity ratio and the difference degree.
2. The method of claim 1, wherein determining a first intensity ratio based on the peak intensity corresponding to the target main peak and the peak intensity corresponding to the associated main peak comprises:
determining the first intensity ratio according to:
wherein dBR is the first intensity ratio, AmIs the peak intensity corresponding to the target main peak, AsAnd the peak intensity corresponding to the correlation main peak.
3. The method of claim 1, wherein determining a second intensity ratio as a function of a peak intensity corresponding to the target dominant peak and an average intensity of signal intensities corresponding to all angles in the angular spectrum within a field of view of the radar comprises:
determining the second intensity ratio according to:
wherein SNR is the second intensity ratio, AmMean (a) is the average intensity of the signal intensities corresponding to all angles within the field angle of the radar in the angular spectrum, which is the peak intensity corresponding to the target main peak.
4. The method of claim 1, wherein determining a third intensity ratio from a peak intensity corresponding to the target dominant peak and a total intensity of signal intensities corresponding to all angles in the angular spectrum within a field of view of the radar comprises:
determining the third intensity ratio according to:
wherein dBC is the third intensity ratio, AmSum (a) is a total intensity of signal intensities corresponding to all angles within a field angle of the radar in the angular spectrum, which is a peak intensity corresponding to the target main peak.
5. The method of claim 1, wherein shape fitting the target main peak in a predetermined manner to obtain an intensity value curve comprises:
acquiring signal intensity values corresponding to all angle values of the target main peak in a preset range;
and performing shape fitting on a curve formed by the signal intensity values corresponding to all the angle values in the preset range according to the following formula to obtain a fitted intensity value curve:
wherein a, h and k are all preset constants, ynFor the nth angle value x in the preset rangenCorresponding fitted intensity values.
6. The method of claim 5, wherein said determining a degree to which the intensity value curve differs from the target main peak comprises:
determining the degree of difference between the intensity value curve and the target main peak according to the following formula:
wherein dBV is the degree of difference, AnThe nth angle value x of the target main peak in the preset range is taken as the valuenCorresponding intensity value, ynIs the nth angle value x in the preset rangenAnd N is the number of sampling points of the angle spectrum in the preset range.
7. The method of claim 1, wherein said determining a confidence level for target detection based on said first intensity ratio value, said second intensity ratio value, said third intensity ratio value, and said degree of variance comprises:
constructing a confidence coefficient calculation model;
the first intensity ratio, the second intensity ratio, the third intensity ratio and the degree of difference are brought into the confidence level calculation model to determine the confidence level.
8. The method of claim 7, wherein the confidence calculation model is:
wherein P is the confidence and dBR isThe first intensity ratio, SNR, dBC, dBV, dBR, dBC, dBV, dBR, dBC, dBv, dBR, dBv, dBr, dBv, dBr, dBv, dBr, dBv, dBr, dBc, c, dBc, and dBc, c, and dBc, c, and dBc, c, and dBc, and dBc, respectively0、SNR0、dBC0、dBV0The first intensity ratio, the second intensity ratio, the third intensity ratio and the empirical reference value corresponding to the difference degree are respectively.
9. The method of any one of claims 1-8, wherein the target main peak is a main lobe peak and the associated main peak is a side lobe peak.
10. An object detection confidence determination apparatus, characterized in that the apparatus comprises:
the receiving module is used for receiving an echo signal fed back by a target aiming at a detection signal transmitted by a radar;
the acquisition module is used for acquiring an array signal based on the echo signal, wherein the array signal comprises amplitude phase information carried by the echo signal;
the beam forming module is used for carrying out beam forming on the array signals to obtain an angle spectrum of which the signal intensity changes along with the detection angle;
a first intensity ratio determination module, configured to determine, according to the angle spectrum, a target main peak corresponding to a target detection angle and an associated main peak associated with the target main peak, and according to a peak intensity corresponding to the target main peak and a peak intensity corresponding to the associated main peak;
a second intensity ratio determination module, configured to determine a second intensity ratio according to peak intensities corresponding to the target main peak and an average intensity of signal intensities corresponding to all angles within a field angle of the radar in the angle spectrum;
a third intensity ratio determining module, configured to determine a third intensity ratio according to a peak intensity corresponding to the target main peak and a total intensity of signal intensities corresponding to all angles within a field angle of the radar in the angle spectrum;
the fitting module is used for carrying out shape fitting on the target main peak in a preset mode to obtain an intensity value curve and determining the difference degree between the intensity value curve and the target main peak;
and the confidence degree determining module is used for determining the confidence degree of the target detection according to the first intensity ratio, the second intensity ratio, the third intensity ratio and the difference degree.
11. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 9 when executing the program.
12. A non-transitory computer-readable storage medium, having stored thereon a computer program, which, when executed by a processor, implements the method of any one of claims 1 to 9.
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