CN115616519B - Radar data processing method and device, storage medium and electronic equipment - Google Patents
Radar data processing method and device, storage medium and electronic equipment Download PDFInfo
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- CN115616519B CN115616519B CN202211545553.6A CN202211545553A CN115616519B CN 115616519 B CN115616519 B CN 115616519B CN 202211545553 A CN202211545553 A CN 202211545553A CN 115616519 B CN115616519 B CN 115616519B
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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 application provides a radar data processing method, a device, a storage medium and an electronic device, comprising: performing distance compensation on the initial distance information acquired by the detection window to obtain a compensation result; the detection window comprises P continuous detection periods, each detection period comprises Q acquisition echoes, each acquisition echo corresponds to one piece of initial distance information, P is more than or equal to 2, and Q is more than or equal to 2; and determining the target echo corresponding to the detection window based on the compensation result. By performing distance compensation, the probability that the compensation result includes correct distance information is improved. Correct distance information is determined from the compensation result, interference of wrong distance information is eliminated, target echoes corresponding to the detection windows are formed, accuracy of the distance information in the target echoes is guaranteed, and reliability of follow-up operation is improved.
Description
Technical Field
The present disclosure relates to the field of radar, and in particular, to a radar data processing method, an apparatus, a storage medium, and an electronic device.
Background
With the social development and scientific progress, people have more and more requirements on information monitoring, and the requirements are higher. The information monitoring equipment comprises a camera, a sound wave radar, a laser radar and the like. Laser radar is widely applied to various industries as a mainstream information monitoring device at present. For example, the laser radar can be carried on an unmanned aerial vehicle for mapping a space map; the automobile can be carried on an automobile to realize auxiliary driving and further realize unmanned driving; the system can also be carried on a picking system to perform target positioning and measurement, further complete picking and the like.
The laser radar can be widely applied to various working scenes to realize information monitoring in corresponding scenes. It should be noted that the accuracy of the information monitored by the laser radar directly affects the subsequent processing effect. Therefore, the skilled person is continuously concerned about how to improve the accuracy of the lidar monitoring result.
Disclosure of Invention
It is an object of the present application to provide a radar data processing method, apparatus, storage medium and electronic device to at least partially improve the above problems.
In order to achieve the above object, the embodiments of the present application adopt the following technical solutions:
in a first aspect, an embodiment of the present application provides a radar data processing method, where the method includes: performing distance compensation on the initial distance information acquired by the detection window to obtain a compensation result; the detection window comprises P continuous detection periods, each detection period comprises Q acquisition echoes, each acquisition echo corresponds to one piece of initial distance information, P is more than or equal to 2, and Q is more than or equal to 2; and determining the target echo corresponding to the detection window based on the compensation result. By performing distance compensation, the probability that the compensation result includes correct distance information is improved. Correct distance information is determined from the compensation result, interference of wrong distance information is eliminated, target echoes corresponding to the detection window are formed, accuracy of the distance information in the target echoes is guaranteed, and reliability of follow-up operation is improved.
Optionally, the compensation result includes initial distance information and corresponding compensation distance information acquired in each target detection period, where the target detection period is any one detection period in the detection windows, and the step of performing distance compensation on the initial distance information acquired in the detection windows to obtain the compensation result includes: determining a compensation difference value corresponding to the target detection period; the compensation difference value is a radar signal detection distance corresponding to interval duration between n detection periods before the target detection period and the target detection period, and n is more than or equal to 1 and less than or equal to P-1; and performing distance compensation on the initial distance information acquired in the target detection period based on the compensation difference value to obtain compensation distance information corresponding to the target detection period so as to ensure the accuracy of the compensated distance information.
Optionally, the step of performing distance compensation on the initial distance information acquired in the target detection period based on the compensation difference includes: and acquiring the sum of each initial distance information acquired in the target detection period and each compensation difference value corresponding to the target detection period as compensation distance information corresponding to the target detection period.
Optionally, before performing distance compensation on the initial distance information corresponding to the collected echo in the target detection period based on the compensation difference, the method further includes: and eliminating zero values in the initial distance information corresponding to the target detection period to eliminate interference caused by zero waves.
Optionally, the target echo includes at least one target distance information, and the step of determining the target echo corresponding to the detection window based on the compensation result includes: screening a first-class distance set from the compensation result, wherein the number of first-class distance information in the first-class distance set is greater than a first preset number value, the difference value between any two adjacent first-class distance information is smaller than a preset first distance difference value, and/or the difference value between any two first-class distance information is smaller than a preset second distance difference value; and respectively determining one piece of target distance information from each first-type distance set to eliminate part of wrong distance information in the target distance information.
Optionally, the step of screening out a first distance set from the compensation result includes: sorting the distance information in the compensation result; and screening a first distance set from the sorting result based on the first distance difference and/or the second distance difference, so that the screening efficiency of the first distance set is improved.
Optionally, the step of screening out a first distance set from the sorting result based on the first distance difference and/or the second distance difference includes: screening a second distance set from the sorting result, wherein the second distance set comprises a group of distance information which is continuously arranged in the sorting result, and the difference between any two adjacent distance information in the second distance set is smaller than the first distance difference, and/or the difference between any two distance information in the second distance set is smaller than the second distance difference; determining whether the quantity of the distance information in the second type of distance set is greater than the first preset quantity value; and if so, determining the second distance set as the first distance set.
Optionally, the step of determining one piece of target distance information from each of the first-type distance sets respectively includes: screening out distance information corresponding to target emission waves from the first-class distance set to serve as the target distance information; and the target emission wave is an acquisition wave emitted by a radar in the first detection period in the detection window.
In a second aspect, an embodiment of the present application provides a radar data processing apparatus, including: the processing unit is used for carrying out distance compensation on the initial distance information collected by the detection window to obtain a compensation result; the detection window comprises P continuous detection periods, each detection period comprises Q acquisition echoes, each acquisition echo corresponds to one piece of initial distance information, P is more than or equal to 2, and Q is more than or equal to 2; and the screening unit is used for determining the target echo corresponding to the detection window based on the compensation result.
In a third aspect, the present application provides a storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method described above.
In a fourth aspect, an embodiment of the present application provides an electronic device, including: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the methods described above.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a radar data processing method according to an embodiment of the present disclosure;
fig. 3 is one of the sub-steps of S10 provided in the embodiment of the present application;
fig. 4 is a schematic diagram illustrating the substeps of S103 according to an embodiment of the present application;
fig. 5 is a second schematic view of the substeps of S10 provided in the embodiment of the present application;
fig. 6 is a schematic view of substeps S20 provided in an embodiment of the present application;
fig. 7 is a schematic diagram illustrating the substeps of S201 according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram illustrating the sub-step S201-2 provided in the embodiment of the present application;
fig. 9 is a schematic diagram illustrating sub-steps of S202 according to an embodiment of the present application;
FIG. 10 is a schematic diagram of raw data before processing according to an embodiment of the present application;
fig. 11 is a schematic diagram of distance compensation data after processing according to an embodiment of the present application;
fig. 12 is a schematic unit diagram of a radar data processing apparatus according to an embodiment of the present application.
In the figure: 10-a processor; 11-a memory; 12-a bus; 13-a communication interface; 301-a processing unit; 302-screening unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not construed as indicating or implying relative importance.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments and features of the embodiments described below can be combined with each other without conflict.
The basic principle of lidar range detection is the time-of-flight principle, i.e. range information is derived by calculating the time difference between the laser transmitted and received signals. When other laser radars exist in the same working scene, the laser radar system cannot accurately identify self signals when receiving interference from other laser radars. Or, when the radar transmits the second pulse, the echo of the first pulse is not received, so that the accurate echo time delay cannot be calculated, distance ambiguity can be generated, the distance ambiguity echo is generated, and one or more pulses can be received after delay. In such a case, a deviation of the monitoring data of the laser radar will be caused.
In order to overcome the above problem, embodiments of the present application provide a radar data processing method, which is applied to electronic devices in the following.
The embodiment of the application provides electronic equipment which can be a radar, and can also be computer equipment, server equipment, mobile phone equipment, a driving computer and the like which are communicated with the radar. Referring to fig. 1, a schematic structural diagram of an electronic device is shown. The electronic device comprises a processor 10, a memory 11, a bus 12. The processor 10 and the memory 11 are connected by a bus 12, and the processor 10 is configured to execute an executable module, such as a computer program, stored in the memory 11.
The processor 10 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the radar data processing method may be implemented by instructions in the form of hardware integrated logic circuits or software in the processor 10. The Processor 10 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The Memory 11 may comprise a high-speed Random Access Memory (RAM) and may further comprise a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. Only one bi-directional arrow is shown in fig. 1, but this does not indicate only one bus 12 or one type of bus 12.
The memory 11 is used for storing programs, such as programs corresponding to the radar data processing apparatus. The radar data processing apparatus includes at least one software functional module which may be stored in the memory 11 in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the electronic device. The processor 10, upon receiving the execution instruction, executes the program to implement the radar data processing method.
Possibly, the electronic device provided by the embodiment of the present application further includes a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.
The electronic device may be in communication with the lidar via the communication interface 13 to obtain monitoring data of the lidar, such as distance information monitored by the lidar.
It should be understood that the structure shown in fig. 1 is merely a structural schematic diagram of a portion of an electronic device, which may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
The radar data processing method provided in the embodiment of the present application may be applied to, but is not limited to, the electronic device shown in fig. 1, and please refer to fig. 2 for a specific process, where the radar data processing method includes: s10 and S20 are specifically set forth below.
And S10, performing distance compensation on the initial distance information acquired by the detection window to obtain a compensation result.
The detection window comprises P continuous detection periods, each detection period comprises Q acquisition echoes, each acquisition echo corresponds to one piece of initial distance information, P is more than or equal to 2, and Q is more than or equal to 2.
Alternatively, the number of the initial range information is K, K = P × Q, and the initial range information is range information calculated based on the emission pulse and the collected echo of the laser radar in the detection period, but the collected echo may not be the collected echo generated by the laser pulse emitted in the detection period but be the last detection period, or even be based on other laser radars, so that the range compensation is required.
For example, assuming that the laser radar emits the first laser pulse in the first detection period, there are 3 detection targets in the scanning direction of the laser radar, which are target a at a distance of 50M, target B at 300M, and target C at 550M, respectively. Possibly, in a first detection period, the laser radar receives a collected echo corresponding to a first laser pulse reflected by the target a, and then the distance to the target a can be determined. In the second detection period, the laser radar receives the collected echo corresponding to the first laser pulse reflected by the target B, at this time, the laser radar transmits the second laser pulse in the second detection period, and the laser radar cannot distinguish whether the collected echo reflected by the target B corresponds to the first laser pulse or the second laser pulse. Similarly, in the third detection period, the laser radar receives the collected echo corresponding to the first laser pulse reflected by the target C, and the laser radar cannot distinguish whether the collected echo reflected by the target C corresponds to the first laser pulse, the second laser pulse and the third laser pulse.
Optionally, in this embodiment of the present application, the lidar may determine, based on the emission time of the laser emission wave and the reception time of the collected echo in the p-th detection period, distance information corresponding to each collected echo in the p-th detection period. This may also lead to situations in which the monitored distance information does not correspond to the actual distance information.
In order to overcome the above problem, in the radar data processing method provided in the embodiment of the present application, distance compensation is performed on initial distance information acquired by a detection window to obtain a compensation result. Optionally, the initial distance information in the target detection period may be subjected to distance compensation based on the radar signal detection distance corresponding to the interval duration between the n detection periods before the target detection period and the target detection period.
And S20, determining a target echo corresponding to the detection window based on the compensation result.
It will be appreciated that by performing distance compensation, the probability that the compensation result includes correct distance information is improved. The correct distance information can reflect the distance of the object to be measured to the maximum extent. Of course, the compensation result may also include a part of erroneous distance information. Therefore, S20 needs to be executed to determine correct distance information from the compensation result, eliminate interference of incorrect distance information, and form a target echo corresponding to the detection window, thereby ensuring accuracy of the distance information in the target echo, and facilitating improvement of reliability of subsequent operations.
To sum up, an embodiment of the present application provides a radar data processing method, including: performing distance compensation on the initial distance information acquired by the detection window to obtain a compensation result; the detection window comprises P continuous detection periods, each detection period comprises Q acquisition echoes, each acquisition echo corresponds to one piece of initial distance information, P is more than or equal to 2, and Q is more than or equal to 2; and determining the target echo corresponding to the detection window based on the compensation result. By performing distance compensation, the probability that the compensation result includes correct distance information is improved. Correct distance information is determined from the compensation result, interference of wrong distance information is eliminated, target echoes corresponding to the detection window are formed, accuracy of the distance information in the target echoes is guaranteed, and reliability of follow-up operation is improved.
In an optional implementation manner, the compensation result includes initial distance information and corresponding compensation distance information collected in each target detection period, and the target detection period is any one detection period in the detection window. On this basis, regarding to S10 in fig. 2, the embodiment of the present application further provides a possible implementation manner to guarantee the accuracy of the compensated distance information. As shown in fig. 3, S10 includes: s101 and S103 are specifically set forth below.
S101, determining a compensation difference value corresponding to a target detection period.
The compensation difference value is a radar signal detection distance corresponding to the interval duration between n detection periods before the target detection period and the target detection period, and n is more than or equal to 1 and less than or equal to P-1. Optionally, each target detection period corresponds to n compensation differences, and the compensation differences correspond to radar signal detection distances corresponding to interval durations between n detection periods before the target detection period and the target detection period, respectively.
The compensation difference can also be understood as the maximum unambiguous distance of the target detection period.
Optionally, the interval duration between any two adjacent detection periods in each detection window is different, and the compensation difference is also different. For a radar system with a fixed pulse repetition time (i.e., a fixed duration of the interval between adjacent detection periods), if the true target range exceeds the range corresponding to the pulse repetition time, then the measured range will be the ambiguity range. The pulse repetition frequency of the emission signal of the laser radar adopts a pseudo-random sequence or a periodic transformation sequence, and the difference of the interval duration between any two adjacent detection periods in each detection window can be realized.
For example, the target detection period is the p-th detection period, the 1 st compensation difference corresponding to the target detection period is the radar signal detection distance corresponding to the interval duration between the p-th detection period and the p-1 st detection period, and the 2 nd compensation difference corresponding to the target detection period is the radar signal detection distance corresponding to the interval duration between the p-th detection period and the p-2 nd detection period.
S103, distance compensation is carried out on the initial distance information collected in the target detection period based on the compensation difference value, so that compensation distance information corresponding to the target detection period is obtained.
Optionally, assuming that collected echoes corresponding to laser pulses sent out before n detection periods may be received in the target detection period, n compensation differences exist in the target detection period, and referring to the above example, the n compensation differences are radar signal detection distances corresponding to interval durations between the p-th detection period and the p-1 th and p-2 nd \8230andbetween the p-n th detection periods, respectively. And respectively carrying out n times of distance compensation on each piece of initial distance information acquired in the target detection period, wherein different compensation difference values are adopted each time, and then the compensation distance information corresponding to the target detection period is obtained.
On the basis of fig. 3, regarding the content in S103, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 4, where S103 includes: s103-1, as detailed below.
S103-1, acquiring the sum of each compensation difference value corresponding to each initial distance information acquired in the target detection period and the target detection period respectively as compensation distance information corresponding to the target detection period.
Alternatively, the compensation distance information corresponding to the target detection period may be acquired based on the following equation.
Wherein the content of the first and second substances,
characterizing initial distance information corresponding to a qth acquired echo in a pth detection cycle, and->
Characterization->
The corresponding nth compensated difference value is calculated, device for combining or screening>
Characterization>
The corresponding nth compensation distance information,
and characterizing the mth distance information in the compensation result.
It should be understood that the amount of distance information in the compensation result after distance compensation is relatively large, and in order to facilitate identification and management, the embodiment of the present application further provides a possible implementation manner to mark a detection period of laser pulse emission corresponding to each compensation distance information and an identifier of an original collected echo corresponding to each compensation distance information, specifically, please refer to the following.
Optionally, distance information in the compensation result
The total number of the detection windows is M, and the value of M is related to the number of detection periods in the detection window, the number of collected echoes in the detection period and the number of compensation difference values corresponding to the detection period. The compensation result may be stored in a matrix form, but is not limited thereto.
In a possible implementation scenario, zero values corresponding to zero echoes may exist in the initial distance information corresponding to the acquired echoes of the target detection period, which indicates that no real target object is measured and is not real distance information, so that interference caused by the real target object needs to be eliminated, and only the initial distance information corresponding to the non-zero echoes is subjected to distance compensation. On this basis, for the content in S10, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 5, and S10 further includes: s102 is specifically described as follows.
And S102, eliminating zero values in the initial distance information corresponding to the target detection period.
It should be understood that S102 may be performed before S103.
The embodiment of the present application further provides an example of distance compensation, and please refer to the following.
Assume that in the simulation scenario, there are two targets, target 1: a 100m × 50m rectangle, range radar 305m; target 2: a 10m × 16m rectangle, 20m from radar; adding part of random noise in the scene. The pulse repetition period of the emitted laser pulse is a random number between 1.4us and 1.8us.
TABLE 1
And 2, performing distance compensation on the initial distance information acquired by the detection window to obtain a compensation result.
Optionally, after eliminating a zero value in the initial distance information acquired by the detection window, distance compensation is performed.
With the 1 st echo
For example, the following steps are carried out:
uncompensated:
compensate for 1 cycle, corresponding to a compensation difference of 216:
compensate for 2 cycles, the corresponding compensation difference is 216+234:
by analogy, the distance compensation result of the initial distance information collected by the detection window is shown in table 2 below, (the echo with the measurement value of 0 does not participate in the calculation).
TABLE 2
It should be understood that, if a compensation result is directly output, a part of erroneous distance information exists in the compensated distance information obtained after distance compensation, which will cause an error in the monitoring data of the laser radar and affect the use of subsequent steps, so that a target echo corresponding to a detection window needs to be further determined based on the compensation result, where the target echo includes at least one piece of target distance information. On this basis, as for the content of S20 in fig. 2, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 6, where S20 includes: s201 and S202 are specifically set forth below.
S201, screening a first distance set from the compensation result.
The number of the first-class distance information in the first-class distance set is greater than or equal to a first preset number value. The first predetermined quantity value is, for example, cnTHr is greater than or equal to 2, the first-type distance information is any one distance information (initial distance information or compensation distance information) in the compensation result, a difference between any two adjacent first-type distance information is smaller than a predetermined first distance difference, and/or a difference between any two first-type distance information is smaller than a predetermined second distance difference.
It should be understood that even the initial range information (a.k.a., echo measurements) from the same target are not exactly the same, but rather there is some tolerance. The tolerance is recorded as the first distance difference and/or the second distance difference. The value of the first distance difference and/or the second distance difference is related to the laser radar system.
Alternatively, whether the target is a real target is determined by counting points close in distance. When the number of the points with close distances exceeds cnTHr, the part of the points with close distances is considered to be from the real target and can be used as the first-class distance set.
S202, determining target distance information from each first-type distance set.
Optionally, any one of the first-type distance sets is determined as the target distance information, or a certain specific one of the first-type distance sets is determined as the target distance information.
On the basis of fig. 6, in order to improve the screening efficiency of the first-class distance set, regarding the content in S201, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 7, in which S201 includes: s201-1 and S201-2 are specifically described as follows.
S201-1, sorting the distance information in the compensation result.
Optionally, the sorting may be performed in an ascending order or a descending order, which is not limited herein.
Please continue the compensation results shown in table 2 above, taking ascending sorting as an example, and the sorting results are shown in table 3 below.
TABLE 3
S201-2, screening a first distance set from the sorting result based on the first distance difference and/or the second distance difference.
Optionally, it is determined whether the number of points with similar distances exceeds a first preset number value (cnTHr) based on the first distance difference and/or the second distance difference, and if so, it may be determined as the first type distance set.
On the basis of fig. 7, for the content in S201-2, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 8, where S201-2 includes: S201-2A, S201-2B, S201-2C and S201-2D, as detailed below.
S201-2A, screening a second distance set from the sorting result.
The second distance set comprises a group of distance information which is continuously arranged in the sorting result, the difference value between any two adjacent distance information in the second distance set is smaller than the first distance difference value, and/or the difference value between any two distance information in the second distance set is smaller than the second distance difference value.
Taking the first distance difference as an example, with continuing reference to table 3 above, the first set of second distances includes 20.16, 20.20, and 20.25; the second distance set of the second type includes 308.04, 308.75, and 309.56, both of which satisfy that the difference between any two adjacent distance information is smaller than the first distance difference.
S201-2B, determining whether the distance information quantity in the second type distance set is larger than a first preset quantity value. If yes, executing S201-2C; if not, S201-2D is executed.
Assuming that cnTHr is equal to 2, the number of distance information in the two second-type distance sets shown in table 3 is 3, and is greater than cnTHr, the two second-type distance sets shown in table 3 are both the first-type distance sets, and at this time, S201-2C is performed. Otherwise, when the number is insufficient, it is not the distance information fed back by the real target, then S201-2D is performed.
S201-2C, determining the second distance set as the first distance set.
S201-2D, deleting or discarding the second distance set.
On the basis of fig. 6, for the content in S202, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 9, where S202 includes: s202-1, as detailed below.
S202-1, screening distance information corresponding to the target emission waves from the first-class distance set to serve as target distance information.
The target emission wave is an acquisition wave emitted by the radar in the first detection period in the detection window.
Optionally, with continued reference to table 3 above, the target emission is represented by P D =1, P in the first class distance set D Distance information of =1 as the target distance information.
Based on this, the obtained target echo T includes the target distance information 20.25 corresponding to the collected echo 1, the target distance information 308.75 corresponding to the collected echo 2, and the target distance information 0 corresponding to the collected echo 3.
Optionally, when the number of target distance information is smaller than Q, at least one zero value may also be added to the target echo as supplementary target distance information, so that the number of target distance information is equal to Q, for example, target distance information 0 corresponding to the collected echo 3.
Optionally, for the content in S20, the embodiment of the present application also provides a possible implementation manner, please refer to the following.
And step A, sorting the distance information in the compensation result obtained in the step S10.
Step B, let m =1,startid =1.
And step C, determining whether the difference value between the m +1 th distance information D (m + 1) and the m-th distance information D (m) in the sequencing result is smaller than a first distance difference value err, and determining whether D (m + 1) -D (m) > err.
And D, if the result of the step C is yes, the difference value between the m +1 th distance information D (m + 1) and the m-th distance information D (m) in the sequencing result is greater than or equal to the first distance difference value err, executing the step D, and judging whether the numerical difference between m and startID is greater than cnTHr, wherein m-startID + 1 is greater than or equal to cntThr.
And E, if the result of the step D is that the numerical difference is larger than cnTHr, executing the step E, and determining the distance information between startID and m as first-class distance information to determine a first-class distance set.
Optionally, in the point cloud of startID-m, P D A point of =1 is added to the target echo T, and the distance information D is recorded.
Step F, executed after step E, of deleting the point confirmed as the target from D (I) D The same is considered the same point).
And G, after the step F, or if the result of the step D is negative, and the numerical difference is less than or equal to cnTHr, executing the step G, and updating the starting point startID = m +1 of the next group.
And step H, after step G, or if the result of step C is no, if the difference between the M +1 th distance information D (M + 1) and the M-th distance information D (M) in the sorting result is smaller than the first distance difference err, executing step H, and if M = M +1, determining whether M is smaller than the total number M of distance information in the sorting result, and if M < M is satisfied.
And if the execution result of the step H is that M is smaller than the total number M, repeating the step C, and determining whether the difference value between the M +1 th distance information and the M-th distance information in the sequencing result is smaller than the first distance difference value.
And if the execution result of the step H is negative and m is equal to the total number, repeating the step D, and judging whether the numerical difference between m and startID is larger than cnTHr.
It should be noted that, if step D is repeatedly executed after step H, if the execution result of step D is no, the process is ended, and step G does not need to be executed again, and if the execution result of step D is yes, step E is continuously executed, and then the process is ended.
In the radar data processing method provided by the embodiment of the application, a pseudo-random sequence is adopted for the pulse repetition frequency of laser pulses emitted by a laser radar. P detection periods are taken as a processing flow, and Q echoes are collected in each detection period. The distance compensation is performed on all the measured values of the non-zero echoes (i.e. all possible true distances of the measured values are calculated), and the compensated data form a matrix D. And counting the points in the matrix D, finding out the points belonging to the same plane, if the number of the points exceeds a threshold value, considering the plane as a real target, and outputting a real target point cloud of a first detection period. And sliding backwards for a detection period to obtain a next detection window, and continuing the next processing flow.
Referring to fig. 10 and fig. 11, fig. 10 is a schematic diagram of raw data before processing provided in an embodiment of the present application, and fig. 11 is a schematic diagram of distance compensation data after processing provided in the embodiment of the present application. Obviously, after radar data processing, most error data in the radar data are eliminated, the precision of a measuring result is guaranteed, and the stability of the execution of subsequent steps is improved.
Referring to fig. 12, fig. 12 is a diagram of a radar data processing apparatus according to an embodiment of the present application, and optionally, the radar data processing apparatus is applied to the electronic device described above.
The radar data processing apparatus includes: a processing unit 301 and a screening unit 302.
The processing unit 301 is configured to perform distance compensation on the initial distance information acquired by the detection window to obtain a compensation result;
the detection window comprises P continuous detection periods, each detection period comprises Q acquisition echoes, each acquisition echo corresponds to one piece of initial distance information, P is more than or equal to 2, and Q is more than or equal to 2;
and a screening unit 302, configured to determine a target echo corresponding to the detection window based on the compensation result.
Alternatively, the processing unit 301 may perform S10 described above, and the filtering unit 302 may perform S20 described above.
It should be noted that the radar data processing apparatus provided in this embodiment may execute the method flows shown in the above method flow embodiments to achieve the corresponding technical effects. For the sake of brief description, the embodiment is not mentioned in part, and reference may be made to the corresponding contents in the above embodiments.
The embodiment of the application also provides a storage medium, wherein the storage medium stores computer instructions and programs, and the computer instructions and the programs execute the radar data processing method of the embodiment when being read and run. The storage medium may include memory, flash memory, registers, or a combination thereof, etc.
The electronic device may be a radar, or a computer device, a server device, a mobile phone device, a traveling computer, or the like, which is in communication connection with the radar. The electronic device can realize the radar data processing method as shown in fig. 1; specifically, the electronic device includes: processor 10, memory 11, bus 12. The processor 10 may be a CPU. The memory 11 is used to store one or more programs, which when executed by the processor 10, perform the radar data processing method of the above-described embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A method of radar data processing, the method comprising:
performing distance compensation on the initial distance information acquired by the detection window to obtain a compensation result; the compensation result comprises initial distance information and corresponding compensation distance information which are acquired in each target detection period, and the target detection period is any one detection period in the detection window;
the detection window comprises P continuous detection periods, each detection period comprises Q acquisition echoes, each acquisition echo corresponds to one piece of initial distance information, P is more than or equal to 2, and Q is more than or equal to 2;
determining a target echo corresponding to the detection window based on the compensation result;
the step of performing distance compensation on the initial distance information acquired by the detection window to obtain a compensation result includes:
determining a compensation difference value corresponding to the target detection period;
the compensation difference value is a radar signal detection distance corresponding to interval duration between n detection periods before the target detection period and the target detection period, and n is more than or equal to 1 and less than or equal to P-1;
and performing distance compensation on the initial distance information acquired in the target detection period based on the compensation difference value to obtain compensation distance information corresponding to the target detection period.
2. The radar data processing method of claim 1, wherein the step of distance-compensating the initial distance information collected during the target detection period based on the compensation difference comprises:
and acquiring the sum of each initial distance information acquired in the target detection period and each compensation difference value corresponding to the target detection period as compensation distance information corresponding to the target detection period.
3. The radar data processing method of claim 1, wherein prior to the distance compensating initial distance information corresponding to the collected echoes of the target detection period based on the compensation difference, the method further comprises:
and eliminating zero values in the initial distance information corresponding to the target detection period.
4. The radar data processing method of claim 1, wherein the target echo includes at least one target range information, and the step of determining the target echo corresponding to the detection window based on the compensation result includes:
screening a first-class distance set from the compensation result, wherein the number of first-class distance information in the first-class distance set is greater than a first preset number value, the difference value between any two adjacent first-class distance information is smaller than a preset first distance difference value, and/or the difference value between any two first-class distance information is smaller than a preset second distance difference value;
and respectively determining one piece of target distance information from each first-type distance set.
5. The radar data processing method of claim 4, wherein the step of filtering the first set of distances from the compensation results comprises:
sorting the distance information in the compensation result;
and screening a first distance set from the sorting result based on the first distance difference value and/or the second distance difference value.
6. The radar data processing method of claim 5, wherein the step of screening out a first set of distances from the sorted results based on the first distance difference value and/or the second distance difference value comprises:
screening a second distance set from the sorting result, wherein the second distance set comprises a group of distance information which is continuously arranged in the sorting result, and the difference between any two adjacent distance information in the second distance set is smaller than the first distance difference, and/or the difference between any two distance information in the second distance set is smaller than the second distance difference;
determining whether the quantity of the distance information in the second type of distance set is greater than the first preset quantity value;
and if so, determining the second distance set as the first distance set.
7. The radar data processing method of claim 4, wherein said step of determining a respective one of said target range information from each of said first range sets comprises:
screening out distance information corresponding to target emission waves from the first-class distance set to serve as the target distance information;
and the target emission wave is a collection wave emitted by the radar in the first detection period in the detection window.
8. A radar data processing apparatus, characterized in that the apparatus comprises:
the processing unit is used for carrying out distance compensation on the initial distance information collected by the detection window to obtain a compensation result;
the detection window comprises P continuous detection periods, each detection period comprises Q acquisition echoes, each acquisition echo corresponds to one piece of initial distance information, P is more than or equal to 2, and Q is more than or equal to 2;
the screening unit is used for determining a target echo corresponding to the detection window based on the compensation result;
the compensation result comprises initial distance information and corresponding compensation distance information which are acquired in each target detection period, and the target detection period is any one detection period in the detection window;
the distance compensation is performed on the initial distance information collected by the detection window to obtain a compensation result, and the method comprises the following steps:
determining a compensation difference value corresponding to the target detection period;
the compensation difference value is a radar signal detection distance corresponding to interval duration between n detection periods before the target detection period and the target detection period, and n is more than or equal to 1 and less than or equal to P-1;
and performing distance compensation on the initial distance information acquired in the target detection period based on the compensation difference value to obtain compensation distance information corresponding to the target detection period.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
10. An electronic device, comprising: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the method of any of claims 1-7.
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