CN117310691B

CN117310691B - Multi-mode radar target positioning method, device, electronic equipment and storage medium

Info

Publication number: CN117310691B
Application number: CN202311617742.4A
Authority: CN
Inventors: 王威杰; 杨齐期; 周迪; 徐爱华
Original assignee: Zhejiang Uniview Technologies Co Ltd
Current assignee: Zhejiang Uniview Technologies Co Ltd
Priority date: 2023-11-30
Filing date: 2023-11-30
Publication date: 2024-02-13
Anticipated expiration: 2043-11-30
Also published as: CN117310691A

Abstract

The embodiment of the invention provides a multi-mode radar target positioning method, a multi-mode radar target positioning device, electronic equipment and a storage medium. The method comprises the following steps: determining a first detection result of a target object in a current detection area by current radar equipment, wherein the current detection area is a partial detection area where no overlapping radar detection area is generated between the current radar equipment and reference radar equipment; determining a second detection result of the target vibration sensor on the target object in the current detection area, wherein the target vibration sensor is paved below a pavement of a traffic lane of the target tunnel and used for vibration positioning of the target object; and identifying false detection targets in the first detection results based on the second detection results so as to correct the first detection results of the current radar equipment on the current detection area. The method and the device provide the position of the real target by utilizing the positioning function of the vibration sensor, so that false detection targets generated by multipath effects on non-space-time tracks can be effectively removed and filtered by the combined radar equipment.

Description

Multi-mode radar target positioning method, device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of road traffic technologies, and in particular, to a method and apparatus for locating a target by using a multi-mode radar, an electronic device, and a storage medium.

Background

The inside light of tunnel is darker, the dust is more, and the camera is sheltered from by the dust easily and influences the sight, and traditional camera is less to be installed under the tunnel scene, leads to the inside behavior such as vehicle rule violation lane change of tunnel to be difficult to monitor and evidence. And the radar can make up for the defect that the camera is sensitive to light and dust, and meanwhile, the detection distance of the radar is farther than that of the camera. However, due to the multiple reflection between the radar and the target caused by factors of the inner wall of the tunnel, some target vehicles can generate false detection targets near the real target due to the multiple reflection, which can affect the high-reliability detection of the monitoring system, so that the target positioning cannot be accurately realized.

Disclosure of Invention

The invention provides a multi-mode radar target positioning method, a multi-mode radar target positioning device, electronic equipment and a storage medium, so that proper sticker materials are provided for the outside, and the utilization rate of the searched sticker materials is improved.

In a first aspect, an embodiment of the present invention provides a method for locating a target by using a multi-mode radar, where the method includes:

Determining a first detection result of a target object in a current detection area by current radar equipment, wherein the current detection area is a partial detection area which does not generate an overlapped radar detection area between the current radar equipment and reference radar equipment, the reference radar equipment is radar equipment which is the same as the current radar equipment and is adjacent to the current radar equipment and is used for detecting the target object in a target tunnel, and the first detection result comprises at least one first detection target;

determining a second detection result of a target vibration sensor on a target object in a current detection area, wherein the target vibration sensor is paved below a roadway surface of the target tunnel and is used for vibration positioning of the target object, the first detection result and the second detection result are obtained at the same detection time, and the second detection result comprises at least one second detection target;

and identifying a false detection target in the first detection result based on the second detection result so as to correct the first detection result of the current radar equipment on the current detection area, wherein the false detection target is a detection target which generates false detection due to multipath effect when a target object is detected in a target tunnel.

In a second aspect, an embodiment of the present invention further provides a multi-mode radar target positioning device, where the device includes:

the first determining module is used for determining a first detection result of the current radar equipment on a target object in a current detection area, wherein the current detection area is a partial detection area which does not generate an overlapped radar detection area between the current radar equipment and reference radar equipment, the reference radar equipment is radar equipment which is the same as the current radar equipment and is adjacent to the current radar equipment and is used for detecting the target object in the target tunnel, and the first detection result comprises at least one first detection target;

the second determining module is used for determining a second detection result of the target vibration sensor on the target object in the current detection area, the target vibration sensor is paved below the pavement of the traffic lane of the target tunnel and used for vibration positioning of the target object, the first detection result and the second detection result are obtained at the same detection time, and the second detection result comprises at least one second detection target;

the identification module is used for identifying false detection targets in the first detection results based on the second detection results so as to correct the first detection results of the current radar equipment on the current detection area, wherein the false detection targets are detection targets which are erroneously detected due to multipath effects when the target object is detected in the target tunnel.

In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the multi-modal radar target positioning method of any one of the above embodiments.

In a fourth aspect, there is also provided in an embodiment of the present invention a computer readable medium storing computer instructions for causing a processor to execute the method for multi-modal radar target positioning according to any one of the above embodiments.

According to the embodiment of the invention, a first detection result of a target object in a current detection area of a current radar device is determined, the current detection area is a partial detection area which does not generate an overlapped radar detection area between the current radar device and a reference radar device, the reference radar device is radar devices which are the same as the current radar device and are adjacent to the current radar device and are used for detecting the target object in a target tunnel, under the condition that the first detection result of the target object in the current detection area of the current radar device is determined, a second detection result of the target object in the current detection area of a target vibration sensor which is paved below a pavement of a roadway of the target tunnel and is used for carrying out vibration positioning on the target object is determined, and then false detection targets in the first detection result are identified by utilizing the second detection result. According to the scheme, one or more false detection targets generated when target objects of non-overlapping radar detection areas between radar devices in the tunnel are detected are provided with the positions of real targets by using the positioning function of the vibration sensor through the vibration sensor buried under each traffic lane of the tunnel, so that the false detection targets generated by multipath effects on non-space-time tracks can be effectively removed and filtered by the combined radar device, and the problem that target objects of the non-overlapping radar detection areas in the tunnel cannot be accurately detected is solved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

The above and other features, advantages and aspects of embodiments of the present invention will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.

FIG. 1 is a schematic flow chart of a multi-mode radar target positioning method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of overlapping radar detection areas and non-overlapping radar detection areas of adjacent radar detection provided by an embodiment of the present invention;

fig. 3 is a schematic layout diagram of a radar device and a snapshot point according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a system networking according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a multi-segment measurement of a target object by a vibrating fiber according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a vibration fiber multi-segment measurement of a target object by another vibration fiber according to an embodiment of the present invention;

FIG. 7 is a flowchart of another method for multi-modal radar target localization according to an embodiment of the present invention;

FIG. 8 is a schematic flow chart of eliminating false detection targets detected by radar in a non-overlapping radar detection area according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a multi-mode radar target positioning device according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of an electronic device for implementing a multi-mode radar target positioning method according to an embodiment of the present invention.

Detailed Description

Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the invention is susceptible of embodiment in the drawings, it is to be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the invention are for illustration purposes only and are not intended to limit the scope of the present invention.

It should be understood that the various steps recited in the method embodiments of the present invention may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the invention is not limited in this respect.

The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.

It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.

It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those skilled in the art will appreciate that "one or more" is intended to be construed as "one or more" unless the context clearly indicates otherwise.

The names of messages or information interacted between the devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of such messages or information.

The inside light of tunnel is darker, dust is more, causes the camera lens in the tunnel to shelter from by the dust easily and influences the sight, consequently the camera is installed less under the tunnel scene, can lead to the inside behavior of vehicle lane change etc. of tunnel to hardly monitor and evidence like this. And the radar can make up for the defect that the camera is sensitive to light and dust, and meanwhile, the detection distance of the radar is farther than that of the camera. Especially, along with the continuous maturity of new technologies such as radar and camera integration, multi-mode front end acquisition equipment such as a radar integrated machine is increasingly applied to tunnel monitoring scenes, and a tunnel is no longer a place outside a vehicle violation law.

For the radar integrated machine, the traffic data acquired by the radar integrated machine are commonly applied to common roads, and due to serious reflection of facilities such as tunnel walls, signs, guardrails and the like in closed environments such as tunnels and the like, radar can present false detection targets to interfere with the movement track of a real target object due to multipath effects, and the positioning detection accuracy of the radar integrated machine on the target object in a tunnel scene is affected.

In order to solve the problem of false detection targets caused by multipath effect in a tunnel, overlapping radar detection areas detected by adjacent radars can be utilized, and false detection targets generated by radar multipath can be removed by utilizing visual information in a mode of combining millimeter wave radars and visual information. When a target object enters an overlapping radar detection area of the adjacent radar, the second radar integrated machine not only receives all information sent by the first radar integrated machine and realizes the succession of the adjacent radar to the target vehicle information and the relay tracking of the target, but also is a window for comprehensively filtering multipath false detection targets by combining the video information with the adjacent radar. However, the range of the partial detection area where the overlapping radar detection area is generated between the adjacent radars is small and is usually within 50m, so that the false detection targets caused by the multipath effect in the small section where the overlapping radar detection area is generated between the adjacent radars can be eliminated, and the elimination of the false detection targets caused by the multipath effect cannot be realized in the partial detection area where the overlapping radar detection area is not generated. Therefore, it becomes important how to eliminate false detection targets generated due to multipath effects in a part of the detection area where the overlapping radar detection area is not generated.

The following details are provided for the multi-mode radar target positioning scheme provided in the embodiment of the present invention, in which false detection targets generated due to multipath effects in a part of the detection area where no overlapping radar detection area is generated are eliminated, by the following embodiments and alternatives thereof.

Fig. 1 is a schematic flow chart of a multi-mode radar target positioning method provided by the embodiment of the invention, which is suitable for the situation of target object detection in a non-overlapping radar detection area between radars in a tunnel, the method can be implemented by a multi-mode radar target positioning device, and the multi-mode radar target positioning device can be implemented in a software and/or hardware form and is generally integrated on any electronic device with a network communication function, and the electronic device can be a mobile terminal, a PC end or a server.

As shown in fig. 1, the multi-mode radar target positioning method according to the embodiment of the present invention may include the following procedures:

s110, determining a first detection result of the current radar device on a target object in a current detection area, wherein the current detection area is a partial detection area which does not generate an overlapped radar detection area between the current radar device and the reference radar device, the reference radar device is a radar which is the same as the current radar device and is adjacent to the current radar device and is used for detecting the target object in the target tunnel, and the first detection result comprises at least one first detection target.

Referring to fig. 2, a plurality of radar devices are configured for a target tunnel, each radar device has a configured radar detection area, a part of detection areas where overlapping radar detection areas are generated between adjacent radar devices, and another part of detection areas where overlapping radar detection areas are not generated, for example, the radar devices may be radar integrated machines, a first radar integrated machine and a second radar integrated machine shown in fig. 2 form an overlapping radar detection area 1, and the second radar integrated machine also has a non-overlapping radar detection area where overlapping radar detection areas are not generated with the adjacent radar devices.

Referring to fig. 2, taking a current radar apparatus and a reference radar apparatus configured for a target tunnel and adjacent to each other as an example, a target object in a part of a detection area of an overlapping radar detection area is generated by the current radar apparatus and the reference radar apparatus, so that it is possible to implement simultaneous target object detection by adjacent radar apparatuses of the overlapping radar detection area, and then it is possible to normally perform false detection target elimination. For a target object in another part of the detection area (denoted as the current detection area) where the current radar apparatus and the reference radar apparatus do not generate the overlapping radar detection area, detection of the target object by only one radar apparatus may be performed, where a detection result generated by the current radar apparatus detecting the target object in the current detection area may be denoted as a first detection result. The first detection result may include at least one first detection target generated by detecting the target object, and in consideration of multipath effects of the tunnel, false detection targets may exist in the first detection result, where the false detection targets are detection targets that may be erroneously detected due to multipath effects when the target object is detected inside the target tunnel.

As an alternative but non-limiting implementation manner, along a direction from a tunnel entrance to a tunnel exit of a target tunnel, sequentially deploying a plurality of radar devices for the target tunnel from the tunnel entrance of the target tunnel until a first preset position of the tunnel exit, generating an overlapped radar detection area with a first preset distance between each adjacent radar device in the plurality of radar devices sequentially deployed for the target tunnel, wherein the detection distance of each deployed radar device is greater than twice the first preset distance.

Referring to fig. 3, a radar device (such as a thunder integrated machine) and a burst lamp are deployed at the entrance 0m of the target tunnel to ensure that a specified identifier (such as a license plate) on a target object is accurately identified. Along the direction from the tunnel entrance to the tunnel exit of the target tunnel, one radar device is deployed in the target tunnel every 200 meters (configurable) from the first radar device, overlapping radar detection areas with a first preset distance are generated between each adjacent radar device in the plurality of radar devices deployed in sequence, so that the adjacent radar devices generate overlapping radar detection areas with about 50 meters under the maximum upper limit of the radar detection distance of each radar device, and the detection distance of each deployed radar device is greater than twice the first preset distance.

As an alternative but non-limiting implementation, along the direction from the tunnel entrance to the tunnel exit of the target tunnel, the snap shot position of the radar disposed furthest forward with respect to the target tunnel is located at a second preset position outside the tunnel entrance of the target tunnel.

Referring to fig. 3, a target tunnel entrance radar device (i.e., a first radar integrated machine) detects a target object within a tracking detection range, and its snapshot position is at a snapshot identification point a (typically 22 meters in front of the radar device, which may be set). The snapshot point of the radar equipment arranged at the entrance of the target tunnel is positioned outside the entrance of the target tunnel, so that the radar equipment is not influenced by multipath effects in the target tunnel, and a relatively real track of the target object is obtained at the snapshot position. The radar device synchronizes information such as a lane in which the target object is located, a time point at which the target object passes through the identification point a, a specified identification number on the target object, a target object feature vector (for example, a feature vector of a vehicle, a color, a model, etc. may be taken as the target object), and an object identification ID generated for the target object to a radar device adjacent to the target object.

As an alternative but non-limiting implementation, determining a first detection result of a target object in a current detection area by a current radar device comprises the following steps A1-A2:

and A1, determining a plurality of third detection results corresponding to the target object in the target tunnel, wherein the plurality of third detection results are obtained by radar positioning detection of the target object on a lane in the target tunnel through radar equipment deployed for the target tunnel.

And A2, determining a first detection result of the current radar equipment on the target object in the current detection area from a plurality of third detection results.

Referring to fig. 3, for each target object traveling on a lane within a target tunnel, each radar device within the target tunnel may detect the target object traveling into a respective corresponding radar detection area to obtain a plurality of detection results, which are denoted as a plurality of third detection results. For the third detection result of the target object entering the overlapping radar detection area of the adjacent radar equipment, for example, when the target object enters the adjacent radar overlapping detection area 1, the false detection target can be eliminated according to the effect mode of the adjacent radar equipment on the false detection target detected by the overlapping radar, the succession of the target object information and the relay tracking of the target object by the adjacent radar equipment are completed, and meanwhile, the adjacent radar equipment combines the video information to comprehensively filter the multipath false detection target.

Taking the current radar device and the reference radar device which are configured for the target tunnel and are adjacent to each other as an example, when the target object completely leaves the overlapping radar detection area of the current radar device and the reference radar device and enters the interval of the current detection area in which the target object is detected only by the current radar device alone, if a multipath false detection target is generated at this time, the false detection target cannot be removed through the video of the current radar device because the target object does not enter the detection range of the reference radar device (the video detection range is far less than the radar detection range, and the lens video monitoring distance is about 50m generally, and the millimeter wave radar is about 250). At this time, it is necessary to determine a first detection result of the target object in the current detection area from among the plurality of third detection results, so as to identify and reject false detection targets that may exist in the first detection result.

As an alternative but non-limiting implementation, determining a first detection result of the current radar apparatus for the target object in the current detection area from the plurality of third detection results, includes the following steps B1-B2:

and B1, determining detection attribute information associated with each third detection result aiming at each third detection result in the plurality of third detection results, wherein the detection attribute information is used for identifying whether the third detection result is detected in a current detection area by the current radar equipment.

And B2, extracting a first detection result of the target object in the current detection area of the current radar device from the plurality of third detection results according to the detection attribute information associated with each third detection result.

Referring to fig. 3, for a plurality of third detection results corresponding to a target object in a target tunnel, each third detection result carries corresponding detection attribute information, where the detection attribute information includes a detection time for calibrating a detection identifier corresponding to a detection source to which the third detection result belongs (for example, the detection time is represented by a radar device identifier corresponding to the detection source to which the third detection result belongs) and corresponding to the third detection result, and if two third detection results with different detection identifiers at the same detection time exist, it is determined that the two third detection results at the same detection time belong to a detection result of a target object in an overlapping radar detection area of an adjacent radar device. If there are no two third detection results with different detection identifications at the same detection time, determining that the third detection results belong to detection results of target objects of non-overlapping radar detection areas of adjacent radar devices. Meanwhile, in combination with the detection time sequence of the third results of the target objects belonging to the non-overlapping radar detection areas of the adjacent radar devices, the third detection results corresponding to each non-overlapping radar detection area can be obtained, and then the first detection results of the current radar device on the target objects in the current detection area can be obtained.

S120, determining a second detection result of the target vibration sensor on the target object in the current detection area, wherein the target vibration sensor is paved below a roadway surface of the target tunnel and used for vibration positioning of the target object, the first detection result and the second detection result are obtained at the same detection time, and the second detection result comprises at least one second detection target.

Referring to fig. 3, in a non-overlapping radar detection area of adjacent radar devices, if a false detection target formed by multipath echoes exists in a first detection result of a target object, the false detection target cannot be removed by means of adjacent subsequent radar devices and videos. Therefore, the target vibration sensor for detecting vibration can be buried and hidden on the traffic lane of the target tunnel in a pipeline mode, so that when a target object moves on the traffic lane of the target tunnel, the vibration of the target object can be detected to obtain a second detection result of the target object in the current detection area, the second detection result comprises at least one second detection target for vibration positioning detection of the target object in the current detection area, and the at least one second detection target in the second detection result is a real detection target.

Alternatively, referring to FIG. 3, each radar device and target vibration sensor has completed globally uniform time registration and spatial calibration registration, ensuring that all track data remains exactly consistent. For simplicity, the position of the target tunnel entrance 0m can be used as a tunnel starting point, so that the position of the first radar device is calibrated to be the coordinate 0, the position of the second radar device is calibrated to be the coordinate 200, and other radar devices can be pushed in the same way, so that all the devices have uniformly calibrated positions.

S130, identifying false detection targets in the first detection results based on the second detection results so as to correct the first detection results of the current radar equipment on the current detection area, wherein the false detection targets are detection targets which are detected by mistake due to multipath effect when the target object is detected in the target tunnel.

The radar equipment in the target tunnel still realizes space-time track tracking and connection of the target object, one or more false detection targets which are generated by 'splitting' due to multipath effect are included in a first detection result when the target object in a partial detection area of which no overlapping radar detection area is generated between the current radar equipment and the reference radar equipment is detected, a second detection result of the target object is obtained by utilizing a target object vibration positioning function of a vibration sensor through a target sensor buried under each traffic lane of the target tunnel, and at least one second detection target is a real detection target.

On the basis, the positions of the second detection targets in the second detection results are all true, and the positions of the first detection targets in the first detection results are possibly false, so that the position distance condition between the positions of the second detection targets in the second detection results and the positions of the first detection targets in the first detection results can be judged, false detection targets in the first detection results are removed according to the position distance condition, and the correction of the first detection results is completed.

As an alternative but non-limiting implementation, determining a second detection result of the target vibration sensor for the target object in the current detection area includes the following steps C1-C2:

and C1, determining a plurality of fourth detection results corresponding to the target object in the target tunnel, wherein the fourth detection results are obtained by performing vibration positioning detection on the target object on the traffic lane in the target tunnel through a target vibration sensor paved in the target tunnel.

And C2, extracting a second detection result of the target vibration sensor on the target object in the current detection area from the fourth detection results based on the detection time of each fourth detection result and the detection time of each first detection result aiming at each first detection result.

The detection and feedback frequency of the target vibration sensor (vibration optical fiber) is slower as 1s, but the frequency of the radar device for collecting and displaying the target object is faster as 70ms, so that the detection of the target object by the target vibration sensor has a certain time delay compared with the radar device. When receiving the data feedback of the target vibration sensor, the radar equipment historical data is combined, so that the detection time of the first detection result is required to be consistent with the detection time of the second detection result, the detection result of the same target object at the same time can be ensured, and the false detection target can be determined from the multi-mode associated information of the first detection result and the second detection result by more accurate analysis. The detailed scheme is as follows:

1) Time periodic synchronization: the radar device and the target vibration sensor have been required to complete a globally uniform time registration synchronization in a preset configuration, described in detail herein as:

case (1): if the radar device is the internal marking time of the driving along the frame time t1 and the target vibration sensor along the frame time t2 (the running time is the time recorded by the hardware timer of the device and is affected by the crystal oscillator difference, and small differences exist in different hardware systems), and is not the acquired real-time system time, the running time is required to be synchronized, the running time is unified to the same dimension, and all 8-byte data types in millisecond units are adopted for recording and comparing. And then periodically (for example, 10 seconds) acquiring the time of a target vibration sensor driving layer and the radar equipment driving layer, recording the time difference delta t=t2-t 1, and performing corresponding time difference compensation calculation after the frame data of the target vibration sensor and the frame data of the radar equipment are acquired later, so that the same time scale is unified.

Case (2): if the system time of the target vibration sensor driving side and the system time of the radar device driving side can be set, the corresponding system time can be set by directly referring to the NTP mechanism without recording the time difference, and then the acquired frame time can be directly compared for use, i.e. Δt=0.

2) Time marking: frame data of the radar device and frame data of the target vibration sensor are acquired in time respectively during acquisition, and binding marks are carried out on the same frame data. For example, the detection result data of the target object fed back by the target vibration sensor every second is first time-synchronized, that is, (time- Δt of the target vibration sensor) can be synchronized to the time of the radar device; secondly, considering that the radar apparatus acquisition frequency is faster than the vibrating optical fiber, the co-frame data of the radar apparatus acquisition time is actually a frame of the radar apparatus current frame 14 (1000 ms/70 ms=14) further forward. The detection result data of the radar equipment and the target vibration sensor on the same target object are marked and aligned in acquisition time.

3) And (3) analyzing co-frame associated data: and judging the position distance condition between the position of each second detection target in the second detection result and the position of each first detection target in the first detection result by the current radar equipment which completes the time marking and the first detection result (distance, speed, angle and acquisition time) of the target object in the current detection area by the target vibration sensor, and eliminating false detection targets in each first detection target in the first detection result according to the position distance condition, thereby completing the elimination of multipath false detection targets.

As an optional but non-limiting implementation manner, the target vibration sensor is a vibration optical fiber, a section of vibration optical fiber link formed by paving along the reference straight line direction is configured below the road surface of the traffic lane of the target tunnel, the direction difference value between the reference straight line direction and the traffic lane direction of the target tunnel is smaller than a preset direction difference value threshold, and the length of the vibration optical fiber link is not smaller than the length of the traffic lane.

Referring to fig. 3, the target vibration sensor is a vibration optical fiber, a vibration optical fiber (a vibration optical fiber link in each traffic lane in fig. 3) is paved below the ground of each traffic lane of the target tunnel, one end of the vibration optical fiber link serving as a sensor is paved below the road surface of the traffic lane of the target tunnel, the other end of the vibration optical fiber link is connected with a photoelectric detector to form a distributed optical fiber detection unit DU, and finally the distributed optical fiber detection unit DU is connected into a distributed optical fiber processing and control unit PCU to realize sensing alarm of a sensing optical fiber detection target, and networking is shown in fig. 4.

Referring to fig. 3 and 4, the distributed optical fiber does not need to form a loop, and the temperature, stress, vibration and other information of any point on the vibration optical fiber link can be accurately measured only by a detection optical fiber with a length of several kilometers or even tens of kilometers and a detection host. After a vibrating optical fiber corresponding to a target vibrating sensor for detecting vibration is buried and laid below a traffic lane in a pipeline mode, a backward disturbance light signal generated by Rayleigh scattering and Fresnel reflection on a vibrating optical fiber link for detecting vibration is converted into an electric signal through a photoelectric detector, and then is converted into a digital signal through a distributed optical fiber processing and control unit PCU and noise reduction processing is carried out, so that the sensing and alarming of the vibrating optical fiber on the vibrating signal of a target object are realized.

Referring to fig. 3, optionally, the target vibration sensor is a vibration optical fiber, and the vibration optical fiber is configured to be laid under a roadway surface of the target tunnel in a first laying layout manner, wherein the first laying layout manner is that a section of vibration optical fiber link is laid under the roadway surface of the target tunnel along a direction parallel to the roadway from a tunnel entrance to a tunnel exit of the target tunnel, and a section of vibration optical fiber link is laid at an entrance of the target tunnel and a section of vibration optical fiber link is laid at an exit of the target tunnel.

As an optional but non-limiting implementation manner, the target vibration sensor is a vibration optical fiber, a plurality of sections of vibration optical fiber links formed by paving along a reference straight line direction are configured below the road surface of the traffic lane of the target tunnel, the direction difference value between the reference straight line direction and the traffic lane direction of the target tunnel is smaller than a preset direction difference value threshold value, each section of vibration optical fiber link in the plurality of sections of vibration optical fiber links is formed by paving a plurality of mutually independent vibration optical fibers respectively along the reference straight line direction or each section of vibration optical fiber link in the plurality of sections of vibration optical fiber links is formed by paving one vibration optical fiber in a plurality of roundabout paths along the reference straight line direction, and the length of each section of vibration optical fiber link is not smaller than the length of the traffic lane.

Considering that most vibration optical fiber positioning detection precision is in the order of meters (the highest positioning precision is known to be +/-1 meter), insufficient measurement precision can cause random errors with larger or smaller values for each vibration positioning detection of the target object, thereby causing errors of a second detection result of the target object in the current detection area. Based on the maryland least squares theory, if the error of each measurement is random, it should fluctuate around the true value. Marie's Legendre indicates that each time a detected value Yi and a true value Y are present, but Y, which minimizes the square of the total error, is the true value. Mathematical reasoning shows that the Y value should be the arithmetic mean of Yi.

For this reason, referring to fig. 5, in the present solution, a plurality of sections of vibrating fiber links formed by laying along a reference straight line direction may be configured under a roadway surface of a target tunnel, and the target object is subjected to multi-section real-time vibration positioning detection by using the plurality of sections of vibrating fiber links, so as to obtain each vibration positioning measurement value of each section of vibrating fiber links on the target object, and an arithmetic average value of a least square method is adopted for each vibration positioning measurement value of each section of vibrating fiber links on the target object to obtain a vibration positioning position of the target object, so as to obtain a second detection result of the target vibration sensor on the target object in the current detection area.

It will be appreciated that systematic errors cannot be eliminated by the above methods, such as systematic increases or systematic decreases in measured values, relying on systematic calibration.

As an alternative but non-limiting implementation manner, each second detection result is determined based on a vibration positioning position obtained after a target vibration sensor laid in the target tunnel detects vibration of the target object; when the vibration is detected for the same target object to obtain a plurality of vibration positioning positions, the second detection result is a comprehensive calculation result of the plurality of vibration positioning positions.

Alternatively, the distance between the vibration fiber links of the plurality of vibration fiber links in the direction perpendicular to the reference straight line is determined according to the wheel distance of the vehicle traveling on the traffic lane of the target tunnel.

Referring to fig. 5, taking a target object as an example of a target vehicle, a vibrating optical fiber sensor with the total length L is paved in a lane of a target tunnel according to the distance between left and right tires of the target vehicle, the paving direction of the vibrating optical fiber is detouring paving from top to bottom, and the distance between two wheels is H. The distance between the target vehicle and the optical fiber head is detected as X1 and X2 by the upper and lower sections of vibrating optical fiber links of the length L, and the distances are converted into coordinate positions Y1 and Y2 of the target vehicle from the tunnel entrance, then y1=x1 and y2=L-X2 exist, and finally the more accurate position Y of the target vehicle is obtained: 。

Referring to fig. 6, taking a target object as an example of a target vehicle, the laying direction of the vibrating optical fiber can be detoured from top to bottom according to different wheel tracks of a cart and a trolley, so as to obtain 4 sections of vibrating optical fiber links, then the 4 sections of vibrating optical fiber links respectively detect 4 distance measurement values of the target vehicle from the optical fiber head, the 4 distance measurement values are converted into coordinate positions of the target vehicle from the tunnel entrance, and 4 vibration positioning measurement values can be obtained in real time, and the method for obtaining the accurate position Y of the target vehicle is similar to the calculation of the 2 sections of vibrating optical fiber links, so that the detailed description is omitted.

In the technical scheme of the embodiment of the invention, a first detection result of a target object in a current detection area by current radar equipment is determined, the current detection area is a partial detection area which does not generate an overlapped radar detection area between the current radar equipment and reference radar equipment, the reference radar equipment is radar equipment which is the same as the current radar equipment and is adjacent to the current radar equipment and is used for detecting the target object in a target tunnel, a second detection result of a target vibration sensor which is paved below a roadway surface of the target tunnel and is used for carrying out vibration positioning on the target object in the current detection area is determined under the condition that the first detection result of the target object in the current detection area is determined, and then false detection targets in the first detection result are identified by utilizing the second detection result. According to the scheme, one or more false detection targets generated when target objects of non-overlapping radar detection areas between radar devices in the tunnel are detected are provided with the positions of real targets by using the positioning function of the vibration sensor through the vibration sensor buried under each traffic lane of the tunnel, so that the false detection targets generated by multipath effects on non-space-time tracks can be effectively removed and filtered by the combined radar device, and the problem that target objects of the non-overlapping radar detection areas in the tunnel cannot be accurately detected is solved.

Fig. 7 is a schematic flow chart of another multi-mode radar target positioning method according to an embodiment of the present invention, where the process of identifying a false detection target in the first detection result based on the second detection result in the foregoing embodiment is further optimized based on the technical solution of the foregoing embodiment, and the embodiment may be combined with each of the alternatives in one or more embodiments.

As shown in fig. 7, the multi-mode radar target positioning method according to the embodiment of the present invention may include the following procedures:

s710, determining a first detection result of the current radar device on a target object in a current detection area, wherein the current detection area is a part of detection areas, which do not generate overlapping radar detection areas, between the current radar device and the reference radar device, the reference radar device is a radar which is the same as the current radar device and is adjacent to the current radar device and is used for detecting the target object in the target tunnel, and the first detection result comprises at least one first detection target.

S720, determining a second detection result of the target vibration sensor on the target object in the current detection area, wherein the target vibration sensor is paved below a roadway surface of the target tunnel and used for vibration positioning of the target object, the first detection result and the second detection result are obtained at the same detection time, and the second detection result comprises at least one second detection target.

S730, for the first detection result and the second detection result of the current detection time, determining a target attribute value of each first detection target by matching the positions of each first detection target in the first detection result with each second detection target in the second detection result, wherein the target attribute value is used for indicating the possibility that the first detection target is judged to be a false detection target, and the false detection target is a detection target which generates false detection due to multipath effect when the target object is detected in the target tunnel.

As an optional but non-limiting implementation manner, determining the target attribute value of each first detection target by matching the position of each first detection target in the first detection result with each second detection target in the second detection result, includes the following steps D1-D3:

and D1, determining the position of each first detection target in the first detection results and the position of each second detection target in the second detection results.

And D2, determining a position difference value between the position of each first detection target and the position of each second detection target in the second detection result according to each first detection target in the first detection results.

And D3, adjusting the target attribute value of each first detection target according to the position difference value result corresponding to each first detection target, wherein the probability of increasing the probability of indicating the target attribute value of the first detection target is higher as the position difference value corresponding to the first detection target is smaller.

On the road network fusion platform, the target vibration sensor periodically acquires a second detection result of the target object according to the detection frequency (such as 1 s), wherein the second detection result comprises the position coordinates and the detection time point of the second detection target detected when the target object is detected, and the second detection of the time-space point is a real target object. Because the optical fiber positioning system and the radar equipment complete the global coordinate system, the correlation judgment of the space-time dimension (time t, coordinate x) is carried out on each first detection target (including multipath false detection targets) in the first detection results of the target object in the current detection area and each second detection target in the second detection results through the current radar equipment, namely, whether the position distance difference between the second detection target and the first detection target exists in the second detection results is small enough is determined for each first detection target. If there is an ID with a sufficiently small difference in the position distance between the second detection target and the first detection target and a successful association of the space-time dimension, the target attribute value (such as confidence) of the first detection target is increased by 1.

As an optional but non-limiting implementation manner, according to the position difference result corresponding to each first detection target, adjusting the target attribute value of each first detection target includes the following steps E1-E2:

and E1, if the second detection target exists in the second detection result so that the position difference between the position of the second detection target and the position of the first detection target is smaller than the preset position difference, the possibility of target attribute value indication of the first detection target is increased.

And E2, if the second detection target does not exist in the second detection result so that the position difference between the position of the second detection target and the position of the first detection target is smaller than the preset position difference, not adjusting the possibility of target attribute value indication of the first detection target.

Referring to fig. 3, the criteria for space-time dimension association success are: there is a difference in the positional distance of the second detection target from the first detection target < a distance threshold Δl. For example: at a certain moment t, in the n section of the non-overlapping radar detection area, only 2 automobiles are actually in the target tunnel, the target vibration sensor can detect 2 second detection targets, but radar multipath detection generates 3 first detection targets, the coordinates of the 1 st first detection target are compared with the distances between the 2 second detection targets measured by the target vibration sensor, if the distances are smaller than delta L, the confidence of the first detection targets detected by the radar is increased by 1, and then the 2 nd first detection targets and the 3 rd first detection targets are compared and processed. Under normal positioning conditions, the confidence of the radar real target is increased by 1, and the confidence of the false detection target is not increased.

And S740, eliminating the first detection targets which are judged to be false detection targets in the first detection results based on the target attribute values of the first detection targets in the first detection results so as to correct the first detection results of the current radar equipment on the current detection area.

As an optional but non-limiting implementation manner, after determining the target attribute value of each first detection target by matching the position of each first detection target in the first detection result with each second detection target in the second detection result, the method further includes the following steps F1-F2:

f1, acquiring a first detection result and a second detection result of the next detection time;

f2, aiming at the first detection result and the second detection result of the next detection time, determining the target attribute value of each first detection target by matching the position of each first detection target in the first detection result with the position of each second detection target in the second detection result respectively until the position matching of the first detection result and the second detection result of different detection times is completed by adopting the preset times, and updating the target attribute value of the first detection target.

Referring to fig. 8, considering that the positioning detection precision of the target vibration sensor (such as a vibration optical fiber) is still in the meter level, the highest positioning precision is known to reach ±1 meter, so the scheme continuously performs position matching on the position of the second detection target detected by the vibration optical fiber and the position of the first detection target detected by the radar device based on the persistence of the real target and the randomness characteristics of the false detection target generated by the multipath effect, performs multiple position matching association through a reliability threshold N (configurable), and performs multiple adjustment and update on the target attribute value of the first detection target through multiple position matching association.

For example, since the vibration fiber detection accuracy is still at the meter level at present, the detection result of single position matching is not reliable, and the second detection target detected by the vibration fiber and the first detection target detected by the radar device need to be subjected to multiple position matching, and the target attribute value of the first detection target is updated and adjusted continuously through the multiple position matching. A reliability review threshold N may be set. When the number of times of sampling and position matching of the vibration optical fiber and the radar equipment is larger than N, the target attribute values (confidence degrees) of the first detection targets obtained by the current radar can be ranked. If the number of the second detection targets detected by the vibration optical fiber is g, the first g first detection targets with highest confidence on the radar are taken as real targets, and other multipath false detection targets are removed.

Fig. 9 is a schematic structural diagram of a multi-mode radar target positioning device provided by the embodiment of the present invention, where the embodiment of the present invention is suitable for a situation of target object detection in a non-overlapping radar detection area between radars in a tunnel, and the multi-mode radar target positioning device may be implemented in a form of software and/or hardware and is generally integrated on any electronic device having a network communication function, where the electronic device may be a mobile terminal, a PC end, a server, or the like.

As shown in fig. 9, the multi-modal radar target positioning apparatus according to the embodiment of the present invention may include the following: a first determination module 910, a second determination module 920, and an identification module 930. Wherein:

a first determining module 910, configured to determine a first detection result of a target object in a current detection area by using a current radar device, where the current detection area is a partial detection area where no overlapping radar detection area is generated between the current radar device and a reference radar device, and the reference radar device is a radar that is the same as the current radar device and performs target object detection on the interior of a target tunnel and is adjacent to the target object, and the first detection result includes at least one first detection target;

A second determining module 920, configured to determine a second detection result of the target vibration sensor on the target object in the current detection area, where the target vibration sensor is laid under a roadway surface of the target tunnel and is used to perform vibration positioning on the target object, the first detection result and the second detection result are obtained at the same detection time, and the second detection result includes at least one second detection target;

and the identifying module 930 is configured to identify a false detection target in the first detection result based on the second detection result, so as to correct the first detection result of the current radar device on the current detection area, where the false detection target is a detection target that generates false detection due to a multipath effect when detecting the target object in the target tunnel.

On the basis of the technical solution of the above embodiment, optionally, along a direction from a tunnel entrance to a tunnel exit of the target tunnel, sequentially deploying a plurality of radars for the target tunnel from the tunnel entrance of the target tunnel to a first preset position of the tunnel exit, generating an overlapping radar detection area with a first preset distance between each adjacent radar in the plurality of radars sequentially deployed for the target tunnel, where a detection distance of each deployed radar is greater than twice the first preset distance.

On the basis of the technical solution of the above embodiment, optionally, along a direction from a tunnel entrance to a tunnel exit of the target tunnel, a snapshot position of a radar disposed at a forefront position with respect to the target tunnel is located at a second preset position outside the tunnel entrance of the target tunnel.

On the basis of the technical solution of the foregoing embodiment, optionally, determining a first detection result of the current radar device on the target object in the current detection area includes:

determining a plurality of third detection results corresponding to the target object in the target tunnel, wherein the plurality of third detection results are obtained by radar positioning detection of the target object on a lane in the target tunnel by using each radar deployed for the target tunnel;

a first detection result of the target object in the current detection area by the current radar device is determined from the plurality of third detection results.

On the basis of the technical solution of the foregoing embodiment, optionally, determining, from a plurality of third detection results, a first detection result of the target object in the current detection area by the current radar device includes:

determining detection attribute information associated with each third detection result aiming at each third detection result in the plurality of third detection results, wherein the detection attribute information is used for identifying whether the third detection result is detected in a current detection area by current radar equipment;

And extracting the first detection result of the target object in the current detection area from the plurality of third detection results according to the detection attribute information associated with each third detection result.

On the basis of the technical solution of the foregoing embodiment, optionally, the target vibration sensor is a vibration optical fiber, a section of vibration optical fiber formed by laying along a reference straight line direction is configured below a roadway surface of the target tunnel, a direction difference value between the reference straight line direction and the roadway direction of the target tunnel is smaller than a preset direction difference value threshold, and lengths of the vibration optical fibers are not smaller than lengths of the roadway.

On the basis of the technical solution of the foregoing embodiment, optionally, the target vibration sensor is a vibration optical fiber, multiple sections of vibration optical fibers formed by laying along a reference straight line direction are configured below a roadway surface of the target tunnel, a direction difference value between the reference straight line direction and the roadway direction of the target tunnel is smaller than a preset direction difference value threshold, each section of vibration optical fiber in the multiple sections of vibration optical fibers is formed by laying multiple independent vibrations in the reference straight line direction respectively, or each section of vibration optical fiber in the multiple sections of vibration optical fibers is formed by laying one vibration optical fiber in the reference straight line direction in multiple roundabout ways, and the lengths of the multiple sections of vibration optical fibers are not smaller than the length of the roadway.

On the basis of the technical solution of the foregoing embodiment, optionally, a distance between the lengths of the vibration optical fibers along a direction perpendicular to the reference straight line is determined according to a wheel distance of a vehicle traveling on a roadway of the target tunnel.

On the basis of the technical solution of the foregoing embodiment, optionally, determining a second detection result of the target object in the current detection area by the target vibration sensor includes:

determining a plurality of fourth detection results corresponding to the target object in the target tunnel, wherein the fourth detection results are obtained by performing vibration positioning detection on the target object on a lane in the target tunnel through a target vibration sensor paved in the target tunnel;

and extracting a second detection result of the target vibration sensor on the target object in the current detection area from the fourth detection results based on the detection time of each fourth detection result and the detection time of each first detection result.

On the basis of the technical solution of the foregoing embodiment, optionally, each of the second detection results is determined based on a vibration positioning position obtained after a target vibration sensor laid in the target tunnel detects vibration of the target object; when the vibration is detected for the same target object to obtain a plurality of vibration positioning positions, the second detection result is a comprehensive calculation result of the plurality of vibration positioning positions.

Based on the technical solution of the foregoing embodiment, optionally, identifying a false detection target in the first detection result based on the second detection result includes:

for a first detection result and a second detection result of the current detection time, determining a target attribute value of each first detection target by matching the positions of each first detection target in the first detection result with each second detection target in the second detection result, wherein the target attribute value is used for indicating the possibility that the first detection target is judged to be a false detection target;

and eliminating the first detection targets which are judged to be false detection targets in the first detection results based on the target attribute values of the first detection targets in the first detection results.

On the basis of the technical solution of the foregoing embodiment, optionally, determining the target attribute value of each first detection target by matching each first detection target in the first detection result with the performed position of each second detection target in the second detection result, includes:

determining the position of each first detection target in the first detection results and the position of each second detection target in the second detection results;

For each first detection target in the first detection results, determining a position difference value between the position of each first detection target and the position of each second detection target in the second detection results;

and adjusting the target attribute value of each first detection target according to the position difference value result corresponding to each first detection target, wherein the probability of increasing the probability of indicating the target attribute value of the first detection target is higher as the position difference value corresponding to the first detection target is smaller.

On the basis of the technical solution of the foregoing embodiment, optionally, adjusting the target attribute value of each first detection target according to the position difference result corresponding to each first detection target includes:

if a second detection target exists in the second detection result so that the position difference between the position of the second detection target and the position of the first detection target is smaller than the preset position difference, the possibility of target attribute value indication of the first detection target is heightened;

if the second detection result does not have a second detection target, so that the position difference between the position of the second detection target and the position of the first detection target is smaller than the preset position difference, the possibility of target attribute value indication of the first detection target is not adjusted.

On the basis of the foregoing technical solution of the foregoing embodiment, optionally, after determining the target attribute value of each first detection target by matching the position of each first detection target in the first detection result with each second detection target in the second detection result, the method further includes:

acquiring a first detection result and a second detection result of the next detection time;

and aiming at the first detection result and the second detection result of the next detection time, determining the target attribute value of each first detection target by matching the positions of each first detection target in the first detection result with each second detection target in the second detection result respectively until the positions of the first detection result and the second detection result which adopt different detection times are matched in a preset manner, and updating the target attribute value of the first detection target.

According to the technical scheme provided by the embodiment of the invention, the first detection result of the target object in the current detection area by the current radar equipment is determined, the current detection area is a partial detection area which does not generate an overlapped radar detection area between the current radar equipment and the reference radar equipment, the reference radar equipment is a radar which is the same as the current radar equipment and is used for detecting the target object in the target tunnel and is adjacent to the target object, under the condition that the first detection result of the target object in the current detection area by the current radar equipment is determined, the second detection result of the target object in the current detection area by a vibration sensor which is paved below a roadway of the target tunnel and is used for carrying out vibration positioning on the target object is also determined, and then the false detection target in the first detection result is identified by the second detection result. According to the scheme, one or more false detection targets generated when target objects of non-overlapping radar detection areas among the radars in the tunnel are detected are provided with the positions of real targets by utilizing the positioning function of the vibration sensor through the vibration sensor buried under each traffic lane of the tunnel, so that false detection targets generated by multipath effects on non-space-time tracks can be effectively removed and filtered by the combined radars, and the problem that target objects of the non-overlapping radar detection areas in the tunnel cannot be accurately detected is solved.

The multi-mode radar target positioning device provided by the embodiment of the invention can execute the multi-mode radar target positioning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the multi-mode radar target positioning method.

It should be noted that each unit and module included in the above apparatus are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the embodiments of the present invention.

Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. Referring now to fig. 10, a schematic diagram of an electronic device (e.g., a terminal device or server in fig. 10) 1000 suitable for use in implementing embodiments of the present invention is shown. The terminal device in the embodiment of the present invention may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), car terminals (e.g., car navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 10 is merely an example, and should not impose any limitation on the functionality and scope of use of embodiments of the present invention.

As shown in fig. 10, the electronic device 1000 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 1001 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 1002 or a program loaded from a storage means 1008 into a Random Access Memory (RAM) 1003. In the RAM 1003, various programs and data necessary for the operation of the electronic apparatus 1000 are also stored. The processing device 1001, the ROM 1002, and the RAM 1003 are connected to each other by a bus 1004. An edit/output (I/O) interface 1005 is also connected to bus 1004.

In general, the following devices may be connected to the I/O interface 1005: input devices 1006 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 1007 including, for example, a Liquid Crystal Display (LCD), speaker, vibrator, etc.; storage 1008 including, for example, magnetic tape, hard disk, etc.; and communication means 1009. The communication means 1009 may allow the electronic device 1000 to communicate wirelessly or by wire with other devices to exchange data. While fig. 10 shows an electronic device 1000 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.

In particular, according to embodiments of the present invention, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the multi-modal radar target localization method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 1009, or installed from the storage device 1008, or installed from the ROM 1002. When executed by the processing device 1001, the computer program performs the above-described functions defined in the multi-modal radar target positioning method of the embodiment of the present invention.

The electronic device provided by the embodiment of the present invention and the multi-mode radar target positioning method provided by the above embodiment belong to the same inventive concept, and technical details not described in detail in the present embodiment can be referred to the above embodiment, and the present embodiment has the same beneficial effects as the above embodiment.

An embodiment of the present invention provides a computer storage medium having stored thereon a computer program which, when executed by a processor, implements the multi-modal radar target positioning method provided by the above embodiment.

The computer readable medium of the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.

In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.

The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.

The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to:

the computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: determining a first detection result of a target object in a current detection area by current radar equipment, wherein the current detection area is a partial detection area which does not generate an overlapped radar detection area between the current radar equipment and reference radar equipment, the reference radar equipment is radar equipment which is the same as the current radar equipment and is adjacent to the current radar equipment and is used for detecting the target object in a target tunnel, and the first detection result comprises at least one first detection target; determining a second detection result of a target vibration sensor on a target object in a current detection area, wherein the target vibration sensor is paved below a roadway surface of the target tunnel and is used for vibration positioning of the target object, the first detection result and the second detection result are obtained at the same detection time, and the second detection result comprises at least one second detection target; and identifying a false detection target in the first detection result based on the second detection result so as to correct the first detection result of the current radar equipment on the current detection area, wherein the false detection target is a detection target which generates false detection due to multipath effect when a target object is detected in a target tunnel.

Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. 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.

The units involved in the embodiments of the present invention may be implemented in software or in hardware. The name of the unit does not in any way constitute a limitation of the unit itself, for example the first acquisition unit may also be described as "unit acquiring at least two internet protocol addresses".

The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.

In the context of the present invention, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The above description is only illustrative of the preferred embodiments of the present invention and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in the present invention is not limited to the specific combinations of technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the spirit of the disclosure. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.

Moreover, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the invention. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.

Claims

1. A method for multi-modal radar target localization, the method comprising:

Identifying a false detection target in the first detection result based on the second detection result so as to correct the first detection result of the current radar equipment on the current detection area, wherein the false detection target is a detection target which generates false detection due to multipath effect when detecting a target object in a target tunnel;

the identifying the false detection target in the first detection result based on the second detection result comprises the following steps: for a first detection result and a second detection result of the current detection time, determining a target attribute value of each first detection target by matching the positions of each first detection target in the first detection result with each second detection target in the second detection result, wherein the target attribute value is used for indicating the possibility that the first detection target is judged to be a false detection target; and eliminating the first detection targets which are judged to be false detection targets in the first detection results based on the target attribute values of the first detection targets in the first detection results.

2. The method of claim 1, wherein determining a first detection result of the target object in the current detection area by the current radar device comprises:

Determining a plurality of third detection results corresponding to the target object in the target tunnel, wherein the plurality of third detection results are obtained by radar positioning detection of the target object on a lane in the target tunnel through radar equipment deployed for the target tunnel;

3. The method of claim 1, wherein determining a second detection result of the target object in the current detection area by the target vibration sensor comprises:

4. A method according to claim 1 or 3, wherein the target vibration sensor is a vibration optical fiber, a plurality of vibration optical fiber links formed by laying along a reference straight line direction are configured under the road surface of the traffic lane of the target tunnel, the direction difference between the reference straight line direction and the traffic lane direction of the target tunnel is smaller than a preset direction difference threshold value, each vibration optical fiber link in the plurality of vibration optical fiber links is formed by laying a plurality of vibration optical fibers which are independent of each other in the reference straight line direction or each vibration optical fiber link in the plurality of vibration optical fiber links is formed by laying one vibration optical fiber in a plurality of roundabout paths in the reference straight line direction, and the length of each vibration optical fiber link is not smaller than the length of the traffic lane.

5. The method of claim 4, wherein the spacing between the lengths of vibrating fiber links in a direction perpendicular to the reference line is determined based on a wheel distance of a vehicle traveling on a roadway of the target tunnel.

6. The method according to claim 1, further comprising, after determining the target attribute value of each of the first detection targets by matching each of the first detection targets with the proceeding position of each of the second detection targets in the second detection results, respectively:

7. A multi-modal radar target positioning apparatus, the apparatus comprising:

the identification module is used for identifying false detection targets in the first detection results based on the second detection results so as to correct the first detection results of the current radar equipment on the current detection area, wherein the false detection targets are detection targets which are erroneously detected due to multipath effects when the target objects are detected in the target tunnel; the identifying the false detection target in the first detection result based on the second detection result comprises the following steps: for a first detection result and a second detection result of the current detection time, determining a target attribute value of each first detection target by matching the positions of each first detection target in the first detection result with each second detection target in the second detection result, wherein the target attribute value is used for indicating the possibility that the first detection target is judged to be a false detection target; and eliminating the first detection targets which are judged to be false detection targets in the first detection results based on the target attribute values of the first detection targets in the first detection results.

8. An electronic device, the electronic device comprising:

one or more processors;

storage means for storing one or more programs,

the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the multi-modal radar target positioning method of any of claims 1-6.

9. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the multi-modal radar target positioning method of any one of claims 1-6.