CN118131173A - Radar signal processing method and device and electronic equipment - Google Patents
Radar signal processing method and device and electronic equipment Download PDFInfo
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Abstract
The invention discloses a radar signal processing method and device and electronic equipment, and relates to the technical field of radar scanning or other related technical fields, wherein the radar signal processing method comprises the following steps: and recombining at least one first detector and at least one second detector which are included in the target macro-pixel with low reliability to form a recombined macro-pixel, wherein the second detector is from macro-pixels adjacent to the target macro-pixel, combining detection data included in each recombined macro-pixel to obtain recombined macro-pixel data, and determining an output result according to the reliability of the recombined macro-pixel data. The invention solves the technical problem that the laser radar is easy to be influenced by the environment to form noise points, and the output image is abnormal.
Description
Technical Field
The invention relates to the technical field of radar detection or other related technical fields, in particular to a radar signal processing method and device and electronic equipment.
Background
With the continuous improvement of vehicle-mounted electronic devices, the laser radars applied to the field of vehicle sensing detection are gradually diversified, and at present, all laser radar receiving devices adopt devices such as APD (AVALANCHE PHOTODIODE ), sipm (Silicon Photomultiplier, silicon detector multiplier), SPAD (Single Photon Avalanche Diode, single detector avalanche diode) and the like, and aiming at the Flash type large-angle and short-distance type laser radars, the laser radar products can realize large angles and high resolution without adding any mechanical structure. However, since the lidar is susceptible to environmental influences to form noise, an output image is liable to be abnormal.
Disclosure of Invention
The embodiment of the invention provides a radar signal processing method and device and electronic equipment, which are used for solving the technical problem that a laser radar is easily influenced by environment to form noise points, so that an output image is abnormal.
According to an aspect of an embodiment of the present invention, there is provided a radar signal processing method including: recombining at least one first detector and at least one second detector included in a target macro-pixel with low reliability to form a recombined macro-pixel, wherein the second detector is from a macro-pixel adjacent to the target macro-pixel; combining the detection data included in each recombined macro pixel to obtain recombined macro pixel data; and determining an output result according to the credibility of the recombined macro-pixel data.
Optionally, after merging the detection data included in each of the reorganized macro-pixels to obtain reorganized macro-pixel data, the method further includes: under the condition that the reliability of the recombined macro-pixel data is lower than a preset reliability threshold, performing macro-pixel expansion operation, and recombining detectors included in the recombined macro-pixel with low reliability with at least one third detector to form an updated recombined macro-pixel, wherein the third detector is not included in the recombined macro-pixel before updating; combining the detection data included in the updated recombinant macro-pixel to obtain updated recombinant macro-pixel data; and under the condition that the reliability of the updated recombined macro-pixel data is lower than a preset reliability threshold, continuing to execute macro-pixel expansion operation until the reliability of the updated recombined macro-pixel data is greater than or equal to the preset reliability threshold.
Optionally, the method further comprises: and stopping performing the macro-pixel enlarging operation when the total number of the detectors included in the reorganized macro-pixel is greater than a first preset number threshold.
Optionally, the method comprises: each of the probes is set to participate in the reorganization only once.
Optionally, determining the output result according to the reliability of the reorganized macro-pixel data includes: and under the condition that the reliability of the recombined macro-pixel data is greater than or equal to a preset reliability threshold, determining the output result based on the detection data of all detectors in the recombined macro-pixel and the detection data of the detectors with high reliability.
Optionally, the method further comprises: querying target macro pixels with low credibility at the edge of the array in the detector array; and positioning an edge detector which does not participate in recombination in the target macro pixel with low reliability at the edge of the array, and prohibiting the edge detector from outputting detection data.
Optionally, before recombining the at least one first detector and the at least one second detector included in the target macro-pixel with low reliability, the method further includes: calculating the signal-to-noise ratio of macro pixels in the detector array, wherein each M x T detectors in the detector array form one macro pixel, and M and T are positive integers larger than 1; and defining the macro pixel as the target macro pixel with low credibility under the condition that the signal-to-noise ratio of the macro pixel is smaller than or equal to a preset signal-to-noise ratio.
According to another aspect of the embodiment of the present invention, there is also provided a radar signal processing apparatus including: a reorganizing unit, configured to reorganize at least one first detector and at least one second detector included in a target macro-pixel with low reliability to form a reorganized macro-pixel, where the second detector is from a macro-pixel adjacent to the target macro-pixel; the reorganization macro-pixel comprises at least one first detector and at least one second detector; the data merging unit is used for merging the detection data included in each recombined macro pixel to obtain recombined macro pixel data; and the result output unit is used for determining an output result according to the credibility of the recombined macro-pixel data.
Optionally, the radar signal processing device further comprises: a first expansion operation execution unit, configured to combine the detection data included in each of the reorganized macro-pixels to obtain reorganized macro-pixel data, and execute a macro-pixel expansion operation when the reliability of the reorganized macro-pixel data is lower than a preset reliability threshold, so as to reorganize a detector included in the reorganized macro-pixel with low reliability and at least one third detector, so as to form an updated reorganized macro-pixel, where the third detector is not included in the reorganized macro-pixel before updating; the updating merging unit is used for merging the detection data included in the updated recombined macro pixel to obtain updated recombined macro pixel data; and the second expansion operation execution unit is used for continuing to execute the macro pixel expansion operation under the condition that the reliability of the updated recombined macro pixel data is lower than a preset reliability threshold value until the reliability of the updated recombined macro pixel data is greater than or equal to the preset reliability threshold value.
Optionally, the radar signal processing device further comprises: and a stopping unit for stopping performing the macro-pixel enlarging operation when the total number of the detectors included in the reorganized macro-pixel is greater than a first preset number threshold.
Optionally, the radar signal processing device includes: and the setting unit is used for setting each detector to participate in recombination only once.
Optionally, the result output unit includes: the first determining module is configured to determine, when the reliability of the reorganized macro-pixel data is greater than or equal to a preset reliability threshold, the output result based on detection data of all detectors in the reorganized macro-pixel and detection data of a detector with high reliability.
Optionally, the radar signal processing device further comprises: the inquiring unit is used for inquiring the target macro pixels with low credibility at the edge of the array in the detector array; and the prohibiting unit is used for positioning an edge detector which does not participate in recombination in the target macro pixels with low reliability at the edge of the array and prohibiting the edge detector from outputting detection data.
Optionally, the radar signal processing device further comprises: a calculating unit, configured to calculate a signal-to-noise ratio of macro-pixels in the detector array before recombining at least one first detector and at least one second detector included in the target macro-pixel with low reliability, where each m×t detectors in the detector array form one macro-pixel, and M and T are positive integers greater than 1; and the definition unit is used for defining the macro pixel as the target macro pixel with low reliability under the condition that the signal-to-noise ratio of the macro pixel is smaller than or equal to a preset signal-to-noise ratio.
According to another aspect of the embodiment of the present invention, there is also provided an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform any one of the radar signal processing methods described above via execution of the executable instructions.
According to another aspect of the embodiment of the present invention, there is also provided a computer readable storage medium, where the computer readable storage medium includes a stored computer program, where when the computer program runs, a device where the computer readable storage medium is controlled to execute the radar signal processing method according to any one of the foregoing claims.
In the invention, at least one first detector and at least one second detector which are included in a target macro pixel with low credibility are recombined to form a recombined macro pixel, wherein the second detector is from a macro pixel adjacent to the target macro pixel; combining the detection data included in each recombined macro pixel to obtain recombined macro pixel data; and determining an output result according to the credibility of the recombined macro-pixel data.
In the invention, the detector dynamic reorganization is carried out on the detector in the low-reliability macro pixel by identifying the low-reliability macro pixel, and the scanned image frame is output, so that the problem that no signal is output in a low signal-to-noise ratio area can be effectively solved, and the technical problem that the laser radar is easy to be influenced by the environment to form noise points and the output image is abnormal is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of an alternative radar signal processing method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative definition of macropixels in a scanning pixel array, in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of an alternative partitioning of low confidence macro-pixel regions in accordance with an embodiment of the invention;
FIG. 4 is a schematic diagram of an alternative radar signal processing device according to an embodiment of the present invention;
Fig. 5 is a block diagram of a hardware structure of an electronic device (or mobile device) of a radar signal processing method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
To facilitate an understanding of the invention by those skilled in the art, some terms or nouns involved in the various embodiments of the invention are explained below:
the avalanche photodiode AVALANCHE PHOTODIODE, abbreviated as APD, is a high-sensitivity photoelectric detection device and is suitable for a laser radar receiver.
The silicon detector multiplier Silicon Photomultiplier, siPM for short, is a high-sensitivity photoelectric detector, and is suitable for laser radar receivers.
The single photon avalanche diode Single Photon Avalanche Diode, SPAD for short, is a special avalanche diode suitable for laser radar receiver.
Flash lidar is a radar technology that uses pulsed laser to measure distance and detect objects. The method can rapidly scan the surrounding environment and acquire a high-resolution three-dimensional image, and has the characteristics of rapid measurement speed, high precision and large-scale scanning.
Radar angular resolution refers to the smallest angular difference between two targets that a radar system is able to distinguish. In radar systems, the size of the angular resolution directly affects the resolution of the radar system to the target. A lower angular resolution means that the radar system has more recognition of the target and thus a more accurate determination of the position and direction of movement of the target.
The signal-to-noise ratio of SPAD, in the present invention, refers to the ratio between the signal and noise generated when receiving and detecting laser light. The higher the signal-to-noise ratio, the more pronounced the signal is relative to noise, thus enabling more accurate detection.
It should be noted that, the information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, displayed data, etc.) collected by the present disclosure are information and data authorized by the user or sufficiently authorized by each party, and the relevant data are collected, stored, used, processed, transmitted, provided, disclosed, applied, etc. processed, all comply with relevant laws and regulations and standards of relevant areas, necessary security measures are taken, no prejudice to public order, and corresponding operation entries are provided for the user to select authorization or rejection. For example, an interface is provided between the system and the relevant user or institution, before acquiring the relevant information, the system needs to send an acquisition request to the user or institution through the interface, and acquire the relevant information after receiving the consent information fed back by the user or institution.
The embodiments of the invention described below can be applied to the fields of detection imaging of environments, figures, objects and the like using various radars (such as lidar) or radar systems (such as lidar systems), such as autopilot, unmanned aerial vehicle, industrial automation, robots and the like, and can improve the signal-to-noise ratio of the lidar and have a certain improvement effect on the angular resolution. The lidar to which the present invention relates may be a Flash lidar,
Here, it should be noted that the lidar system is generally a solid-state system, including: radar transmitting devices (transmitting means for transmitting light, typically comprising a laser source) and radar receivers/detectors, the present invention focuses on improvements in lidar receiving devices.
Compared with the prior art that a radar detection array (such as SPAD) is simply combined with 3*3 or 2×2 SPAD into one pixel to directly output a histogram, the invention can improve the signal-to-noise ratio and the angular resolution of the laser radar by searching for a target macro-pixel with low reliability in a pixel array, then recombining at least one first detector included in the target macro-pixel with low reliability and a second detector in an adjacent macro-pixel to form a recombined macro-pixel, combining detection data included in each recombined macro-pixel, and determining an output result according to the reliability of the recombined macro-pixel data.
The present invention will be described in detail with reference to the following examples.
Example 1
According to an embodiment of the present invention, there is provided an embodiment of a radar signal processing method, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order different from that herein.
Fig. 1 is a flowchart of an alternative radar signal processing method according to an embodiment of the invention, as shown in fig. 1, comprising the steps of:
Step S102, recombining at least one first detector and at least one second detector included in a target macro-pixel with low reliability to form a recombined macro-pixel, wherein the second detector is from a macro-pixel adjacent to the target macro-pixel.
Step S104, merging the detection data included in each recombined macro pixel to obtain recombined macro pixel data.
Step S106, determining an output result according to the reliability of the reorganized macro-pixel data.
Embodiments of the present invention may be applied to radar systems/apparatus, particularly those employing a detection array comprising a plurality of detectors arranged in n x m fashion, such as SPADs. For example, a vehicle-mounted radar installed on a vehicle scans surrounding environments, objects, characters and the like, obtains histogram information of each SPAD, and combines SPAD data in each macro pixel by taking the macro pixel as a unit to obtain a first output result. Compared with a single-point output mode of the SPAD (namely, each SPAD outputs one data point), the signal to noise ratio can be effectively improved due to stronger capability of resisting environmental interference.
In the application, after the first output result is obtained, the macro-pixel with low reliability, namely the target macro-pixel, needs to be positioned according to the first output result. And recombining at least one first detector and at least one second detector which are included in the target macro-pixel with low reliability to form a recombined macro-pixel, wherein the second detector is from macro-pixels adjacent to the target macro-pixel, combining detection data included in each recombined macro-pixel to obtain recombined macro-pixel data, and determining an output result according to the reliability of the recombined macro-pixel data.
In the embodiment, the low-reliability macro pixels are identified, the detectors in the low-reliability macro pixels are dynamically recombined, and then detection data included in the recombined macro pixels are combined, so that macro pixel data with high reliability is obtained, an output result is obtained, the problem that no signal is output in a low signal-to-noise ratio area can be effectively solved, and the technical problem that noise is formed due to the fact that a laser radar is easily affected by environment, and an output image is abnormal is solved.
The present invention will be described below in connection with the above-described respective implementation steps.
Optionally, the present embodiment further includes: before recombining the at least one first detector and the at least one second detector included in the low-confidence target macropixel, further comprising:
calculating the signal-to-noise ratio of macro pixels in the detector array, wherein each S x T detectors in the detector array form one macro pixel, and S and T are positive integers greater than 1;
And defining the macro pixel as a target macro pixel with low credibility under the condition that the signal-to-noise ratio of the macro pixel is smaller than or equal to a preset signal-to-noise ratio.
It should be noted that, in the present embodiment, the detector array includes n×m detectors arranged in an array, and each s×t detectors in the detector array are combined into one macro pixel, for example 3*3 SPADs are combined into one macro pixel, or 2×2 SPADs are combined into one macro pixel, or 2*3 SPADs are combined into one macro pixel. And under the condition that the signal-to-noise ratio of the macro pixel is smaller than or equal to a preset signal-to-noise ratio, defining the macro pixel as a target macro pixel with low credibility, wherein N, M, S and T are positive integers larger than 1.
Fig. 2 is a schematic diagram of an alternative definition of macro-pixels in a detector array according to an embodiment of the invention, as shown in fig. 2, one macro-pixel being defined per 3*3 arrays in a 240 x 240 array arrangement of detector arrays.
After detection, the signal-to-noise ratio of each macro-pixel needs to be calculated, where the signal-to-noise ratio of a macro-pixel refers to the ratio between data output in macro-pixels and noise. After the signal-to-noise ratio of the macro pixel is obtained, comparing the signal-to-noise ratio with a preset signal-to-noise ratio threshold, if the signal-to-noise ratio is lower than the preset signal-to-noise ratio threshold, defining the macro pixel as a target macro pixel with low reliability, and if the signal-to-noise ratio is higher than the preset signal-to-noise ratio threshold, defining the macro pixel as a target macro pixel with high reliability.
After the signal-to-noise ratio calculation and the type confirmation of each macro pixel are completed, the detector in the target macro pixel with low credibility can be subjected to reorganization processing. For each target macro-pixel of low confidence, it needs to be broken up and recombined with the detector SPADs included in other macro-pixels adjacent to the target macro-pixel.
It should be noted that, the macro-pixel reorganization scheme provided in this embodiment is performed after the area division of the s×t detector array corresponding to the target macro-pixel with low reliability, and the area division of the s×t detector array is performed to obtain at least two array sub-areas.
Specifically, fig. 3 is a schematic diagram of an alternative partitioning of a low-confidence macro-pixel region, as shown in fig. 3, in which a total of 9 macro-pixels with numbers 1-9 are illustrated, with the middle macro-pixel being number 5, according to an embodiment of the present invention. Assuming that the middle macro pixel 5 is a target macro pixel with low reliability, dividing the region of the 3*3 detector array, scattering the SPAD in the macro pixel 5 and recombining the SPAD in other macro pixels adjacent to the same into a new macro pixel, and carrying out data merging and signal-to-noise ratio judgment again, if the signal-to-noise ratio of the new macro pixel is still low, further expanding the region until the signal-to-noise ratio reaches the requirement. For example, in fig. 3, for the macro-pixel 5, 3 groups are divided in a clockwise direction, each group includes 2,4, and 3 SPADs, and the SPADs are partially recombined with macro-pixels 1,2,3, 4, 6, and 8, respectively, to obtain three recombined macro-pixels with dotted frames. Of course, it can be understood that the specific grouping modes for the macro-pixels with low reliability are various, and the mode of reorganizing is different according to different grouping modes.
When more detectors are included in the rebuilt macro-pixel from the high reliability macro-pixel, the probability that the rebuilt macro-pixel obtained after rebuilt is high reliability is greater. Thus, in a preferred embodiment, the number of second detectors from high confidence macro-pixels is greater than the number of second detectors from low confidence macro-pixels within the re-binned macro-pixels. Accordingly, when the macro-pixels adjacent to the macro-pixels with low reliability are high reliability, the macro-pixels are preferably selected for combination, for example, as shown by the black dots in fig. 3 in the third row of the macro-pixels with low reliability 5 in fig. 3, when the reorganized macro-pixels are selected for the reorganized macro-pixels, if the macro-pixels 8 adjacent to the reorganized macro-pixels are high reliability macro-pixels, more partial SPADs in the bonded macro-pixels 8 can be preferably selected. However, if the macro-pixel 8 is also a low-reliability macro-pixel, and the macro-pixels 4, 6, 9, and 7 are high-reliability macro-pixels, it may be preferable to combine the left and right sides, as shown by the black solid line box in fig. 3.
In the other extreme case, namely, when the macro-pixels 4,6, 7, 8 and 9 are all low-reliability macro-pixels, the combination mode is not particularly required, and a dotted line frame, a solid line frame or other combination modes can be selected for the low-reliability macro-pixels 5, because, as the macro-pixel output mode is to respectively superimpose and compare the target signals of the environment signals of the detectors therein, even if the detectors included in the recombined macro-pixels are all from the low-reliability macro-pixels, the output result of the recombined macro-pixels is still possible to be high-reliability after the combination.
For a target macro pixel with low reliability, the SPAD of the detector contained in the target macro pixel needs to be scattered and the SPAD detected in other macro pixels adjacent to the target macro pixel needs to be recombined to obtain a recombined macro pixel and corresponding recombined macro pixel data, then data combination and signal to noise ratio judgment are needed to be carried out on a new recombined macro pixel again, if the signal to noise ratio of the new recombined macro pixel is still low, the area needs to be further expanded, and macro pixel expansion operation is carried out until the signal to noise ratio reaches the requirement. Optionally, after merging the detection data included in each reorganized macro-pixel to obtain reorganized macro-pixel data, the method further includes:
under the condition that the reliability of the reorganized macro-pixel data is lower than a preset reliability threshold value, performing macro-pixel expansion operation, reorganizing a detector included in the reorganized macro-pixel with low reliability and at least one third detector to form an updated reorganized macro-pixel, wherein the third detector is not included in the reorganized macro-pixel before updating;
Combining the detection data included in the updated recombined macro pixel to obtain updated recombined macro pixel data; and under the condition that the reliability of the updated recombined macro-pixel data is lower than a preset reliability threshold, continuing to execute macro-pixel expansion operation until the reliability of the updated recombined macro-pixel data is greater than or equal to the preset reliability threshold.
When the output result of the first time rebinned macropixel is low confidence, a macropixel expansion operation may be performed, such as a rebinned macropixel (solid line box) of 3*2 in the lower left corner of fig. 3 being expanded down to 3*3. However, in the process of performing macro-pixel rebinning, the number of detectors for macro-pixel expansion is limited in this embodiment. Optionally, when the total number of detectors included in the reorganized macro-pixel is greater than a first preset number threshold, the macro-pixel expansion operation is stopped. This is because, in the course of enlarging the merging range of the reorganized macro-pixel, if the number of the detectors included therein exceeds a certain number, the angular resolution may become too large and the resolution may become poor.
Optionally, the solution further includes: querying target macro pixels with low credibility at the edge of the array in the detector array; and positioning an edge detector which does not participate in recombination in the target macro pixel with low reliability at the edge of the array, and prohibiting the edge detector from outputting detection data.
For the edge detector which does not participate in recombination in the target macro pixel, as the edge detector is positioned at the edge of the detector array and has no more adjacent macro pixels, a new recombined macro pixel cannot be formed by combining the edge detector with the detectors in other macro pixels, namely the number of scattered detectors with the edge not recombined cannot be recombined into the new macro pixel, and in order to ensure the quality of the output detection data, the edge detector is forbidden to output the detection data.
Optionally, when executing step S106, the method includes: and under the condition that the reliability of the recombined macro-pixel data is greater than or equal to a preset reliability threshold, determining an output result based on the detection data of all detectors in the recombined macro-pixel and the detection data of the detectors with high reliability.
The output result comprises two parts, namely, in a first output result obtained according to the detection data, aiming at each macro pixel, if the macro pixel is high in credibility, the macro pixel is directly output; if the reliability is low, the later splitting and reorganizing are performed, and then the data of the reorganized macro-pixel is output for the reorganized macro-pixel if the reliability is high, and if the reliability is still low under the condition of executing macro-pixel expansion operation, the data is abandoned.
That is, the reorganization macro-pixel increases the number of the output point clouds on the basis of the data of the first output result, enhances the resolution capability of the radar, and improves the utilization rate of the data of the low-reliability macro-pixel and improves the signal to noise ratio compared with the traditional scheme of directly discarding the low-reliability macro-pixel data.
In one embodiment of the invention, all macro-pixels are processed in order and in the manner described above, and SPADs that have previously participated in the reorganization are no longer participated in the reorganization thereafter. Alternatively, each low confidence detector is set to participate in the reorganization only once. This is because each data combination and transmission requires the consumption of the resources of the back-end processing circuit, and thus by setting the prohibition of the repeated participation in the reorganization, the time delay and the computation power consumption thereof can be reduced. Meanwhile, the size of the recombined macro pixel is preferably n×n, so that the signal processing of the rear end is facilitated.
According to the embodiment of the invention, through the macro-pixel reorganization scheme, the target macro-pixels with low credibility can be searched, then the detectors in the target macro-pixels with low credibility and the detectors in surrounding adjacent macro-pixels are reorganized, the scanned image frames defined by the whole histogram information are output, and the problem that no signal is output in a low signal-to-noise ratio area can be effectively solved, so that the technical problem that noise points are formed due to the fact that a laser radar is easily influenced by environment, and the output image is abnormal is solved.
The invention is described below in connection with alternative embodiments.
Example two
The present embodiment provides a radar signal processing apparatus, in which a plurality of implementation units are included in the apparatus corresponding to the respective implementation steps in the above-described embodiment.
Fig. 4 is a schematic diagram of an alternative radar signal processing device according to an embodiment of the present invention, as shown in fig. 4, the radar signal processing device includes: a reorganization unit 41, a data merging unit 42, and a result output unit 43.
The reorganizing unit 41 is configured to reorganize at least one first detector and at least one second detector included in a target macro-pixel with low reliability to form a reorganized macro-pixel, where the second detector is from a macro-pixel adjacent to the target macro-pixel; the reorganized macro-pixel includes at least one first detector and at least one second detector therein.
And a data merging unit 42, configured to merge the detection data included in each of the reorganized macro-pixels to obtain reorganized macro-pixel data.
And a result output unit 43 for determining an output result according to the reliability of the reorganized macro-pixel data.
In the radar signal processing device, at least one first detector and at least one second detector included in a target macro-pixel with low reliability can be recombined by the recombination unit 41 to form a recombined macro-pixel, wherein the second detector is from a macro-pixel adjacent to the target macro-pixel; the reorganization macro-pixel includes at least one first detector and at least one second detector, and the data merging unit 42 is configured to merge the detection data included in each reorganization macro-pixel to obtain reorganization macro-pixel data, and the result output unit 43 is configured to determine an output result according to the reliability of the reorganization macro-pixel data. In the embodiment, the detector dynamic reorganization is carried out on the detector in the low-reliability macro pixel by identifying the low-reliability macro pixel, and the scanned image frame is output, so that the problem that no signal is output in a low signal-to-noise ratio area can be effectively solved, and the technical problem that noise is formed by the laser radar easily influenced by the environment, and the output image is abnormal is solved.
Optionally, the radar signal processing device further comprises: the first expansion operation execution unit is used for merging the detection data included in each recombined macro pixel to obtain recombined macro pixel data, executing macro pixel expansion operation under the condition that the reliability of the recombined macro pixel data is lower than a preset reliability threshold value, and recombining the detectors included in the recombined macro pixels with low reliability with at least one third detector to form updated recombined macro pixels, wherein the third detector is not included in the recombined macro pixels before updating; the updating merging unit is used for merging the detection data included in the updated reorganized macro-pixel to obtain updated reorganized macro-pixel data; and the second expansion operation execution unit is used for continuing to execute the macro pixel expansion operation under the condition that the reliability of the updated recombined macro pixel data is lower than a preset reliability threshold value until the reliability of the updated recombined macro pixel data is greater than or equal to the preset reliability threshold value.
Optionally, the radar signal processing device further comprises: and a stopping unit for stopping performing the macro-pixel enlarging operation when the total number of the detectors included in the reorganized macro-pixel is greater than a first preset number threshold.
Optionally, the radar signal processing device includes: a setting unit for setting each detector to participate in the reorganization only once.
Optionally, the result output unit includes: the first determining module is used for determining an output result based on detection data of all detectors in the reorganized macro-pixel and detection data of the detectors with high credibility under the condition that the credibility of the reorganized macro-pixel data is larger than or equal to a preset credibility threshold value.
Optionally, the radar signal processing device further comprises: the inquiring unit is used for inquiring the target macro pixels with low credibility at the edge of the array in the detector array; and the prohibiting unit is used for positioning an edge detector which does not participate in recombination in the target macro pixels with low reliability at the edge of the array and prohibiting the edge detector from outputting detection data.
Optionally, the radar signal processing device further comprises: a calculating unit, configured to calculate a signal-to-noise ratio of macro-pixels in the detector array before recombining at least one first detector and at least one second detector included in the target macro-pixel with low reliability, where each s×t detectors in the detector array form one macro-pixel, and S and T are positive integers greater than 1; the definition unit is used for defining the macro pixel as a target macro pixel with low reliability under the condition that the signal-to-noise ratio of the macro pixel is smaller than or equal to a preset signal-to-noise ratio.
The radar signal processing device may further include a processor and a memory, wherein the reorganizing unit 41, the data merging unit 42, the result output unit 43, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches a corresponding program unit from the memory. The kernel may set one or more kernel parameters to implement recombination of at least one first detector and at least one second detector included in the target macro-pixel with low reliability, combine the detection data included in each recombined macro-pixel, and determine an output result according to the reliability of the recombined macro-pixel data.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), which includes at least one memory chip.
The application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with the method steps of: recombining at least one first detector and at least one second detector included in the target macro-pixel with low reliability to form a recombined macro-pixel, wherein the second detector is from a macro-pixel adjacent to the target macro-pixel; combining the detection data included in each recombined macro pixel to obtain recombined macro pixel data; and determining an output result according to the credibility of the recombined macro-pixel data.
According to another aspect of the embodiment of the present invention, there is also provided an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the radar signal processing method of any of the above via execution of the executable instructions.
Fig. 5 is a block diagram of a hardware structure of an electronic device (or mobile device) of a radar signal processing method according to an embodiment of the present invention. As shown in fig. 5, the electronic device may include one or more (shown as 502a, 502b, … …,502 n) processors 502 (the processor 502 may include, but is not limited to, a microprocessor MCU, a programmable logic device FPGA, etc. processing means), a memory 504 for storing data. In addition, the method may further include: a display, an input/output interface (I/O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of the I/O interface), a network interface, a keyboard, a power supply, and/or a camera. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 5 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the electronic device may also include more or fewer components than shown in FIG. 5, or have a different configuration than shown in FIG. 5.
According to another aspect of the embodiment of the present invention, there is also provided a computer-readable storage medium, including a stored computer program, where the computer program when executed controls a device in which the computer-readable storage medium is located to perform any one of the above-mentioned radar signal processing methods.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. A method of radar signal processing, comprising:
Recombining at least one first detector and at least one second detector included in a target macro-pixel with low reliability to form a recombined macro-pixel, wherein the second detector is from a macro-pixel adjacent to the target macro-pixel;
Combining the detection data included in each recombined macro pixel to obtain recombined macro pixel data;
And determining an output result according to the credibility of the recombined macro-pixel data.
2. The radar signal processing method according to claim 1, wherein after combining the detection data included in each of the reorganized macro-pixels to obtain reorganized macro-pixel data, further comprising:
Under the condition that the reliability of the recombined macro-pixel data is lower than a preset reliability threshold, performing macro-pixel expansion operation, and recombining detectors included in the recombined macro-pixel with low reliability with at least one third detector to form an updated recombined macro-pixel, wherein the third detector is not included in the recombined macro-pixel before updating;
combining the detection data included in the updated recombinant macro-pixel to obtain updated recombinant macro-pixel data;
And under the condition that the reliability of the updated recombined macro-pixel data is lower than a preset reliability threshold, continuing to execute macro-pixel expansion operation until the reliability of the updated recombined macro-pixel data is greater than or equal to the preset reliability threshold.
3. The radar signal processing method according to claim 2, characterized by further comprising:
And stopping performing the macro-pixel enlarging operation when the total number of the detectors included in the reorganized macro-pixel is greater than a first preset number threshold.
4. The radar signal processing method according to claim 2, comprising:
each of the probes is set to participate in the reorganization only once.
5. The radar signal processing method according to claim 1, wherein determining the output result according to the reliability of the reorganized macro-pixel data includes:
And under the condition that the reliability of the recombined macro-pixel data is greater than or equal to a preset reliability threshold, determining the output result based on the detection data of all detectors in the recombined macro-pixel and the detection data of the detectors with high reliability.
6. The radar signal processing method according to claim 1, characterized by further comprising:
querying target macro pixels with low credibility at the edge of the array in the detector array;
And positioning an edge detector which does not participate in recombination in the target macro pixel with low reliability at the edge of the array, and prohibiting the edge detector from outputting detection data.
7. The radar signal processing method according to claim 1, further comprising, before recombining at least one first detector and at least one second detector included in the target macro-pixel of low confidence:
calculating the signal-to-noise ratio of macro pixels in the detector array, wherein each M x T detectors in the detector array form one macro pixel, and M and T are positive integers larger than 1;
and defining the macro pixel as the target macro pixel with low credibility under the condition that the signal-to-noise ratio of the macro pixel is smaller than or equal to a preset signal-to-noise ratio.
8. A radar signal processing apparatus, comprising:
A reorganizing unit, configured to reorganize at least one first detector and at least one second detector included in a target macro-pixel with low reliability to form a reorganized macro-pixel, where the second detector is from a macro-pixel adjacent to the target macro-pixel; the reorganization macro-pixel comprises at least one first detector and at least one second detector;
The data merging unit is used for merging the detection data included in each recombined macro pixel to obtain recombined macro pixel data;
And the result output unit is used for determining an output result according to the credibility of the recombined macro-pixel data.
9. A vehicle-mounted electronic apparatus, characterized by comprising:
a processor; and
A memory for storing executable instructions of the processor;
wherein the processor is configured to perform the radar signal processing method of any one of claims 1 to 7 via execution of the executable instructions.
10. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform the radar signal processing method according to any one of claims 1 to 7.
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