WO2020133223A1 - 目标探测方法、雷达、车辆以及计算机可读存储介质 - Google Patents

目标探测方法、雷达、车辆以及计算机可读存储介质 Download PDF

Info

Publication number
WO2020133223A1
WO2020133223A1 PCT/CN2018/124904 CN2018124904W WO2020133223A1 WO 2020133223 A1 WO2020133223 A1 WO 2020133223A1 CN 2018124904 W CN2018124904 W CN 2018124904W WO 2020133223 A1 WO2020133223 A1 WO 2020133223A1
Authority
WO
WIPO (PCT)
Prior art keywords
detection
target object
target
radar
detection data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/124904
Other languages
English (en)
French (fr)
Inventor
林立
李怡强
卜运成
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201880069473.3A priority Critical patent/CN111316126B/zh
Priority to PCT/CN2018/124904 priority patent/WO2020133223A1/zh
Publication of WO2020133223A1 publication Critical patent/WO2020133223A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional [2D] tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Definitions

  • Embodiments of the present invention relate to the field of radar, and in particular, to a target detection method, radar, vehicle, and computer-readable storage medium.
  • Radar is a system that uses the reflection characteristics of electromagnetic waves to detect and track targets. It emits electromagnetic waves to detect the target to obtain the detection signals generated by the target, so that the distance from the target to the point of electromagnetic wave emission and the rate of change of the distance (radial velocity ), bearing, altitude and other information.
  • the existing radar After receiving the detection signal, the existing radar samples the detection signal, performs analog/digital conversion, high/low pass filtering, and Fourier transform processing, detects all the processed detection signals, and extracts the suspected target.
  • Target information is determined from the suspected target, so that the target can be tracked based on the target information.
  • Embodiments of the present invention provide a target detection method, a radar, a vehicle, and a computer-readable storage medium, to solve that in the prior art, when the number of radar detection targets exceeds the system's processing capacity, usually objects with a shorter distance are preferentially detected, thereby This leads to the technical problem that the target track that has formed a distance in the distance is lost, which in turn leads to inaccurate targets collected by the radar.
  • a first aspect of an embodiment of the present invention is to provide a target detection method, including:
  • At least one first target object is detected, wherein the first target object corresponds to the first target detection data;
  • the detection strategy for the detection data of the radar detection signal at the next moment is adjusted, and at least one second target object is detected according to the adjusted detection strategy and the detection data at the next moment.
  • a second aspect of the embodiments of the present invention is to provide a radar, including: a memory, a processor, and an antenna;
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, it is used to perform the following operations:
  • At least one first target object is detected, wherein the first target object corresponds to the first target detection data;
  • the detection strategy for the detection data of the radar detection signal at the next moment is adjusted, and at least one second target object is detected according to the adjusted detection strategy and the detection data at the next moment.
  • a third aspect of the embodiments of the present invention is to provide a radar, including:
  • Signal transmitting device used to emit electromagnetic waves to detect target objects
  • a fourth aspect of the embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method of the first aspect.
  • the target detection method, radar, vehicle, and computer-readable storage medium provided in this embodiment obtain the detection signal detected by the radar at the current moment, and generate detection data according to the detection signal; according to the detection data and the initial detection strategy , At least one first target object is detected, wherein the first target object corresponds to the first target detection data; according to the first target detection data, the detection strategy for the detection data of the radar detection signal at the next moment is adjusted And detect at least one second target object according to the adjusted detection strategy and the detection data at the next moment. Therefore, the accuracy of target detection can be effectively improved, and the problem of target tracking loss caused by poor radar processing capability can be avoided.
  • FIG. 1 is a schematic flowchart of a target detection method according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic flowchart of a target detection method according to Embodiment 2 of the present invention.
  • FIG. 3 is a schematic flowchart of a target detection method according to Embodiment 3 of the present invention.
  • FIG. 4 is a schematic flowchart of a target detection method according to Embodiment 4 of the present invention.
  • FIG. 5 is a division diagram of a preset area provided by an embodiment of the present invention.
  • FIG. 6 is a schematic flowchart of a target detection method according to Embodiment 5 of the present invention.
  • FIG. 7 is a schematic flowchart of a target detection method according to Embodiment 6 of the present invention.
  • Embodiment 8 is a schematic structural diagram of a radar provided in Embodiment 7 of the present invention.
  • a component when a component is said to be “fixed” to another component, it can be directly on another component or there can also be a centered component. When a component is considered to be “connected” to another component, it can be directly connected to another component or there may be a centered component at the same time.
  • the existing radar After receiving the detection signal, the existing radar samples the detection signal, performs analog/digital conversion, high/low pass filtering, and Fourier transform processing, detects all the processed detection signals, and extracts the suspected target. Target information is determined from the suspected target, so that the target can be tracked based on the target information.
  • Target information is determined from the suspected target, so that the target can be tracked based on the target information.
  • the present invention provides a target detection method, a radar, a vehicle, and a computer-readable storage medium.
  • the radar is a millimeter wave radar.
  • the millimeter-wave radar may be a rear-mounted millimeter-wave radar, or a front-mounted millimeter-wave radar, or the millimeter-wave radar may also be integrated in the entire vehicle.
  • the target detection method, radar, vehicle, and computer-readable storage medium provided by the present invention can be used in any target detection scenario.
  • FIG. 1 is a schematic flowchart of a target detection method according to Embodiment 1 of the present invention, which is applied to a radar. As shown in FIG. 1, the method includes:
  • Step 101 Obtain the detection signal detected by the radar at the current moment, and generate detection data according to the detection signal.
  • Radar is a system that uses the reflection characteristics of electromagnetic waves for target detection and tracking.
  • the target is detected by emitting electromagnetic waves to obtain the detection signal generated by the target.
  • the detection signal detected by the radar at the current time can be obtained.
  • detection data may be generated according to the detection signal, so as to subsequently perform target detection based on the detection data.
  • the radar may specifically be a frequency modulated continuous wave (FMCW) radar.
  • the FMCW radar may include an antenna, a radio frequency front end, a modulation module, and a signal processing unit.
  • the radio frequency front end is used to transmit a detection signal
  • the detection signal is a linear frequency modulation continuous wave, that is to say, the frequency of the detection signal transmitted by the FMCW radar is linearly modulated.
  • the modulation module is used to linearly modulate the frequency of the detection signal transmitted by the FMCW radar.
  • Step 102 According to the detection data and the initial detection strategy, at least one first target object is detected, wherein the first target object corresponds to the first target detection data.
  • the detection data may be detected according to a preset initial detection strategy to determine whether the detection data contains The first target object.
  • a preset initial detection strategy to determine whether the detection data contains The first target object.
  • any strategy that can achieve target detection based on the detection data can be used to achieve the detection of the first target object, the present invention is not limited here, for example, the constant false alarm detection technology can be used to achieve the first target object Detection.
  • the first target detection data corresponding to the first target object may be acquired from the detection data.
  • the first target detection data includes but is not limited to the current moving speed of the first target object and the current distance of the first target object from the radar.
  • Step 103 Adjust the detection strategy for the detection data of the radar detection signal at the next moment according to the first target detection data, and detect at least one second according to the adjusted detection strategy and the detection data at the next moment Target object.
  • the next target detection data can be adjusted according to The detection strategy for the detection data of the radar detection signal at any time, and according to the adjusted detection strategy and the detection data at the next moment, whether the second target object is included in the detection data at the next moment is detected.
  • adjusting the detection strategy may include adjusting parameters, regions, or other in the detection strategy. For example, when the detection strategy is constant false alarm detection, adjusting the detection strategy may include adjusting the threshold of constant false alarm detection or adjusting the area of constant false alarm detection.
  • a preset initial detection strategy is always used to detect each element in the detection data at the current moment
  • the method of determining the target object is to adjust the detection strategy at the next moment according to the first target detection data and according to The adjusted detection strategy detects the detection data at the next moment, which can effectively solve the problem that when the number of radar detection targets exceeds the processing capacity of the system, the objects that are closer to each other are usually detected preferentially, resulting in the formation of a track in the distance
  • the technical issue of target tracking loss is that in the prior art, a preset initial detection strategy is always used to detect each element in the detection data at the current moment, and the method of determining the target object is to adjust the detection strategy at the next moment according to the first target detection data and according to The adjusted detection strategy detects the detection data at the next moment
  • the target detection method by acquiring the detection signal detected by the radar at the current moment, and generating detection data according to the detection signal; according to the detection data and the initial detection strategy, at least one first target object is detected, Wherein the first target object corresponds to the first target detection data; according to the first target detection data, the detection strategy for the detection data of the radar detection signal at the next moment is adjusted, and according to the adjustment of the detection strategy and the next The detection data at a moment detects at least one second target object. Therefore, the accuracy of target detection can be effectively improved, and the problem of target tracking loss caused by poor radar processing capability can be avoided.
  • the method includes:
  • At least one first target object is detected, wherein the first target object corresponds to the first target detection data;
  • the detection strategy for the detection data of the radar detection signal at the next moment is adjusted, and at least one second target object is detected according to the adjusted detection strategy and the detection data at the next moment.
  • the first target object can be predicted relative to the radar at the next moment according to the first target detection data corresponding to the first target object
  • the first target prediction data of the first target object so that the detection strategy of the next moment can be adjusted according to the first target prediction data of the first target object relative to the radar at the next moment, according to the adjusted detection strategy and the detection data of the next moment Detect the second target object.
  • target objects are generally detected directly according to the detection data and the initial detection strategy, so that the accuracy is low.
  • the method provided in this embodiment detects the target object according to the detection data and the initial detection strategy, obtains the first target detection data corresponding to the first target object, and then predicts the first target at the next moment based on the first target detection data
  • the first target prediction data of the object relative to the radar, and the detection strategy of the next moment is adjusted according to the first target prediction data of the next moment, and the second target object is detected by the adjusted detection strategy, which can improve the target The detection efficiency and accuracy of detection.
  • the target detection method provided in this embodiment predicts the first target prediction data of the first target object relative to the radar at the next moment based on the first target detection data, and based on the first target prediction data, Adjusting the detection strategy for the detection data of the radar detection signal at the next moment, so that the detection efficiency and accuracy of target detection can be improved.
  • FIG. 2 is a schematic flowchart of a target detection method according to Embodiment 2 of the present invention. Based on any of the foregoing embodiments, as shown in FIG. 2, the method includes:
  • Step 201 Obtain the detection signal detected by the radar at the current moment, and generate detection data according to the detection signal;
  • Step 202 Detect at least one first target object according to the detection data and the initial detection strategy, where the first target object corresponds to the first target detection data;
  • Step 203 Based on the first target detection data, predict the first target prediction data of the first target object relative to the radar at the next moment;
  • Step 204 Adjust the detection strategy for the detection data of the radar detection signal at the next moment according to the first target prediction data
  • Step 205 Determine a preset area around the first target object according to the first target prediction data and the detection data at the next moment;
  • Step 206 Detect at least one second target object according to the adjustment detection strategy and a preset area around the first target object.
  • the preset area around the first target object can be determined according to the first target prediction data of the first target object relative to the radar at the next moment and the detection data at the next moment, so that the preset area and the adjusted The detection strategy realizes the detection of the second target object.
  • the target detection method provided in this embodiment determines the preset area around the first target object according to the first target prediction data and the detection data at the next moment, according to the adjustment detection strategy and the The preset area around the first target object detects at least one second target object. Therefore, the accuracy of target detection can be effectively improved, and the problem of target tracking loss caused by poor radar processing capability can be avoided.
  • the method includes:
  • At least one first target object is detected, wherein the first target object corresponds to the first target detection data;
  • the first target prediction data of the first target object at the next moment relative to the radar obtained by the prediction and the radar detection at the next moment can be The detected data is combined to achieve the acquisition of the preset area.
  • the detection data may be a range-Doppler (velocity) matrix, where the range-Doppler (velocity) matrix may include multiple elements. Therefore, the first target object can be based on The first target prediction data determines the first element corresponding to the first target prediction data of the first target object relative to the radar at the next moment in the detection data at the next moment.
  • the first element can be The area within the surrounding preset range is used as the preset area, so that the second target object can be detected subsequently according to the adjusted detection strategy and the preset area.
  • the target detection method provided in this embodiment determines the first element corresponding to the first target prediction data in the detection data at the next moment according to the first target prediction data; surrounding the first element
  • the area within the preset range is used as the preset area, so that the preset area can be accurately positioned, which provides a basis for subsequent detection of the second target object.
  • FIG. 3 is a schematic flowchart of a target detection method according to Embodiment 3 of the present invention. Based on any of the foregoing embodiments, as shown in FIG. 3, the method includes:
  • Step 301 Obtain the detection signal detected by the radar at the current moment, and generate detection data according to the detection signal;
  • Step 302 Detect at least one first target object according to the detection data and the initial detection strategy, where the first target object corresponds to the first target detection data;
  • Step 303 Based on the first target detection data, predict the first target prediction data of the first target object relative to the radar at the next moment;
  • Step 304 Adjust the detection strategy for the detection data of the radar detection signal at the next moment according to the first target prediction data
  • Step 305 Determine the first element corresponding to the first target prediction data in the probe data at the next moment according to the first target prediction data;
  • Step 306 Use an area within a preset range around the first element as the preset area
  • Step 307 Preferentially detect at least one second target object in a preset area around the first target object.
  • the adjusted detection strategy may specifically be to perform priority detection on the preset area around the first target object. Specifically, if the first target object is detected according to the detection data at the current moment, it indicates that the first target object currently exists near the radar. It is understandable that at the next moment, the target object appears in the preset area around the first target object The probability is higher.
  • the first target prediction data of the first target object at the next moment can be predicted based on the first target detection data corresponding to the first target object, and the next target prediction data of the first target object at the next moment
  • the first element corresponding to the first target prediction data of the first target object at the next moment is determined in the detection data, and the area within the preset range around the first element is used as the preset area, so that in the process of target detection, priority can be given to
  • the second target object is detected in a preset area around the first target object.
  • the detection of the preset area around the first target object can improve the accuracy of target object detection and reduce radar
  • the amount of calculation, when the radar computing power is poor, can also ensure that the target object is not lost.
  • the target detection method provided in this embodiment detects at least one second target object in a preset area around the first target object by priority. Therefore, the accuracy of target object detection can be improved, and the calculation amount of the radar can be reduced. When the radar calculation capability is poor, it can also ensure that the target object is not lost.
  • the method includes:
  • At least one first target object is detected, wherein the first target object corresponds to the first target detection data;
  • At least one second target object is detected in the detection data at the next moment in an area other than the preset area around the first target object.
  • the radar moves, new target objects may appear in the detection data at the next moment. Therefore, if the current radar computing power is strong, in order to further ensure the target For the accuracy of object detection, after detecting the preset area around the first target object first, the area other than the preset area around the first target object in the detection data at the next moment can be determined, and the detection data at the next moment At least one second target object is detected in an area other than the preset area around the first target object.
  • the target detection method by determining an area other than the preset area around the first target object in the detection data at the next moment; in the detection data at the next moment, the first At least one second target object is detected in an area other than a preset area around a target object, so that the accuracy of detection of the target object can be further improved, and the problem of target loss due to poor radar calculation capability can be avoided.
  • the method includes:
  • At least one first target object is detected, wherein the first target object corresponds to the first target detection data;
  • At least one element with an energy intensity greater than a preset intensity threshold is used as the at least one second target object.
  • the preset area around the first target object includes multiple elements, which may specifically include elements corresponding to the first target object and elements corresponding to unnecessary clutter. It is understandable that the first target The energy intensity of the element corresponding to the object is much greater than the energy intensity of the element corresponding to the clutter. Specifically, the energy intensity of each element in the preset area around the first target object may be preferentially calculated, and at least one element having an energy intensity greater than a preset intensity threshold is used as at least one second target object.
  • any method for calculating the signal energy intensity may be used to calculate the energy intensity of each element in the preset area, and the invention is not limited herein.
  • the preset intensity threshold can be adjusted according to the detection accuracy of the current target object, and the present invention does not limit it here.
  • the energy intensity of each element in a preset area around the first target object is calculated preferentially; at least one element having an energy intensity greater than a preset intensity threshold is used as the at least one second
  • the target object can accurately detect the second target object, so as to perform the obstacle avoidance operation and the detection of the target object at the next moment according to the detected second target object.
  • FIG. 4 is a schematic flowchart of a target detection method according to Embodiment 4 of the present invention. Based on any of the foregoing embodiments, as shown in FIG. 4, the method includes:
  • Step 401 Obtain the detection signal detected by the radar at the current moment, and generate detection data according to the detection signal;
  • Step 402 Detect at least one first target object according to the detection data and the initial detection strategy, where the first target object corresponds to the first target detection data;
  • Step 403 Based on the first target detection data, predict the first target prediction data of the first target object relative to the radar at the next moment;
  • Step 404 Adjust the detection strategy for the detection data of the radar detection signal at the next moment according to the first target prediction data
  • Step 405 Decrease the intensity threshold of the preset area around the first target object to obtain the adjusted intensity threshold
  • Step 406 Detect at least one second target object in a preset area around the first target object according to the adjusted intensity threshold.
  • the adjusted detection strategy may be to reduce the intensity threshold of the current target object detection. Specifically, after obtaining the detection data currently detected by the radar, the intensity threshold of the current target object detection can be lowered, and the detection of the target object in the currently detected detection data can be achieved by any target object detection technology, because the intensity threshold is lowered Therefore, during the detection process of the target object, it is possible to avoid the problem of ignoring the detection signal that currently has a flicker characteristic, which in turn leads to the loss of target tracking.
  • the detection threshold of the preset area around the first target object may be lowered, and the adjusted intensity threshold around the first target object
  • the preset area detects at least one second target object. Therefore, the target object that can ensure the flickering characteristic can also be detected.
  • the two adjusted detection strategies may be implemented separately or in combination.
  • the content disclosed in the above embodiments may be referred to.
  • they may be specifically determined around the first target object. After the preset area, reduce the detection threshold of the preset area around the first target object, and preferentially detect the preset area around the first target object. Therefore, when the radar computing power is poor, on the basis of ensuring that the target object is not lost, the loss of the target due to the flickering characteristic can be avoided.
  • the target detection method provided in this embodiment obtains the adjusted intensity threshold by reducing the intensity threshold of the preset area around the first target object, and presets the preset intensity around the first target object according to the adjusted intensity threshold
  • the area detects at least one second target object. Therefore, the accuracy of target object detection can be further improved, and tracking loss of the target object can be avoided.
  • the method includes:
  • At least one first target object is detected, wherein the first target object corresponds to the first target detection data;
  • the adjusted intensity threshold can be obtained by multiplying the preset intensity threshold by a preset system ; You can also obtain the adjusted intensity threshold by subtracting the preset intensity threshold from the preset constant; You can also reduce the intensity threshold of the preset area around the first target object through the experimental calibration lookup table to obtain the adjusted intensity Threshold.
  • the intensity threshold can be adjusted according to the accuracy of the current target detection. Specifically, the intensity threshold can be adjusted by adjusting the preset coefficients and the preset constants.
  • the target detection method provided in this embodiment obtains the adjusted intensity threshold by multiplying the intensity threshold by a preset coefficient; and/or; subtracting a preset constant from the intensity threshold to obtain The adjusted intensity threshold; and/or; reducing the intensity threshold of the preset area around the first target object through an experimental calibration lookup table to obtain the adjusted intensity threshold. Therefore, the accuracy of target object detection can be further improved, and tracking loss of the target object can be avoided.
  • the method includes:
  • At least one first target object is detected, wherein the first target object corresponds to the first target detection data;
  • the first target detection data predict the first target prediction data of the first target object relative to the radar at the next moment through the Kalman filter algorithm
  • the detection strategy for the detection data of the radar detection signal at the next moment is adjusted, and at least one second target object is detected according to the adjusted detection strategy and the detection data at the next moment.
  • the first target prediction data of the first target object relative to the radar's first target prediction data can be predicted based on the first target detection data corresponding to the first target object, so that the next time of the first target object can be based on
  • the detection strategy of the next moment is adjusted relative to the first target prediction data of the radar, and the second target object is detected according to the adjusted detection strategy and the detection data of the next moment.
  • the prediction of the first target prediction data of the first target object relative to the radar at the next moment can be achieved through the Kalman filter algorithm.
  • the trajectory corresponding to the first target object may be determined according to the first target data within a historical preset time, and The prediction of the first target detection data of the first target object by the trace and the Kalman filter algorithm at the next moment.
  • the target detection method provided in this embodiment predicts the first target prediction data of the first target object relative to the radar at the next moment by using the Kalman filter algorithm based on the first target detection data
  • the first target detection data at the next moment of the first target object is calculated to provide a basis for the subsequent adjustment of the detection strategy.
  • the method includes:
  • At least one first target object is detected, wherein the first target object corresponds to the first target detection data;
  • the detection strategy for the detection data of the radar detection signal at the next moment is adjusted, and at least one second target object is detected according to the adjusted detection strategy and the detection data at the next moment.
  • the first target detection data may specifically include the current echo characteristic of the first target object.
  • the echo characteristic includes the current distance of the first target object from the radar and the current speed of the first target object.
  • radar is a system that uses the reflection characteristics of electromagnetic waves for target detection and tracking. The target is detected by emitting electromagnetic waves to obtain the detection signal generated by the target. It has a preset time interval for emitting electromagnetic waves. Therefore, it can be based on the time The interval and the current speed of the first target object are multiplied to predict the first target prediction data of the first target object relative to the radar at the next moment.
  • the target detection method provided in this embodiment predicts the first target prediction data of the first target object relative to the radar at the next moment according to the time interval at which the radar sends electromagnetic waves and the first target detection data, Therefore, the first target detection data of the first target object at the next moment can be calculated quickly and accurately, which provides a basis for subsequent adjustment of the detection strategy.
  • FIG. 5 is a division diagram of a preset area provided by an embodiment of the present invention; on the basis of any of the foregoing embodiments, as shown in FIG. 5, the preset area includes the first element and the All elements adjacent to the first element.
  • the preset area includes the first element and all elements adjacent to the first element. By taking all elements adjacent to the first element as the content of the preset area, the next time base can be improved The success rate of target detection in a preset area.
  • the first element can be identified by T, and the preset area can be the first element and the eight elements labeled A and B around the first element T; it can also be the first element and the first element Four elements marked A around T; can be the first element and the four elements marked B around the first element T.
  • the division of the preset area can be adjusted according to the current radar computing power. If the radar computing power is poor, fewer elements can be designed in the preset area. If the current radar computing power is strong, you can More elements are set in the preset area, and the invention is not limited here.
  • the target detection method provided in this embodiment includes the first element and all elements adjacent to the first element through a preset area, so that the detection of the second target object can be avoided on the basis of realizing the calculation of the radar The technical problem of loss of target tracking caused by poor capability.
  • FIG. 6 is a schematic flowchart of a target detection method according to Embodiment 5 of the present invention. Based on any of the foregoing embodiments, as shown in FIG. 6, the method includes:
  • Step 501 Sampling the detection signal through a preset sampling period to obtain a sampled detection signal
  • Step 502 Perform an analog-to-digital conversion operation on the sampled detection signal to obtain a digital detection signal
  • Step 503 Perform high-pass and/or low-pass filtering operations on the digital detection signal to obtain a matrix to be processed;
  • Step 504 Perform a two-dimensional Fourier transform on the matrix to be processed to obtain the detection data
  • Step 505 According to the detection data and the initial detection strategy, at least one first target object is detected, wherein the first target object corresponds to the first target detection data;
  • Step 506 Adjust the detection strategy for the detection data of the radar detection signal at the next moment based on the first target detection data, and detect at least one second according to the adjusted detection strategy and the detection data at the next moment Target object.
  • the detection signal detected by the radar may be sampled through a preset sampling period to obtain the sampled detection signal. Since the detection signal is an analog signal, in order to realize the processing of the detection signal by the processor, after obtaining the sampled detection signal, it is necessary to perform analog-to-digital conversion on the sampled detection signal to obtain a digital detection signal. It should be noted that the order of sampling and analog-to-digital conversion can be adjusted according to the needs in actual applications, that is, the detection signal can be sampled first, and then the sampled detection signal can be converted into analog-to-digital.
  • the detection can also be performed first.
  • the signal is subjected to analog-to-digital conversion, and the detection signal after the analog-to-digital conversion is sampled according to a preset sampling frequency, which is not limited herein.
  • the digital detection signal may continue to be high-pass and/or low-pass filtered so that the frequency of the digital detection signal is within a preset frequency range to obtain a matrix to be processed.
  • the matrix to be processed can be subjected to two-dimensional Fourier transform to obtain detection data, so that the target object can be subsequently detected based on the detection data.
  • the target detection method by sampling the detection signal through a preset sampling period, a sampled detection signal is obtained, and an analog-to-digital conversion operation is performed on the sampled detection signal to obtain a digital detection signal. Perform a high-pass and/or low-pass filtering operation on the digital detection signal to obtain a matrix to be processed, and perform a two-dimensional Fourier transform on the matrix to be processed to obtain the detection data, so that the detection data can be obtained accurately and quickly , Provides a basis for the subsequent detection of target objects.
  • the method includes:
  • At least one first target object is detected, wherein the first target object corresponds to the first target detection data;
  • the detection strategy for the detection data of the radar detection signal at the next moment is adjusted, and at least one second target object is detected according to the adjusted detection strategy and the detection data at the next moment.
  • the matrix to be processed may be subjected to two-dimensional Fourier transform. Specifically, the row vectors in the matrix to be processed can be Fourier transformed to obtain a matrix to be processed containing distance information. Further, the longitudinal quantity of the to-be-processed matrix containing distance information can be Fourier transformed to obtain detection data. For each element in the detection data, the distance and velocity information of the element can be determined. In addition, For the known distance and speed information that can be recognized by the radar, the elements corresponding to the distance and speed information can be located in the detection data according to the distance and speed information. Therefore, the first element corresponding to the detection data at the next time can be located in the detection data at the next time according to the predicted first target detection data, and then the preset area can be determined according to the located first element.
  • the target detection method provided in this embodiment obtains a to-be-processed matrix containing distance information by performing Fourier transform on the row vectors in the to-be-processed matrix;
  • the Fourier transform obtains the detection data containing distance information and speed information, so as to provide a basis for the determination of the subsequent preset area.
  • the method includes:
  • the detection strategy for the detection data of the radar detection signal at the next moment is adjusted, and at least one second target object is detected according to the adjusted detection strategy and the detection data at the next moment.
  • the current detection strategy can be adjusted according to the first target object, but if the first target object is not currently detected, for example, the radar is started for the first time
  • the detection data needs to be detected using an initial detection strategy at this time.
  • the detection data is in the form of a matrix
  • the energy intensity of each element is calculated separately, and at least one element with an energy intensity greater than a preset intensity threshold is used as at least one currently detected A target object. Therefore, the detection data detection strategy can be adjusted subsequently according to the first target object detected at the current moment.
  • the energy intensity calculation of all the elements in the currently acquired detection data has been used to achieve the detection of the target object.
  • the detection strategy is adjusted according to the first target detection data, which can effectively reduce the calculation amount of the radar, and thus can ensure that the radar does not lose the tracking target when the calculation ability is weak, and improve the radar target Continuity of tracking.
  • the target detection method provided in this embodiment calculates the energy intensity of each element for each element in the detection data; at least one element with the energy intensity greater than a preset intensity threshold is used as the at least one element A first target object, which can provide a basis for the subsequent adjustment of the detection strategy.
  • FIG. 7 is a schematic flowchart of a target detection method according to Embodiment 6 of the present invention. Based on any of the foregoing embodiments, as shown in FIG. 7, the method further includes:
  • Step 601 Obtain the detection signal detected by the radar at the current moment, and generate detection data according to the detection signal;
  • Step 602 Detect at least one first target object according to the detection data and the initial detection strategy, where the first target object corresponds to the first target detection data;
  • Step 603 Adjust the detection strategy for the detection data of the radar detection signal at the next moment based on the first target detection data, and detect at least one second according to the adjusted detection strategy and the detection data at the next moment Target object
  • Step 604 Use the second target detection data corresponding to the second target object as the first target detection data at the current time, and return to execute the adjustment of the radar detection for the next time according to the first target detection data
  • the second target detection data corresponding to the second target object may be used as the first target detection data at the current time, and return to the execution according to the first A target detection data, adjusting the detection strategy for the detection data of the radar detection signal at the next moment, and according to the adjustment detection strategy and the detection data at the next moment, the step of detecting at least one second target object until the radar stops detecting.
  • the second target object may or may not be detected. Therefore, when the second target object is detected When the target object is detected, the target object can be detected according to the adjusted detection strategy.
  • the initial detection strategy can be used to continue the detection of the target object.
  • the target detection method provided in this embodiment uses the second target detection data corresponding to the second target object as the first target detection data at the current time, and returns to execute the adjustment according to the first target detection data.
  • the first target object is a target object whose distance from the detection device at the current moment is less than a preset distance threshold.
  • FIG. 8 is a schematic structural diagram of a radar provided in Embodiment 7 of the present invention.
  • the radar 71 includes a memory 72, a processor 73, and an antenna 74;
  • the memory 72 is used to store program codes
  • the processor 73 calls the program code, and when the program code is executed, it is used to perform the following operations:
  • At least one first target object is detected, wherein the first target object corresponds to the first target detection data;
  • the detection strategy for the detection data of the radar detection signal at the next moment is adjusted, and at least one second target object is detected according to the adjusted detection strategy and the detection data at the next moment.
  • the radar provided in this embodiment obtains the detection signal detected by the radar at the current moment, and generates detection data according to the detection signal; according to the detection data and the initial detection strategy, at least one first target object is detected, wherein The first target object corresponds to the first target detection data; according to the first target detection data, the detection strategy for the detection data of the radar detection signal at the next moment is adjusted, and according to the adjustment of the detection strategy and the next moment Detection data of at least one second target object. Therefore, the accuracy of target detection can be effectively improved, and the problem of target tracking loss caused by poor radar processing capability can be avoided.
  • the radar provided by the embodiment of the present invention may be a millimeter wave radar, and more specifically, may be an FMCW millimeter wave radar.
  • the processor when adjusting the detection strategy for the detection data of the radar detection signal at the next moment according to the first target detection data, is specifically used to:
  • the detection strategy for the detection data of the radar detection signal at the next moment is adjusted.
  • the processor adjusts the detection strategy for the detection data of the radar detection signal at the next moment based on the first target detection data, and adjusts the detection strategy according to And the detection data at the next moment, when detecting at least one second target object, specifically used for:
  • the processor determines the preset area around the first target object based on the first target prediction data and the detection data at the next moment, Specifically used for:
  • the area within the preset range around the first element is used as the preset area.
  • the processor when the processor detects at least one second target object according to the adjustment detection strategy and a preset area around the first target object, it is specifically used to:
  • At least one second target object is detected in a preset area around the first target object.
  • the processor after the processor first detects at least one second target object in a preset area around the first target object according to the adjustment detection strategy, the processor is further used to :
  • At least one second target object is detected in the detection data at the next moment in an area other than the preset area around the first target object.
  • the processor when the processor preferentially detects at least one second target object in a preset area around the first target object, it is specifically used to:
  • At least one element with an energy intensity greater than a preset intensity threshold is used as the at least one second target object.
  • the processor when the processor detects at least one second target object according to the adjustment detection strategy and a preset area around the first target object, it is specifically used to:
  • the processor is specifically used when the intensity threshold of the preset area around the first target object is lowered to obtain the adjusted intensity threshold:
  • the intensity threshold of the preset area around the first target object is reduced through an experimental calibration lookup table to obtain the adjusted intensity threshold.
  • the processor predicts the first target prediction data of the first target object relative to the radar at the next moment based on the first target detection data, Specifically used for:
  • the first target prediction data of the first target object relative to the radar is predicted by the Kalman filter algorithm at the next moment.
  • the predicting the first target prediction data of the first target object relative to the radar at the next moment based on the first target detection data includes:
  • the preset area includes the first element and all elements adjacent to the first element.
  • the processor acquires the detection signal detected by the radar at the current moment, and generates detection data according to the detection signal, it is specifically used to:
  • the processor when the processor performs two-dimensional Fourier transform on the matrix to be processed to obtain the detection data, it is specifically used to:
  • the Fourier transform is performed on the longitudinal quantity in the to-be-processed matrix containing distance information to obtain the detection data containing distance information and speed information.
  • the processor when the processor detects at least one first target object according to the detection data and the initial detection strategy, it is specifically used to:
  • At least one element with the energy intensity greater than a preset intensity threshold is used as the at least one first target object.
  • the processor adjusts the detection strategy for the detection data of the radar detection signal at the next moment based on the first target detection data, and adjusts the detection strategy according to And the detection data at the next moment, after detecting at least one second target object, it is also used to:
  • the first target object is a target object whose distance from the detection device at the current moment is less than a preset distance threshold.
  • An embodiment of the present invention provides a vehicle.
  • the vehicle includes: a body, a power system, and the radar described in any of the above embodiments.
  • the power system is installed on the body to provide power
  • the radar may be a millimeter wave radar.
  • the millimeter-wave radar can be front-mounted, that is, installed in the vehicle before the vehicle leaves the factory.
  • the millimeter-wave radar can be integrated into the vehicle, for example, the FMCW radar antenna, RF front-end, modulation module, etc.
  • the signal processing part can be placed in front of or behind the vehicle in demand, but the processor that processes the detection data can be placed inside the vehicle, or directly use the vehicle's computing platform.
  • the millimeter wave radar can also be retrofitted. At this time, the radar can transmit and process signals by itself, and process the detection data. It can also communicate with the vehicle to transmit the detection data to the vehicle computing platform.
  • the implementation mode and specific principle of the radar are consistent with the above embodiments, and will not be repeated here.
  • an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the target detection method described in the foregoing embodiment.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical, or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.
  • the above integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium.
  • the above software functional unit is stored in a storage medium, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform the methods described in the embodiments of the present invention Partial steps.
  • the foregoing storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

一种目标探测方法、雷达(71)、车辆以及计算机可读存储介质。通过获取雷达(71)在当前时刻探测到的探测信号，并根据探测信号生成探测数据(101)；根据探测数据(101)和初始检测策略，检测到至少一个第一目标物体(102)，其中第一目标物体(102)对应第一目标探测数据；根据第一目标探测数据，调整对下一时刻的雷达(71)探测信号的探测数据的检测策略，并根据调整检测策略和下一时刻的探测数据，检测至少一个第二目标物体(103)。从而能够有效地提高目标探测的精准度，避免由于雷达(71)处理能力较差而造成的目标跟踪丢失的问题。

Description

目标探测方法、雷达、车辆以及计算机可读存储介质 技术领域
本发明实施例涉及雷达领域，尤其涉及一种目标探测方法、雷达、车辆以及计算机可读存储介质。
背景技术
雷达是一种利用电磁波的反射特性进行目标检测和跟踪的系统，通过发射电磁波对目标进行探测，获取目标产生的探测信号，从而能够获得目标至电磁波发射点的距离、距离变化率(径向速度)、方位、高度等信息。
现有的雷达接收到探测信号之后，对探测信号进行采样、模拟/数字转换、高/低通滤波、傅里叶变换处理，对处理后的全部探测信号进行检测，实现对疑似目标进行提取，从疑似目标中确定目标信息，从而能够根据该目标信息对目标进行追踪。
但是，采用上述方法进行目标检测时，当雷达检测目标数超出系统处理能力时，通常会优先检测距离较近的物体，从而会导致远处已形成航迹的目标跟踪丢失，进而导致雷达采集到的目标不够准确。
发明内容
本发明实施例提供一种目标探测方法、雷达、车辆以及计算机可读存储介质，以解决现有技术中当雷达检测目标数超出系统处理能力时，通常会优先检测距离较近的物体，从而会导致远处已形成航迹的目标跟踪丢失，进而导致雷达采集到的目标不够准确的技术问题。
本发明实施例的第一方面是提供一种目标探测方法，包括：
获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的 探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。
本发明实施例的第二方面是提供一种雷达，包括：存储器、处理器、天线；
所述存储器用于存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
通过所述天线获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。
本发明实施例的第三方面是提供一种雷达，包括：
信号发射装置，用于发射电磁波对目标物体进行探测；
以及如第二方面所述的雷达。
本发明实施例的第四方面是提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行以实现第一方面所述的方法。
本实施例提供的目标探测方法、雷达、车辆以及计算机可读存储介质，通过获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。从而能够有效地提高目标探测的精准度，避免由于雷达处理能力较差而造成的目标跟踪丢失的问题。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述 中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例一提供的目标探测方法的流程示意图；
图2为本发明实施例二提供的目标探测方法的流程示意图；
图3为本发明实施例三提供的目标探测方法的流程示意图；
图4为本发明实施例四提供的目标探测方法的流程示意图；
图5为本发明实施例提供的预设区域的划分图；
图6为本发明实施例五提供的目标探测方法的流程示意图；
图7为本发明实施例六提供的目标探测方法的流程示意图；
图8为本发明实施例七提供的雷达的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
现有的雷达接收到探测信号之后，对探测信号进行采样、模拟/数字转换、高/低通滤波、傅里叶变换处理，对处理后的全部探测信号进行检测，实现对疑似目标进行提取，从疑似目标中确定目标信息，从而能够根据该 目标信息对目标进行追踪。但是，采用上述方法进行目标检测时，当雷达检测目标数超出系统处理能力时，通常会优先检测距离较近的物体，从而会导致远处已形成航迹的目标跟踪丢失，进而导致雷达采集到的目标不够准确。为了解决上述技术问题，本发明提供了一种目标探测方法、雷达、车辆以及计算机可读存储介质。可选的，所述雷达为毫米波雷达。该毫米波雷达可以是后装的毫米波雷达，也可以是前装的毫米波雷达，或者，该毫米波雷达还可以集成在整车中。
本发明提供的目标探测方法、雷达、车辆以及计算机可读存储介质能够应用在任意一种目标检测的场景中。
图1为本发明实施例一提供的目标探测方法的流程示意图，应用于雷达，如图1所示，所述方法包括：
步骤101、获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据。
雷达是一种利用电磁波的反射特性进行目标检测和跟踪的系统，通过发射电磁波对目标进行探测，获取目标产生的探测信号，相应地，可以获取雷达在当前时刻探测到的探测信号。为了实现对目标的探测，获取到当前时刻探测到的探测信号之后，可以根据该探测信号生成探测数据，以便后续根据该探测数据进行目标探测。所述雷达具体可以是调频连续波(frequency modulated continuous wave，FMCW)雷达。FMCW雷达可包括天线、射频前端、调制模块及信号处理单元。其中，射频前端用于发射探测信号，该探测信号为线性调频连续波，也就是说，该FMCW雷达发射的探测信号的频率是被线性调制的。具体的，调制模块用于对该FMCW雷达发射的探测信号的频率进行线性调制。当FMCW雷达发射的探测信号被该车辆周围的物体反射后，该FMCW雷达的天线将接收到该物体反射的回波信号。该FMCW雷达的信号处理单元可以对该回波信号进行处理，得到探测数据。
步骤102、根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据。
在本实施方式中，获取到雷达当前时刻探测到的探测信号，并根据探测信号生成探测数据之后，可以根据预设的初始检测策略，对该探测数据 进行检测，以确定该探测数据中是否包含第一目标物体。其中，可以采用任意一种能够基于探测数据实现目标检测的策略实现第一目标物体的检测，本发明在此不做限制，举例来说，可以采用恒虚警检测技术实现对第一目标物体的检测。相应地，若检测到探测数据中包括至少一个目标物体，则可以从探测数据中获取与该第一目标物体对应的第一目标探测数据。该第一目标探测数据包括但不限于第一目标物体当前的移动速度以及第一目标物体当前距离雷达的距离。
步骤103、根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。
在本实施方式中，若能够检测到至少一个第一目标物体，则表征当前雷达附近存在障碍物，因此，为了进一步地提高目标物体检测的精准度，可以根据该第一目标探测数据调整下一时刻对雷达探测信号的探测数据的检测策略，并根据调整后的检测策略以及下一时刻的探测数据对下一时刻探测数据中是否包含第二目标物体进行检测。具体地，调整检测策略可以包括调整检测策略中的参数、区域或其他。例如，当检测策略为恒虚警检测时，调整检测策略可以包括调整恒虚警检测的阈值或调整恒虚警检测的区域。区别于现有技术中始终采用预设的初始检测策略对当前时刻探测数据中各元素进行检测，确定目标物体的方法，通过根据第一目标探测数据对下一时刻的检测策略进行调整，并根据调整后的检测策略对下一时刻的探测数据进行检测，从而能够有效地解决当雷达检测目标数超出系统处理能力时，通常会优先检测距离较近的物体，从而会导致远处已形成航迹的目标跟踪丢失的技术问题。
本实施例提供的目标探测方法，通过获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。从而能够有效地提高目标探测的精准度，避免由于雷达处理能力较差而造成的目标跟踪丢失的问题。
进一步地，在上述任一实施例的基础上，所述方法包括：
获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据；
根据所述第一目标预测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。
在本实施例中，获取雷达当前时刻探测到的探测数据，并根据该探测数据以及预设的初始检测策略检测到至少一个第一目标物体之后，可以理解的是，若当前时刻雷达附近存在第一目标物体，则在下一时刻，雷达附近很有可能也存在该第一目标物体，因此，可以根据该第一目标物体对应的第一目标探测数据预测该第一目标物体下一时刻相对于雷达的第一目标预测数据，从而能够根据该第一目标物体下一时刻相对于雷达的第一目标预测数据对下一时刻的检测策略进行调整，根据调整后的检测策略以及下一时刻的探测数据对第二目标物体进行探测。需要说明的是，现有技术中一般都是直接根据探测数据和初始检测策略进行目标物体的检测，从而准确率较低。而本实施例提供的方法通过根据探测数据和初始检测策略进行目标物体的检测，获得第一目标物体对应的第一目标探测数据之后，根据该第一目标探测数据预测下一时刻的第一目标物体相对于雷达的第一目标预测数据，并根据下一时刻的第一目标预测数据对下一时刻的检测策略进行调整，通过调整后的检测策略对第二目标物体进行检测，从而能够提高目标检测的检测效率以及检测精准度。
本实施例提供的目标探测方法，通过根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据，根据所述第一目标预测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，从而能够提高目标检测的检测效率以及检测精准度。
图2为本发明实施例二提供的目标探测方法的流程示意图，在上述任 一实施例的基础上，如图2所示，所述方法包括：
步骤201、获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
步骤202、根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
步骤203、根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据；
步骤204、根据所述第一目标预测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略；
步骤205、根据所述第一目标预测数据以及所述下一时刻的探测数据，确定所述第一目标物体周围的预设区域；
步骤206、根据所述调整检测策略以及所述第一目标物体周围的预设区域检测至少一个第二目标物体。
在本实施例中，根据第一目标物体对应的第一目标探测数据预测该第一目标物体下一时刻相对于雷达的第一目标探测数据之后，可以理解的是，若当前时刻雷达附近存在第一目标物体，则在下一时刻，雷达附近很有可能也存在该第一目标物体。因此，可以根据第一目标物体下一时刻相对于雷达的第一目标预测数据以及下一时刻的探测数据，确定第一目标物体周围的预设区域，从而能够根据该预设区域以及调整后的检测策略实现对第二目标物体的检测。
本实施例提供的目标探测方法，通过根据所述第一目标预测数据以及所述下一时刻的探测数据，确定所述第一目标物体周围的预设区域，根据所述调整检测策略以及所述第一目标物体周围的预设区域检测至少一个第二目标物体。从而能够有效地提高目标探测的精准度，避免由于雷达处理能力较差而造成的目标跟踪丢失的问题。
进一步地，在上述任一实施例的基础上，所述方法包括：
获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据；
根据所述第一目标预测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略；
根据所述第一目标预测数据在所述下一时刻的探测数据中确定与所述第一目标预测数据对应的第一元素；
将所述第一元素周围预设范围内的区域作为所述预设区域；
根据所述调整检测策略以及所述第一目标物体周围的预设区域检测至少一个第二目标物体。
在本实施例中，为了实现对下一时刻探测数据中的第二目标物体的检测，可以将预测获得的下一时刻第一目标物体相对于雷达的第一目标预测数据与下一时刻雷达探测到的探测数据进行结合，实现预设区域的获取。具体地，探测数据可以为距离-多普勒(速度)矩阵，其中，距离-多普勒(速度)矩阵中可以包括多个元素，因此，可以根据第一目标物体下一时刻相对于雷达的第一目标预测数据在下一时刻的探测数据中确定与第一目标物体下一时刻相对于雷达的第一目标预测数据对应的第一元素，为了能够提高目标探测的精准度，可以将第一元素周围预设范围内的区域作为该预设区域，从而后续可以根据调整后的检测策略以及该预设区域对第二目标物体进行检测。
本实施例提供的目标探测方法，通过根据所述第一目标预测数据在所述下一时刻的探测数据中确定与所述第一目标预测数据对应的第一元素；将所述第一元素周围预设范围内的区域作为所述预设区域，从而能够精准地定位到预设区域，为后续第二目标物体的检测提供了基础。
图3为本发明实施例三提供的目标探测方法的流程示意图，在上述任一实施例的基础上，如图3所示，所述方法包括：
步骤301、获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
步骤302、根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
步骤303、根据所述第一目标探测数据，预测所述第一目标物体下一 时刻相对于所述雷达的第一目标预测数据；
步骤304、根据所述第一目标预测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略；
步骤305、根据所述第一目标预测数据在所述下一时刻的探测数据中确定与所述第一目标预测数据对应的第一元素；
步骤306、将所述第一元素周围预设范围内的区域作为所述预设区域；
步骤307、优先在所述第一目标物体周围的预设区域中检测至少一个第二目标物体。
在本实施例中，调整后的检测策略具体可以为对第一目标物体周围的预设区域进行优先检测。具体地，若根据当前时刻的探测数据检测到第一目标物体，则表征雷达附近当前存在该第一目标物体，可以理解的是，在下一时刻，第一目标物体周围预设区域出现目标物体的概率较大。因此，可以根据第一目标物体对应的第一目标探测数据预测该第一目标物体在下一时刻的第一目标预测数据，并根据第一目标物体在下一时刻的第一目标预测数据在下一时刻的探测数据中确定与第一目标物体在下一时刻的第一目标预测数据对应的第一元素，将第一元素周围预设范围内的区域作为预设区域，从而在目标检测的过程中，可以优先在第一目标物体周围的预设区域对第二目标物体进行检测。由于在下一时刻，第一目标物体周围预设区域出现目标物体的概率较大，因此，通过优先对第一目标物体周围的预设区域进行检测能够提高目标物体检测的精准度，且能够降低雷达的计算量，当雷达计算能力较差时，也能够保证目标物体不丢失。
本实施例提供的目标探测方法，通过优先在所述第一目标物体周围的预设区域中检测至少一个第二目标物体。从而能够提高目标物体检测的精准度，且能够降低雷达的计算量，当雷达计算能力较差时，也能够保证目标物体不丢失。
进一步地，在上述任一实施例的基础上，所述方法包括：
获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据；
根据所述第一目标预测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略；
根据所述第一目标预测数据在所述下一时刻的探测数据中确定与所述第一目标预测数据对应的第一元素；
将所述第一元素周围预设范围内的区域作为所述预设区域；
优先在所述第一目标物体周围的预设区域中检测至少一个第二目标物体；
确定所述下一时刻的探测数据中除所述第一目标物体周围的预设区域以外的区域；
在所述下一时刻的探测数据中除所述第一目标物体周围的预设区域以外的区域中检测至少一个第二目标物体。
在本实施例中，可以理解的是，随着雷达的移动，下一时刻的探测数据中可能会出现新的目标物体，因此，若当前雷达的计算能力较强，此时为了进一步地保证目标物体检测的精准度，在优先对第一目标物体周围的预设区域检测之后，可以确定下一时刻的探测数据中除第一目标物体周围预设区域以外的区域，并在下一时刻的探测数据中除第一目标物体周围的预设区域以外的区域中检测至少一个第二目标物体。
本实施例提供的目标探测方法，通过确定所述下一时刻的探测数据中除所述第一目标物体周围的预设区域以外的区域；在所述下一时刻的探测数据中除所述第一目标物体周围的预设区域以外的区域中检测至少一个第二目标物体，从而能够进一步地提高目标物体检测的精准度，避免由于雷达计算能力较差导致的目标丢失的问题。
进一步地，在上述任一实施例的基础上，所述方法包括：
获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于 所述雷达的第一目标预测数据；
根据所述第一目标预测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略；
根据所述第一目标预测数据在所述下一时刻的探测数据中确定与所述第一目标预测数据对应的第一元素；
将所述第一元素周围预设范围内的区域作为所述预设区域；
优先计算所述第一目标物体周围的预设区域中各元素的能量强度；
将能量强度大于预设的强度阈值的至少一个元素作为所述至少一个第二目标物体。
在本实施例中，第一目标物体周围的预设区域中包括多个元素，其中具体可以包括第一目标物体对应的元素以及不必要的杂波对应的元素，可以理解的是，第一目标物体对应的元素的能量强度远远大于杂波对应的元素的能量强度。具体地，可以优先计算第一目标物体周围预设区域中各元素的能量强度，并将能量强度大于预设的强度阈值的至少一个元素作为至少一个第二目标物体。可选地，可以采用任意一种信号能量强度的计算方法实现对预设区域中各元素能量强度的计算，本发明在此不做限制。此外，该预设的强度阈值可以根据当前目标物体检测精度进行调整，本发明在此不做限制。
本实施例提供的目标探测方法，通过优先计算所述第一目标物体周围的预设区域中各元素的能量强度；将能量强度大于预设的强度阈值的至少一个元素作为所述至少一个第二目标物体，从而能够精准地实现对第二目标物体的探测，以便后续根据探测获得的第二目标物体进行避障操作以及下一时刻目标物体的检测。
图4为本发明实施例四提供的目标探测方法的流程示意图，在上述任一实施例的基础上，如图4所示，所述方法包括：
步骤401、获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
步骤402、根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
步骤403、根据所述第一目标探测数据，预测所述第一目标物体下一 时刻相对于所述雷达的第一目标预测数据；
步骤404、根据所述第一目标预测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略；
步骤405、降低所述第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值；
步骤406、根据调整后的强度阈值在所述第一目标物体周围的预设区域检测至少一个第二目标物体。
实际应用中，由于探测信号存在闪烁特性，即不同时刻的探测信号的能量强度有所不同，因此，采用现有技术中的检测方法往往会造成目标物体的丢失。为了进一步地提高目标物体检测的精准度，调整后的检测策略可以为降低当前目标物体检测的强度阈值。具体地，获得雷达当前探测到的探测数据之后，可以降低当前目标物体检测的强度阈值，并通过任意一种目标物体检测技术实现对当前探测到的探测数据中目标物体的检测，由于强度阈值降低，从而在目标物体检测过程中，能够避免将当前存在闪烁特性的探测信号忽略，进而导致目标跟踪丢失的问题。
作为一种可以实施的方式，在确定第一目标物体周围的预设区域之后，可以降低该第一目标物体周围预设区域的检测阈值，并根据调整后的强度阈值在第一目标物体周围的预设区域检测至少一个第二目标物体。从而能够保证闪烁特性的目标物体也能够检测到。
可选地，两种调整后的检测策略可以单独实施，也可以结合实施，当其单独实施时，可以参照上述实施例公开的内容，当其结合实施时，具体可以在确定第一目标物体周围的预设区域之后，降低该第一目标物体周围预设区域的检测阈值，并优先对第一目标物体周围预设区域进行检测。从而能够在雷达计算能力较差时，保证目标物体不丢失的基础上，避免由于闪烁特性造成的目标丢失。
本实施例提供的目标探测方法，通过降低所述第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值，根据调整后的强度阈值在所述第一目标物体周围的预设区域检测至少一个第二目标物体。从而能够进一步地提高目标物体检测的精准度，并且避免目标物体的跟踪丢失。
进一步地，在上述任一实施例的基础上，所述方法包括：
获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据；
根据所述第一目标预测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略；
根据所述第一目标预测数据以及所述下一时刻的探测数据，确定所述第一目标物体周围的预设区域；
将所述强度阈值与预设的系数相乘，获得所述调整后的强度阈值；和/或；
将所述强度阈值减去预设的常数，获得所述调整后的强度阈值；和/或；
通过实验标定查找表降低所述第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值；
根据调整后的强度阈值在所述第一目标物体周围的预设区域检测至少一个第二目标物体。
在本实施例中，降低第一目标物体周围的预设区域的强度阈值的方法有多种，具体地，可以通过将预设的强度阈值与预设的系统相乘，获得调整后的强度阈值；还可以通过将预设的强度阈值减去预设的常数，获得调整后的强度阈值；还可以通过实验标定查找表降低第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值。实际应用中，可以根据当前目标检测的精度实现强度阈值的调整，具体可以通过调整预设的系数以及预设的常数的大小实现对强度阈值的调整。
本实施例提供的目标探测方法，通过将所述强度阈值与预设的系数相乘，获得所述调整后的强度阈值；和/或；将所述强度阈值减去预设的常数，获得所述调整后的强度阈值；和/或；通过实验标定查找表降低所述第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值。从而能够进一步地提高目标物体检测的精准度，并且避免目标物体的跟踪丢失。
进一步地，在上述任一实施例的基础上，所述方法包括：
获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
根据所述第一目标探测数据，通过卡尔曼滤波算法预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据；
根据所述第一目标预测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。
在本实施例中，可以根据该第一目标物体对应的第一目标探测数据预测该第一目标物体下一时刻相对于雷达的第一目标预测数据，从而能够根据该第一目标物体下一时刻相对于雷达的第一目标预测数据对下一时刻的检测策略进行调整，根据调整后的检测策略以及下一时刻的探测数据对第二目标物体进行探测。具体地，可以根据第一目标探测数据，通过卡尔曼滤波算法实现对第一目标物体下一时刻相对于雷达的第一目标预测数据的预测。可选地，为了提高第一目标物体下一时刻第一目标预测数据预测的精准度，可以根据历史预设时间内的第一目标数据确定该第一目标物体对应的航迹，并根据该航迹以及卡尔曼滤波算法对第一目标物体下一时刻第一目标探测数据的预测。
本实施例提供的目标探测方法，通过根据所述第一目标探测数据，通过卡尔曼滤波算法预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据，从而能够准确地计算获得第一目标物体下一时刻第一目标探测数据，为后续的检测策略的调整提供了基础。
可选地，在上述任一实施例的基础上，所述方法包括：
获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
根据所述雷达发送电磁波的时间间隔以及所述第一目标探测数据，预 测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据；
根据所述第一目标预测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。
在本实施例中，第一目标探测数据中具体可以包括第一目标物体当前的回波特性，该回波特性包括第一目标物体当前距离雷达的距离以及第一目标物体当前的速度，此外雷达是一种利用电磁波的反射特性进行目标检测和跟踪的系统，通过发射电磁波对目标进行探测，获取目标产生的探测信号，其具有预设的发射电磁波的时间间隔，因此，可以根据该时间间隔以及第一目标物体当前的速度相乘预测第一目标物体下一时刻相对于雷达的第一目标预测数据。
本实施例提供的目标探测方法，通过根据所述雷达发送电磁波的时间间隔以及所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据，从而能够快速地、准确地计算获得第一目标物体下一时刻第一目标探测数据，为后续的检测策略的调整提供了基础。
进一步地，图5为本发明实施例提供的预设区域的划分图；在上述任一实施例的基础上，如图5所示，所述预设区域包括所述第一元素以及与所述第一元素相邻的全部元素。
在本实施例中，预设区域包括第一元素以及与第一元素相邻的全部元素，通过将于第一元素相邻的全部元素都作为预设区域的内容，从而能够提高下一时刻根据预设区域进行目标检测的成功率。如图5所示，第一元素可以用T进行标识，预设区域可以为第一元素以及第一元素T周围分别标记为A、B的八个元素；也可以为第一元素以及第一元素T周围标记为A的四个元素；可以为第一元素以及第一元素T周围标记为B的四个元素。需要说明的是，预设区域的划分可以根据当前的雷达计算能力进行调整，若雷达计算能力较差，则可以在预设区域中设计较少的元素，若当前雷达计算能力较强，则可以在预设区域内设置较多的元素，本发明在此不做限制。
本实施例提供的目标探测方法，通过预设区域包括所述第一元素以及与所述第一元素相邻的全部元素，从而能够在实现第二目标物体的检测的 基础上，避免由于雷达计算能力较差导致的目标跟踪丢失的技术问题。
图6为本发明实施例五提供的目标探测方法的流程示意图，在上述任一实施例的基础上，如图6所示，所述方法包括：
步骤501、通过预设的采样周期对所述探测信号进行采样，获得采样后的探测信号；
步骤502、对所述采样后的探测信号进行模数转换操作，获得数字探测信号；
步骤503、对所述数字探测信号进行高通和/或低通滤波操作，获得待处理矩阵；
步骤504、对所述待处理矩阵进行二维傅里叶变换，获得所述探测数据；
步骤505、根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
步骤506、根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。
在本实施例中，为了实现对目标物体的检测，首先需要获取雷达探测到的探测信号，并根据雷达探测到的探测信号获得探测数据。具体地，首先可以通过预设的采样周期对雷达探测到的探测信号进行采样，获得采样后的探测信号。由于探测信号为模拟信号，因此，为了实现处理器对探测信号的处理，获得采样后的探测信号之后，需要对采样后的探测信号进行模数转换，获得数字探测信号。需要说明的是，采样与模数转换的顺序可以根据实际应用中的需求进行调节，即可以先对探测信号进行采样，随后对采样后的探测信号进行模数转换，此外，还可以先对探测信号进行模数转换，并对模数转换后的探测信号按照预设的采样频率进行采样，本发明在此不做限制。获得数字探测信号之后，可以继续对数字探测信号进行高通和/或低通滤波，以使数字探测信号的频率在预设的频率范围内，获得待处理矩阵。进一步地，可以对待处理矩阵进行二维傅里叶变换，获得探测数据，从而后续可以根据该探测数据进行目标物体的检测。
本实施例提供的目标探测方法，通过通过预设的采样周期对所述探测 信号进行采样，获得采样后的探测信号，对所述采样后的探测信号进行模数转换操作，获得数字探测信号，对所述数字探测信号进行高通和/或低通滤波操作，获得待处理矩阵，对所述待处理矩阵进行二维傅里叶变换，获得所述探测数据，从而能够精准、快速地获得探测数据，为后续的目标物体的检测提供了基础。
进一步地，在上述任一实施例的基础上，所述方法包括：
通过预设的采样周期对所述探测信号进行采样，获得采样后的探测信号；
对所述采样后的探测信号进行模数转换操作，获得数字探测信号；
对所述数字探测信号进行高通和/或低通滤波操作，获得待处理矩阵；
对所述待处理矩阵中的行向量进行傅里叶变换，获得包含距离信息的待处理矩阵；
对所述包含距离信息的待处理矩阵中的纵向量进行傅里叶变换，获得包含距离信息以及速度信息所述探测数据；
根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。
在本实施例中，对探测信号进行采样、模数转换以及高/低通滤波操作，获得待处理矩阵之后，可以对待处理矩阵进行二维傅里叶变换。具体地，可以对待处理矩阵中的行向量进行傅里叶变换，获得包含距离信息的待处理矩阵。进一步地，可以对包含距离信息的待处理矩阵的纵向量进行傅里叶变换，从而能够获得探测数据，其中，针对探测数据中的各元素，均可以确定该元素的距离以及速度信息，此外，针对雷达可识别的已知的距离以及速度信息，均可以根据该距离以及速度信息在探测数据中定位与距离以及速度信息对应的元素。从而可以根据预测的第一目标探测数据在下一时刻的探测数据中定位于下一时刻探测数据对应的第一元素，进而能够根据定位到的第一元素进行预设区域的确定。
本实施例提供的目标探测方法，通过对所述待处理矩阵中的行向量进 行傅里叶变换，获得包含距离信息的待处理矩阵；对所述包含距离信息的待处理矩阵中的纵向量进行傅里叶变换，获得包含距离信息以及速度信息所述探测数据，从而能够为后续预设区域的确定提供基础。
进一步地，在上述任一实施例的基础上，所述方法包括：
获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
针对所述探测数据中的每一个元素，计算所述每一个元素的能量强度；
将所述能量强度大于预设的强度阈值的至少一个元素作为所述至少一个的第一目标物体；
根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。
在本实施例中，若当前在探测数据中检测到第一目标物体之后，可以根据该第一目标物体调整当前的检测策略，但是，若当前未检测到第一目标物体，例如，雷达初次启动，针对第一组探测信号，在此之前未检测到第一目标物体，此时需要采用初始检测策略对探测数据进行检测。具体地，由于探测数据是矩阵形式，针对探测数据中的每一个元素，分别计算每一元素的能量强度，并将能量强度大于预设的强度阈值的至少一个元素作为当前检测到的至少一个第一目标物体。从而后续既可以根据当前时刻检测到的第一目标物体实现探测数据检测策略的调整。
区别于现有技术一直采用对当前获取的探测数据中的全部元素进行能量强度计算，实现目标物体的检测，通过在未检测到第一目标物体时采用初始检测策略进行检测，当检测到第一目标物体时，根据第一目标探测数据对探测策略进行调整，从而能够有效地减小雷达的计算量，进而能够保障雷达在计算能力较弱的时候，也能够保障追踪目标不丢失，提高雷达目标追踪的连续性。
本实施例提供的目标探测方法，通过针对所述探测数据中的每一个元素，计算所述每一个元素的能量强度；将所述能量强度大于预设的强度阈值的至少一个元素作为所述至少一个的第一目标物体，从而能够为后续检测策略的调整提供了基础。
图7为本发明实施例六提供的目标探测方法的流程示意图，在上述任一实施例的基础上，如图7所示，所述方法还包括：
步骤601、获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
步骤602、根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
步骤603、根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体；
步骤604、将所述第二目标物体对应的第二目标探测数据作为当前时刻的第一目标探测数据，返回执行所述根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体的步骤。
在本实施例中，若根据调整后的检测策略实现对第二目标物体的检测之后，可以将第二目标物体对应的第二目标探测数据作为当前时刻的第一目标探测数据，返回执行根据第一目标探测数据，调整对下一时刻的雷达探测信号的探测数据的检测策略，并根据调整检测策略和下一时刻的探测数据，检测至少一个第二目标物体的步骤，直至雷达停止探测。具体地，根据下一时刻的探测数据以及调整后的检测策略对第二目标物体进行检测时，可能检测到第二目标物体，也可能检测不到第二目标物体，因此，当检测到第二目标物体时，可以根据调整后的检测策略进行目标物体的检测，当未检测到第二目标物体时，则可以继续使用初始检测策略进行目标物体的检测。
本实施例提供的目标探测方法，通过将所述第二目标物体对应的第二目标探测数据作为当前时刻的第一目标探测数据，返回执行所述根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体的步骤，从而能够保证雷达目标检测的连续性。
进一步地，在上述任一实施例的基础上，所述第一目标物体是当前时刻与所述探测设备距离小于预设的距离阈值的目标物体。
图8为本发明实施例七提供的雷达的结构示意图，如图8所示，所述雷达71，包括存储器72、处理器73、天线74；
所述存储器72用于存储程序代码；
所述处理器73，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
通过所述天线74获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。
本实施例提供的雷达，通过获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。从而能够有效地提高目标探测的精准度，避免由于雷达处理能力较差而造成的目标跟踪丢失的问题。可选的，本发明实施例提供的雷达可以是毫米波雷达，更具体地，可以是FMCW毫米波雷达。
进一步地，在上述任一实施例的基础上，所述处理器在根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略时，具体用于：
根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据；
根据所述下一时刻相对于所述雷达的第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略。
进一步地，在上述任一实施例的基础上，所述处理器在根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策 略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体时，具体用于：
根据所述第一目标预测数据以及所述下一时刻的探测数据，确定所述第一目标物体周围的预设区域；
根据所述调整检测策略以及所述第一目标物体周围的预设区域检测至少一个第二目标物体。
进一步地，在上述任一实施例的基础上，所述处理器在根据所述第一目标预测数据以及所述下一时刻的探测数据，确定所述第一目标物体周围的预设区域时，具体用于：
根据所述第一目标预测数据在所述下一时刻的探测数据中确定与所述第一目标预测数据对应的第一元素；
将所述第一元素周围预设范围内的区域作为所述预设区域。
进一步地，在上述任一实施例的基础上，所述处理器在根据所述调整检测策略以及所述第一目标物体周围的预设区域检测至少一个第二目标物体时，具体用于：
优先在所述第一目标物体周围的预设区域中检测至少一个第二目标物体。
进一步地，在上述任一实施例的基础上，所述处理器在根据所述调整检测策略优先在所述第一目标物体周围的预设区域中检测至少一个第二目标物体之后，还用于：
确定所述下一时刻的探测数据中除所述第一目标物体周围的预设区域以外的区域；
在所述下一时刻的探测数据中除所述第一目标物体周围的预设区域以外的区域中检测至少一个第二目标物体。
进一步地，在上述任一实施例的基础上，所述处理器在优先在所述第一目标物体周围的预设区域中检测至少一个第二目标物体时，具体用于：
优先计算所述第一目标物体周围的预设区域中各元素的能量强度；
将能量强度大于预设的强度阈值的至少一个元素作为所述至少一个第二目标物体。
进一步地，在上述任一实施例的基础上，所述处理器在根据所述调整 检测策略以及所述第一目标物体周围的预设区域检测至少一个第二目标物体时，具体用于：
降低所述第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值；
根据调整后的强度阈值在所述第一目标物体周围的预设区域检测至少一个第二目标物体。
进一步地，在上述任一实施例的基础上，所述处理器在降低所述第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值时，具体用于：
将所述强度阈值与预设的系数相乘，获得所述调整后的强度阈值；和/或；
将所述强度阈值减去预设的常数，获得所述调整后的强度阈值；和/或；
通过实验标定查找表降低所述第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值。
进一步地，在上述任一实施例的基础上，所述处理器在根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据时，具体用于：
根据所述第一目标探测数据，通过卡尔曼滤波算法预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据。
进一步地，在上述任一实施例的基础上，所述根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据，包括：
根据所述雷达发送电磁波的时间间隔以及所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据。
进一步地，在上述任一实施例的基础上，所述预设区域包括所述第一元素以及与所述第一元素相邻的全部元素。
进一步地，在上述任一实施例的基础上，所述处理器在获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据时，具体用于：
通过预设的采样周期对所述探测信号进行采样，获得采样后的探测信号；
对所述采样后的探测信号进行模数转换操作，获得数字探测信号；
对所述数字探测信号进行高通和/或低通滤波操作，获得待处理矩阵；
对所述待处理矩阵进行二维傅里叶变换，获得所述探测数据。
进一步地，在上述任一实施例的基础上，所述处理器在对所述待处理矩阵进行二维傅里叶变换，获得所述探测数据时，具体用于：
对所述待处理矩阵中的行向量进行傅里叶变换，获得包含距离信息的待处理矩阵；
对所述包含距离信息的待处理矩阵中的纵向量进行傅里叶变换，获得包含距离信息以及速度信息所述探测数据。
进一步地，在上述任一实施例的基础上，所述处理器在根据所述探测数据和初始检测策略，检测到至少一个第一目标物体时，具体用于：
针对所述探测数据中的每一个元素，计算所述每一个元素的能量强度；
将所述能量强度大于预设的强度阈值的至少一个元素作为所述至少一个的第一目标物体。
进一步地，在上述任一实施例的基础上，所述处理器在根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体之后，还用于：
将所述第二目标物体对应的第二目标探测数据作为当前时刻的第一目标探测数据，返回执行所述根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体的步骤。
进一步地，在上述任一实施例的基础上，所述第一目标物体是当前时刻与所述探测设备距离小于预设的距离阈值的目标物体。
本发明实施例提供一种车辆。该车辆包括：车身、动力系统和上述任一实施例所述的雷达。其中，动力系统安装在所述车身，用于提供动力，雷达可以是毫米波雷达。具体的，毫米波雷达可以是前装的，即在整车出厂前安装于车辆中，可选地，毫米波雷达可以集成于车辆中，例如，FMCW 雷达的天线、射频前端、调制模块等发射及处理信号的部分可以设置于车辆前方、后方等有需求的位置，但处理探测数据的处理器可以设置于车辆内部，或者直接使用车辆的计算平台。毫米波雷达还可以是后装的，此时雷达可以自行进行发射及处理信号，并处理探测数据，也可以与车辆进行通信连接，将探测数据传输至车辆计算平台。该雷达的实现方式和具体原理与上述实施例均一致，此处不再赘述。
另外，本发明实施例还提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行以实现上述实施例所述的目标探测方法。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟 或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (37)

  1. 一种目标探测方法，应用于雷达，其特征在于，所述方法包括：
    获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
    根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
    根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，包括：
    根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据；
    根据所述第一目标预测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体，包括：
    根据所述第一目标预测数据以及所述下一时刻的探测数据，确定所述第一目标物体周围的预设区域；
    根据所述调整检测策略以及所述第一目标物体周围的预设区域检测至少一个第二目标物体。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述第一目标预测数据以及所述下一时刻的探测数据，确定所述第一目标物体周围的预设区域，包括：
    根据所述第一目标预测数据在所述下一时刻的探测数据中确定与所述第一目标预测数据对应的第一元素；
    将所述第一元素周围预设范围内的区域作为所述预设区域。
  5. 根据权利要求3所述的方法，其特征在于，所述根据所述调整检测策略以及所述第一目标物体周围的预设区域检测至少一个第二目标物体，包括：
    优先在所述第一目标物体周围的预设区域中检测至少一个第二目标物体。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述调整检测策略优先在所述第一目标物体周围的预设区域中检测至少一个第二目标物体之后，还包括：
    确定所述下一时刻的探测数据中除所述第一目标物体周围的预设区域以外的区域；
    在所述下一时刻的探测数据中除所述第一目标物体周围的预设区域以外的区域中检测至少一个第二目标物体。
  7. 根据权利要求5所述的方法，其特征在于，所述优先在所述第一目标物体周围的预设区域中检测至少一个第二目标物体，包括：
    优先计算所述第一目标物体周围的预设区域中各元素的能量强度；
    将能量强度大于预设的强度阈值的至少一个元素作为所述至少一个第二目标物体。
  8. 根据权利要求2所述的方法，其特征在于，所述根据所述调整检测策略以及所述第一目标物体周围的预设区域检测至少一个第二目标物体，包括：
    降低所述第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值；
    根据调整后的强度阈值在所述第一目标物体周围的预设区域检测至少一个第二目标物体。
  9. 根据权利要求8所述的方法，其特征在于，所述降低所述第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值，包括：
    将所述强度阈值与预设的系数相乘，获得所述调整后的强度阈值；和/或；
    将所述强度阈值减去预设的常数，获得所述调整后的强度阈值；和/或；
    通过实验标定查找表降低所述第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值。
  10. 根据权利要求2所述的方法，其特征在于，所述根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据，包括：
    根据所述第一目标探测数据，通过卡尔曼滤波算法预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据。
  11. 根据权利要求2所述的方法，其特征在于，所述根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据，包括：
    根据所述雷达发送电磁波的时间间隔以及所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据。
  12. 根据权利要求4所述的方法，其特征在于，所述预设区域包括所述第一元素以及与所述第一元素相邻的全部元素。
  13. 根据权利要求1-12任一项所述的方法，其特征在于，所述获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据，包括：
    通过预设的采样周期对所述探测信号进行采样，获得采样后的探测信号；
    对所述采样后的探测信号进行模数转换操作，获得数字探测信号；
    对所述数字探测信号进行高通和/或低通滤波操作，获得待处理矩阵；
    对所述待处理矩阵进行二维傅里叶变换，获得所述探测数据。
  14. 根据权利要求13所述的方法，其特征在于，所述对所述待处理矩阵进行二维傅里叶变换，获得所述探测数据，包括：
    对所述待处理矩阵中的行向量进行傅里叶变换，获得包含距离信息的待处理矩阵；
    对所述包含距离信息的待处理矩阵中的纵向量进行傅里叶变换，获得包含距离信息以及速度信息所述探测数据。
  15. 根据权利要求1所述的方法，其特征在于，所述根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，包括：
    针对所述探测数据中的每一个元素，计算所述每一个元素的能量强度；
    将所述能量强度大于预设的强度阈值的至少一个元素作为所述至少一个的第一目标物体。
  16. 根据权利要求1所述的方法，其特征在于，所述根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体之后，还包括：
    将所述第二目标物体对应的第二目标探测数据作为当前时刻的第一目标探测数据，返回执行所述根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体的步骤。
  17. 根据权利要求1所述的方法，其特征在于，所述第一目标物体是当前时刻与所述探测设备距离小于预设的距离阈值的目标物体。
  18. 一种雷达，其特征在于，包括存储器、处理器、天线；
    所述存储器用于存储程序代码；
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
    通过所述天线获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据；
    根据所述探测数据和初始检测策略，检测到至少一个第一目标物体，其中所述第一目标物体对应第一目标探测数据；
    根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体。
  19. 根据权利要求18所述的雷达，其特征在于，所述处理器在根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略时，具体用于：
    根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据；
    根据所述第一目标预测数据，调整对下一时刻的所述雷达探测信号的 探测数据的检测策略。
  20. 根据权利要求19所述的雷达，其特征在于，所述处理器在根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体时，具体用于：
    根据所述第一目标预测数据以及所述下一时刻的探测数据，确定所述第一目标物体周围的预设区域；
    根据所述调整检测策略以及所述第一目标物体周围的预设区域检测至少一个第二目标物体。
  21. 根据权利要求20所述的雷达，其特征在于，所述处理器在根据所述第一目标预测数据以及所述下一时刻的探测数据，确定所述第一目标物体周围的预设区域时，具体用于：
    根据所述第一目标预测数据在所述下一时刻的探测数据中确定与所述第一目标预测数据对应的第一元素；
    将所述第一元素周围预设范围内的区域作为所述预设区域。
  22. 根据权利要求20所述的雷达，其特征在于，所述处理器在根据所述调整检测策略以及所述第一目标物体周围的预设区域检测至少一个第二目标物体时，具体用于：
    优先在所述第一目标物体周围的预设区域中检测至少一个第二目标物体。
  23. 根据权利要求22所述的雷达，其特征在于，所述处理器在根据所述调整检测策略优先在所述第一目标物体周围的预设区域中检测至少一个第二目标物体之后，还用于：
    确定所述下一时刻的探测数据中除所述第一目标物体周围的预设区域以外的区域；
    在所述下一时刻的探测数据中除所述第一目标物体周围的预设区域以外的区域中检测至少一个第二目标物体。
  24. 根据权利要求22所述的雷达，其特征在于，所述处理器在优先在所述第一目标物体周围的预设区域中检测至少一个第二目标物体时，具体用于：
    优先计算所述第一目标物体周围的预设区域中各元素的能量强度；
    将能量强度大于预设的强度阈值的至少一个元素作为所述至少一个第二目标物体。
  25. 根据权利要求19所述的雷达，其特征在于，所述处理器在根据所述调整检测策略以及所述第一目标物体周围的预设区域检测至少一个第二目标物体时，具体用于：
    降低所述第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值；
    根据调整后的强度阈值在所述第一目标物体周围的预设区域检测至少一个第二目标物体。
  26. 根据权利要求25所述的雷达，其特征在于，所述处理器在降低所述第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值时，具体用于：
    将所述强度阈值与预设的系数相乘，获得所述调整后的强度阈值；和/或；
    将所述强度阈值减去预设的常数，获得所述调整后的强度阈值；和/或；
    通过实验标定查找表降低所述第一目标物体周围的预设区域的强度阈值，获得调整后的强度阈值。
  27. 根据权利要求19所述的雷达，其特征在于，所述处理器在根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据时，具体用于：
    根据所述第一目标探测数据，通过卡尔曼滤波算法预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据。
  28. 根据权利要求19所述的雷达，其特征在于，所述处理器在根据所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据时，具体用于：
    根据所述雷达发送电磁波的时间间隔以及所述第一目标探测数据，预测所述第一目标物体下一时刻相对于所述雷达的第一目标预测数据。
  29. 根据权利要求21所述的雷达，其特征在于，所述预设区域包括 所述第一元素以及与所述第一元素相邻的全部元素。
  30. 根据权利要求18-29任一项所述的雷达，其特征在于，所述处理器在获取雷达在当前时刻探测到的探测信号，并根据所述探测信号生成探测数据时，具体用于：
    通过预设的采样周期对所述探测信号进行采样，获得采样后的探测信号；
    对所述采样后的探测信号进行模数转换操作，获得数字探测信号；
    对所述数字探测信号进行高通和/或低通滤波操作，获得待处理矩阵；
    对所述待处理矩阵进行二维傅里叶变换，获得所述探测数据。
  31. 根据权利要求30所述的雷达，其特征在于，所述处理器在对所述待处理矩阵进行二维傅里叶变换，获得所述探测数据时，具体用于：
    对所述待处理矩阵中的行向量进行傅里叶变换，获得包含距离信息的待处理矩阵；
    对所述包含距离信息的待处理矩阵中的纵向量进行傅里叶变换，获得包含距离信息以及速度信息所述探测数据。
  32. 根据权利要求18所述的雷达，其特征在于，所述处理器在根据所述探测数据和初始检测策略，检测到至少一个第一目标物体时，具体用于：
    针对所述探测数据中的每一个元素，计算所述每一个元素的能量强度；
    将所述能量强度大于预设的强度阈值的至少一个元素作为所述至少一个的第一目标物体。
  33. 根据权利要求18所述的雷达，其特征在于，所述处理器在根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体之后，还用于：
    将所述第二目标物体对应的第二目标探测数据作为当前时刻的第一目标探测数据，返回执行所述根据所述第一目标探测数据，调整对下一时刻的所述雷达探测信号的探测数据的检测策略，并根据调整检测策略和所述下一时刻的探测数据，检测至少一个第二目标物体的步骤。
  34. 根据权利要求18所述的雷达，其特征在于，所述第一目标物体 是当前时刻与所述探测设备距离小于预设的距离阈值的目标物体。
  35. 根据权利要求18-34任一项所述的雷达，其特征在于，所述雷达为毫米波雷达。
  36. 一种车辆，其特征在于，包括：
    车身；
    动力系统，安装在所述车身，用于提供动力；
    以及如权利要求1-17任一项所述的雷达。
  37. 一种计算机可读存储介质，其特征在于，其上存储有计算机程序，所述计算机程序被处理器执行以实现如权利要求1-17任一项所述的目标探测方法。
PCT/CN2018/124904 2018-12-28 2018-12-28 目标探测方法、雷达、车辆以及计算机可读存储介质 Ceased WO2020133223A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880069473.3A CN111316126B (zh) 2018-12-28 2018-12-28 目标探测方法、雷达、车辆以及计算机可读存储介质
PCT/CN2018/124904 WO2020133223A1 (zh) 2018-12-28 2018-12-28 目标探测方法、雷达、车辆以及计算机可读存储介质

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/124904 WO2020133223A1 (zh) 2018-12-28 2018-12-28 目标探测方法、雷达、车辆以及计算机可读存储介质

Publications (1)

Publication Number Publication Date
WO2020133223A1 true WO2020133223A1 (zh) 2020-07-02

Family

ID=71126730

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/124904 Ceased WO2020133223A1 (zh) 2018-12-28 2018-12-28 目标探测方法、雷达、车辆以及计算机可读存储介质

Country Status (2)

Country Link
CN (1) CN111316126B (zh)
WO (1) WO2020133223A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114994646A (zh) * 2022-05-11 2022-09-02 襄阳达安汽车检测中心有限公司 激光雷达融合算法检测方法、装置、设备及可读存储介质

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112180372A (zh) * 2020-08-19 2021-01-05 福瑞泰克智能系统有限公司 一种基于双角雷达的目标检测方法、装置和雷达系统
CN112485783B (zh) * 2020-09-29 2024-05-10 北京清瑞维航技术发展有限公司 目标探测方法、装置、计算机设备和存储介质
CN112526503B (zh) * 2020-11-20 2024-06-07 广州极飞科技股份有限公司 探测物体距离的方法及相关装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090292468A1 (en) * 2008-03-25 2009-11-26 Shunguang Wu Collision avoidance method and system using stereo vision and radar sensor fusion
CN105109484A (zh) * 2015-08-21 2015-12-02 奇瑞汽车股份有限公司 目标障碍物体确定方法及装置
CN106872995A (zh) * 2017-04-14 2017-06-20 北京佳讯飞鸿电气股份有限公司 一种激光雷达探测方法及装置
CN108152808A (zh) * 2017-11-23 2018-06-12 安徽四创电子股份有限公司 一种基于毫米波雷达的周界智能预测预警方法
CN108733042A (zh) * 2017-04-19 2018-11-02 上海汽车集团股份有限公司 自动驾驶车辆的目标跟踪方法及装置

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3999472B2 (ja) * 2001-04-06 2007-10-31 本田技研工業株式会社 車両の物体検知装置
US7477181B2 (en) * 2007-02-14 2009-01-13 Delphi Technologies, Inc. Method of adaptively adjusting the target detection sensitivity of a motor vehicle radar
JP5361914B2 (ja) * 2011-02-03 2013-12-04 株式会社東芝 レーダ装置、レーダ受信装置及び目標検出方法
JP2015014579A (ja) * 2013-07-08 2015-01-22 本田技研工業株式会社 物体検知装置
KR101533066B1 (ko) * 2014-03-17 2015-07-09 (주)디지탈엣지 레이더 장치 및 그의 전력 제어방법
KR101601110B1 (ko) * 2014-04-29 2016-03-08 엘아이지넥스원 주식회사 협력통신 기반 레이더 시스템 및 레이더 시스템 간 협력통신을 통한 탐지영역 확장 방법
CN104077498B (zh) * 2014-07-22 2017-06-20 西安电子科技大学 一种结合目标角度的外辐射源雷达多目标跟踪方法
CN106842184B (zh) * 2015-12-03 2019-12-17 中国航空工业集团公司雷华电子技术研究所 一种基于波束调度的多目标探测与跟踪方法
CN107817494A (zh) * 2016-09-12 2018-03-20 中兴通讯股份有限公司 信号处理方法、装置及移动终端
CN106709939B (zh) * 2016-12-09 2019-07-23 中国电子科技集团公司第三研究所 目标跟踪方法和目标跟踪装置
CN107153186A (zh) * 2017-01-06 2017-09-12 深圳市速腾聚创科技有限公司 激光雷达标定方法及激光雷达
KR101752651B1 (ko) * 2017-01-18 2017-07-03 (주)디지탈엣지 레이더 시스템의 클러터 제거 및 다중 표적 추적방법
CN110476077B (zh) * 2017-04-01 2022-12-13 华为技术有限公司 车载雷达的扫描方法、装置和控制车辆的系统
CN108490442A (zh) * 2018-03-12 2018-09-04 深圳市赛格导航科技股份有限公司 一种车辆的雷达探测方法、装置、设备及存储介质
CN108872991A (zh) * 2018-05-04 2018-11-23 上海西井信息科技有限公司 目标物检测与识别方法、装置、电子设备、存储介质

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090292468A1 (en) * 2008-03-25 2009-11-26 Shunguang Wu Collision avoidance method and system using stereo vision and radar sensor fusion
CN105109484A (zh) * 2015-08-21 2015-12-02 奇瑞汽车股份有限公司 目标障碍物体确定方法及装置
CN106872995A (zh) * 2017-04-14 2017-06-20 北京佳讯飞鸿电气股份有限公司 一种激光雷达探测方法及装置
CN108733042A (zh) * 2017-04-19 2018-11-02 上海汽车集团股份有限公司 自动驾驶车辆的目标跟踪方法及装置
CN108152808A (zh) * 2017-11-23 2018-06-12 安徽四创电子股份有限公司 一种基于毫米波雷达的周界智能预测预警方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114994646A (zh) * 2022-05-11 2022-09-02 襄阳达安汽车检测中心有限公司 激光雷达融合算法检测方法、装置、设备及可读存储介质

Also Published As

Publication number Publication date
CN111316126B (zh) 2024-07-09
CN111316126A (zh) 2020-06-19

Similar Documents

Publication Publication Date Title
WO2021077287A1 (zh) 一种检测方法、检测装置以及存储介质
KR102667977B1 (ko) 차량용 레이더 장치 및 제어방법
CN111316126B (zh) 目标探测方法、雷达、车辆以及计算机可读存储介质
CN113759359B (zh) 基于空管雷达的无源双基地雷达接收装置及目标探测方法
KR20040007534A (ko) 패시브 코히런트 위치 확인 응용에서 검출 및 특징추출하는 시스템 및 방법
WO2020107138A1 (zh) 一种微波雷达和无人飞行器
CN114859337B (zh) 数据处理方法、装置、电子设备、计算机存储介质
EP4365623A1 (en) Radar-based target tracker
CN111025254A (zh) 基于数字滤波器的车载毫米波雷达近距虚假目标消除方法
WO2021189206A1 (zh) 雷达信号处理方法和雷达信号处理装置
US12386027B2 (en) Radar interference mitigation by monitoring of channels and switching to interference-free channel
KR20200112153A (ko) 무인기 탐지를 위한 다중모드 레이더 신호 처리 장치 및 그 방법
CN111123269B (zh) 用于无人机避障雷达的地面杂波抑制方法、模块及装置
US12228675B2 (en) Electronic device, method for controlling electronic device, and electronic device control program
US12585011B2 (en) Radar detection using prior tracked object information
CN118425952A (zh) 用于跟踪物体的装置和方法
KR101619064B1 (ko) 능동 클러터 맵을 이용한 목표물 검출 방법
WO2024178603A1 (zh) 一种占据栅格地图生成方法及装置
KR20150055279A (ko) 방위각 고분해능 신호처리 알고리즘을 이용하는 차량용 레이더 및 그 운영 방법
KR102211844B1 (ko) Ir-uwb 레이더 시스템에서의 벽 후방 다중표적위치 추정 방법 및 장치
JP3061738B2 (ja) マルチｐｒｆ法を用いた測距装置および測距方法
CN114170751A (zh) 一种入侵检测方法及装置
CN119780905B (zh) 一种结合微多普勒谐波的雷达跟踪定位方法、装置和介质
US20240280692A1 (en) Fine-near-range estimation method for automotive radar applications
CN109738888A (zh) 一种认知型脉内线调频脉冲压缩航海雷达系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18944853

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18944853

Country of ref document: EP

Kind code of ref document: A1