WO2020199010A1 - Procédé de détection de suivi basé sur un radar à ondes millimétriques, radar à ondes millimétriques et véhicule - Google Patents

Procédé de détection de suivi basé sur un radar à ondes millimétriques, radar à ondes millimétriques et véhicule Download PDF

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Publication number
WO2020199010A1
WO2020199010A1 PCT/CN2019/080607 CN2019080607W WO2020199010A1 WO 2020199010 A1 WO2020199010 A1 WO 2020199010A1 CN 2019080607 W CN2019080607 W CN 2019080607W WO 2020199010 A1 WO2020199010 A1 WO 2020199010A1
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WIPO (PCT)
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target
vehicle
tracking
detection
distance
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PCT/CN2019/080607
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English (en)
Chinese (zh)
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王宇
戴为龙
陈配涛
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2019/080607 priority Critical patent/WO2020199010A1/fr
Priority to CN201980010373.8A priority patent/CN111699406B/zh
Publication of WO2020199010A1 publication Critical patent/WO2020199010A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • 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
    • 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
    • G01S7/418—Theoretical aspects
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9317—Driving backwards

Definitions

  • the present invention generally relates to the technical field of automatic driving, and more specifically to a tracking detection method of millimeter wave radar, millimeter wave radar and vehicle.
  • millimeter-wave radar technology has been increasingly widely used in Advanced Driver Assistant System (ADAS) systems, and will occupy an indispensable position in future autonomous driving systems.
  • ADAS Advanced Driver Assistant System
  • millimeter-wave radar has unique advantages such as all-weather, all-weather, long range, and high speed measurement accuracy.
  • the lateral shuttle obstacle warning (CTA) function is a very important function for driving assistance systems.
  • the ADAS function has higher and higher requirements for the protection of crossing objects, especially the crossing pedestrians in front of and behind the vehicle (especially when reversing). Therefore, the lateral shuttle obstacle warning (CTA) The function also puts forward higher requirements.
  • one aspect of the present invention provides a tracking detection method for millimeter wave radar, the tracking detection method includes:
  • target detection information of a reflective target point where the target detection information includes position information of the reflective target point in a motion direction of the current motion state of the vehicle, wherein the current motion state includes at least one of the following: Gear status, reverse gear status;
  • a processing mode of the reflection target point is determined, wherein the processing mode includes at least one of the following: a clustering target mode and a tracking target mode.
  • the tracking detection method further includes:
  • a corresponding detection mode is activated, and the detection mode includes at least one of the following: a forward gear detection mode and a reverse gear detection mode.
  • the tracking detection method further includes:
  • a preset type of detection target is formed, and the preset type includes at least one of the following: clustering targets and tracking targets;
  • the position information includes at least one of the following: the angular change rate of the target position, the trend of the angular change rate, and the distance change of the target position in the moving direction of the vehicle;
  • the position information includes distance information
  • the processing mode of the reflection target point is determined according to the distance information and a preset distance threshold
  • the processing mode of the reflective target point is the clustering target mode; if the distance information exceeds the distance threshold, the processing mode of the reflective target point is the tracking target mode.
  • cluster the reflection target points to form a cluster target In the cluster target mode, cluster the reflection target points to form a cluster target.
  • target tracking is performed on the reflective target point to form a tracking target.
  • the tracking detection method further includes:
  • the millimeter wave radar is powered on or restarted.
  • the power-on or restart of the millimeter wave radar includes:
  • the millimeter wave radar is powered on and started and initialized the parameter configuration
  • the millimeter wave radar When the vehicle changes forward gear or reverse gear, the millimeter wave radar first stops the radio frequency signal transmission, and restarts to reset the parameter configuration of the millimeter wave radar.
  • the parameter configuration includes at least one of radio frequency parameter configuration, installation parameter configuration, and algorithm parameter configuration.
  • the position information includes the angle change rate, the angle change rate trend of the cluster target, and the distance change of the cluster target in the moving direction of the vehicle.
  • the position information of the cluster target further includes at least one of the center of gravity coordinates and the action range of the cluster target.
  • the detection target is a tracking target
  • the tracking target is classified and aggregated.
  • the classification and aggregation of the tracking target includes:
  • the pedestrian classification and/or the truck composed of multiple points based on the distance and energy to judge the target RCS statistical value.
  • determining whether the preset type of detection target is a laterally moving object according to the position information of the detection target includes:
  • the value of the angle change rate threshold is related to the distance between the detection target and the millimeter wave radar in the direction of movement of the vehicle, and when the distance is greater, the value of the angle change rate threshold The smaller.
  • the determining whether the trend of the angle change rate is increasing or decreasing includes:
  • the moving direction of the detection target in the backward direction of the vehicle it is determined whether the trend of the angle change rate is increasing or decreasing.
  • the determining whether the angle change rate trend is increasing or decreasing according to the direction of movement of the detection target in the backward direction of the vehicle includes:
  • the direction of movement of the detection target in the backward direction of the vehicle is from inside to outside, including the detection target being in the rear of the vehicle to the left and moving outwards and the detection target being in the back of the vehicle to the right and moving outwards ;as well as
  • the movement direction of the detection target in the backward direction of the vehicle is from the outside to the inside, including the detection target being in the left and inward movement after the vehicle and the detection target being in the right and inward movement after the vehicle.
  • the distance change of the target position in the moving direction of the vehicle is the distance change after the vehicle speed compensation is added.
  • the distance of the target position in the lateral direction is the distance in the geodetic coordinate system
  • the distance in the geodetic coordinate system is converted from the distance in the vehicle body coordinate system.
  • tracking and detecting the laterally moving object further includes:
  • the laterally moving object tracking gate parameter For the detection target that is determined to be a laterally moving object, use the laterally moving object tracking gate parameter to track and detect the laterally moving object;
  • the horizontally moving object tracking gate parameter includes a longitudinal distance gate and a lateral distance gate, wherein the range of the longitudinal distance gate is smaller than the range of the lateral distance gate.
  • the clustering target and the tracking target adopt different lateral moving object tracking gate parameters.
  • the laterally moving object tracking gate parameter and the ordinary gate parameter both include a distance gate, a velocity gate, and an angle gate, where the tracking gate parameter of the laterally moving object tracking target
  • the distance gate and the velocity gate are smaller than those of the ordinary gate parameters
  • the angle gate of the laterally moving object tracking gate parameter is larger than the angle gate of the ordinary gate parameter.
  • the determining the current motion state of the vehicle includes:
  • the vehicle body information includes vehicle speed
  • the acquiring vehicle body information and determining the current motion state of the vehicle according to the vehicle body information includes:
  • the vehicle body information includes at least one of vehicle speed, gear position, steering, and yaw rate.
  • the forward mode radio frequency parameter configuration is set to activate the forward gear detection mode.
  • the position information includes original target information obtained after one-dimensional or two-dimensional fast Fourier plus angle measurement, which has not been tracked but has undergone changes in vehicle body coordinates.
  • the position information further includes the movement speed and angle of the reflection target point.
  • the detection distance range of the reverse mode radio frequency parameter configuration is smaller than that of the forward mode radio frequency parameter configuration.
  • the reversing mode radio frequency parameter configuration has a larger field of view than the software filtering of the forward mode radio frequency parameter configuration.
  • the distance resolution of the reverse mode radio frequency parameter configuration is higher than that of the forward mode radio frequency parameter configuration.
  • the forward gear detection mode further includes:
  • the tracking detection method further includes:
  • a millimeter wave radar is arranged behind the vehicle, and the tracking and detecting the laterally moving object includes:
  • millimeter wave radar includes:
  • One or more processors working individually or together, and the processors are used to:
  • target detection information of a reflective target point where the target detection information includes position information of the reflective target point in a motion direction of the current motion state of the vehicle, wherein the current motion state includes at least one of the following: Gear status, reverse gear status;
  • a processing mode of the reflection target point is determined, wherein the processing mode includes at least one of the following: a clustering target mode and a tracking target mode.
  • Antenna device for transmitting millimeter wave signals and receiving reflected signals
  • a signal processing circuit electrically connected to the antenna device, for processing the reflected signal and converting it into a data signal
  • the processor is in communication connection with the signal processing circuit, and is used to process the data signal sent by the signal processing circuit.
  • Another aspect of the present invention provides a vehicle including a vehicle body and the aforementioned millimeter wave radar, and the millimeter wave radar is installed in front or/and rear of the vehicle body.
  • the tracking detection method of the embodiment of the present invention acquires target detection information of a reflective target point, and the target detection information includes position information of the reflective target point in the moving direction of the current state of the vehicle, where the current
  • the motion state includes at least one of the following: a forward gear state, a reverse gear state; a processing mode of the reflection target point is determined according to the position information, wherein the processing mode includes at least one of the following: clustering target mode, tracking Target mode.
  • the tracking detection method performs different processing modes on the reflection target point according to the position information of the reflection target point, so as to ensure that a more accurate processing mode is used to detect and process the detection target.
  • the tracking detection method of the embodiment of the present invention forms a preset type of detection target according to the determined processing mode, and the preset type includes at least one of the following: clustering target, tracking target; calculating the detection target
  • the position information includes at least one of the following: the angular change rate of the target position, the trend of the angular change rate, and the distance change of the target position in the direction of the vehicle's movement; according to the position information of the detection target, determine the Whether the preset type of detection target is a laterally moving object; tracking and detecting the laterally moving object.
  • Fig. 1 shows a schematic flow chart of a method for tracking and detecting millimeter wave radar in an embodiment of the present invention
  • Fig. 2 shows the detection power map of the rearward millimeter wave radar of the vehicle body in an embodiment of the present invention
  • FIG. 3 shows a schematic flow chart of a method for tracking and detecting millimeter wave radar in a specific embodiment of the present invention
  • Figure 4 shows a schematic diagram of a vehicle body coordinate system in an embodiment of the present invention
  • Fig. 5 shows a schematic block diagram of a millimeter wave radar in an embodiment of the present invention.
  • the present invention provides a tracking detection method for millimeter wave radar, as shown in FIG. 1, the method includes:
  • Step S101 Obtain target detection information of a reflective target point, where the target detection information includes position information of the reflective target point in the current motion state of the vehicle in the motion direction, wherein the current motion state includes at least one of the following Types: forward gear state, reverse gear state;
  • Step S102 Determine a processing mode of the reflection target point according to the position information, wherein the processing mode includes at least one of the following: a clustering target mode and a tracking target mode.
  • the tracking detection method performs different processing modes on the reflection target point according to the position information of the reflection target point, so as to ensure that a more accurate processing mode is used to detect and process the detection target.
  • the tracking detection method of the millimeter wave radar includes the following steps:
  • step S101 perform step S101 to obtain target detection information of a reflection target point, the target detection information including position information of the reflection target point in the direction of the vehicle's current motion state, wherein the current motion state includes At least one of the following: forward gear state, reverse gear state.
  • the target detection information of the reflection target point can be obtained by any suitable method, for example, the target detection information of the reflection target point is obtained by detecting the target object based on millimeter wave radar.
  • the millimeter wave radar is installed on a mobile platform, for example, on the body of a vehicle.
  • the vehicle may also include an autonomous vehicle.
  • the millimeter wave radar can be installed on the vehicle body, for example, in the front and/or rear of the vehicle body.
  • a millimeter wave radar is installed behind the vehicle body, for example, two millimeter wave radars are installed.
  • the two millimeter-wave radars cover a field of view (FOV) of approximately 120-270° behind the vehicle.
  • FOV field of view
  • the millimeter wave radar has high accuracy of ranging and speed measurement, and weather and environmental factors such as light and weather basically have no effect on the detection of millimeter radar waves.
  • weather and environmental factors such as light and weather basically have no effect on the detection of millimeter radar waves.
  • the present invention is not limited to the use of millimeter radar waves for target detection. Other methods and means can be used for detection.
  • Millimeter wave radar uses millimeter wave (millimeter wave), usually millimeter wave refers to the frequency domain of 30 to 300 GHz (wavelength is 1 to 10 mm), and millimeter wave is an electromagnetic wave between infrared light wave and microwave frequency band.
  • a millimeter wave radar usually includes an antenna device for transmitting millimeter wave signals and receiving reflected signals.
  • the millimeter wave signal transmitted by the antenna device is reflected by the target and then received by the receiving module of the antenna device to obtain the desired signal.
  • the target detection information of the reflection target point of the test target is obtained.
  • the tracking detection method of the present application first executes the steps of powering on or restarting the millimeter wave radar.
  • the millimeter-wave radar is powered on or restarted, usually in the following scenarios, including:
  • the parameter configuration includes at least one of radio frequency parameter configuration, installation parameter configuration, and algorithm parameter configuration.
  • the parameter configuration may also include other parameter configurations, which are not listed here.
  • the millimeter wave radar first stops the radio frequency signal transmission, and restarts to reset the parameter configuration of the millimeter wave radar.
  • the parameter configuration may include at least one of radio frequency parameter need to be reset and algorithm parameter reset.
  • the goal set in this way is mainly because the vehicle needs to go through different scenarios in the process of forward and backward. For example, the forward speed is generally faster, and the backward speed is slower. The main problems to be solved are also different.
  • the tracking detection method further includes: determining the current motion state of the vehicle; according to the current motion state of the vehicle, initiating a corresponding detection mode, the detection mode including at least one of the following: a forward gear detection mode, Reverse gear detection mode. That is, when the current motion state of the vehicle is the forward gear state, the forward gear detection mode is activated, and when the current motion state of the vehicle is the reverse gear state, the reverse gear detection mode is activated.
  • the method for determining the current motion state of the vehicle includes: acquiring body information, and determining the current motion state of the vehicle according to the body information.
  • the vehicle body information includes at least one of vehicle speed, gear position, steering, and yaw rate.
  • the foregoing information may be obtained from the vehicle body CAN bus according to a protocol, or the foregoing information may be obtained through other suitable methods. .
  • the vehicle body information includes vehicle speed
  • the acquiring vehicle body information and determining the current motion state of the vehicle according to the vehicle body information includes: determining the vehicle speed according to the vehicle speed Whether the current state of the vehicle is in the forward gear state or the reverse state, wherein when the vehicle speed is greater than the threshold vehicle speed, it is determined that the current state of the vehicle is the forward gear state, and when the vehicle speed is less than the threshold vehicle speed, the vehicle is determined The current state of motion is reverse gear.
  • the above-mentioned threshold vehicle speed can be set reasonably according to the empirical value of the actual vehicle motion state, which is not specifically limited here. Since the speed is generally faster when moving forward and slower when moving backward, the current motion state of the vehicle can be determined according to the vehicle speed.
  • the reverse mode radio frequency parameter configuration when the current state of motion of the vehicle is the reverse gear state, the reverse mode radio frequency parameter configuration is set to activate the reverse gear detection mode; when the current state of the vehicle is the forward gear state, Set the forward mode radio frequency parameter configuration to activate the forward gear detection mode.
  • BSD side-to-back blind spot monitoring system
  • LCA assisted lane change
  • RPC Rear Collision Early Warning
  • the detection distance range of the reverse mode radio frequency parameter configuration is smaller than that of the forward mode radio frequency parameter configuration.
  • the reversing mode radio frequency parameter configuration has a larger field of view than the software filtering of the forward mode radio frequency parameter configuration.
  • the distance resolution of the reverse mode radio frequency parameter configuration is higher than that of the forward mode radio frequency parameter configuration.
  • the forward gear detection mode further includes: setting a forward target tracking gate parameter.
  • the vehicle is in the forward gear state, that is, when the vehicle is moving forward, the lateral focus of the backward target is reduced, and the preset forward target tracking gate parameter is compared with the lateral gate distance of the backward motion. Be narrow.
  • the tracking detection method further includes: tracking and detecting a forward moving target based on the forward mode radio frequency parameter configuration and the forward target tracking gate parameter.
  • the reverse gear detection mode is activated, including: setting the reverse mode radio frequency parameter configuration, and then performing reflection target point detection to obtain reflection Target detection information of the target point, where the target detection information includes position information of the reflective target point in the movement direction of the current movement state of the vehicle.
  • the position information includes original target information obtained after one-dimensional or two-dimensional fast Fourier plus angle measurement, which has not been tracked but has undergone changes in vehicle body coordinates.
  • the position information also includes the movement speed and angle of the reflection target point.
  • the position information also includes distance information, which refers to the distance information of the reflective target point in the direction of the vehicle's current motion state, that is, the distance between the reflective target point and the vehicle body millimeter wave radar Distance information in the direction of movement of the current state of the vehicle.
  • the position information can be the position information in the vehicle body coordinate system.
  • the vehicle body coordinate system is established in the manner shown in FIG. 4, and the vehicle body coordinate system is based on the length of the vehicle body (or the forward or backward direction of the vehicle).
  • Is the X axis the width direction of the vehicle body is the Y axis, and the direction perpendicular to both the X axis and the Y axis is the Z axis, where the distance information included in the position information is the distance in the X direction.
  • step S102 is performed to determine a processing mode of the reflective target point according to the position information, wherein the processing mode includes at least one of the following: a clustering target mode and a tracking target mode.
  • the position information includes distance information
  • the processing mode of the reflection target point is determined according to the distance information and a preset distance threshold, wherein if the distance information does not exceed the distance threshold, the The processing mode of the reflective target point is the clustering target mode; if the distance information exceeds the distance threshold, the processing mode of the reflective target point is the tracking target mode.
  • a tracked target point can be used to represent the target at a distance. If the distance information exceeds the distance threshold, the processing mode of the reflected target point In order to track the target mode, it will occupy a large angle when it is close. It is not easy to express the characteristics of the object when using distance, speed, and angle gates. Therefore, algorithm operations such as clustering will be introduced.
  • the processing mode of the reflection target point is the clustering target mode.
  • the tracking detection method further includes: forming a preset type of detection target according to the determined processing mode, and the preset type of detection target includes at least one of the following: clustering target and tracking target.
  • the cluster target is formed according to the cluster target pattern
  • the tracking target is formed according to the tracking target pattern.
  • the reflection target points are clustered to form a clustering target.
  • the longitudinal distance that is, the distance in the x-direction
  • the reflective target points are usually within a relatively close range.
  • a clustering strategy can be used to cluster the reflective target points to form a clustering target, for example, Clustering algorithms such as DBSCAN, OPTICS, DENCLUE and other algorithms perform clustering.
  • the tracking gate parameters of the laterally moving object include a longitudinal distance gate and a lateral distance gate. For a laterally moving object, the range of the longitudinal distance gate is smaller and the range of the lateral gate is larger, and the range of the longitudinal distance gate is smaller than the range of the transverse gate. The range of the horizontal distance from the gate.
  • the reflection target point set is formed into a point set, that is, a clustering target.
  • the clustering target has parameters such as center of gravity and range. .
  • the position information of the detection target is calculated, and the position information includes at least one of the following: the angular change rate of the target position, the trend of the angular change rate, and the distance change of the target position in the moving direction of the vehicle.
  • the method of calculating the position information of the detection target is different.
  • the position information of the cluster target is calculated, and the position information includes the angle change rate, the angle change rate trend of the cluster target, and The distance change of the clustering target in the moving direction of the vehicle.
  • the position information of the cluster target further includes at least one of the center of gravity coordinate and the action range of the cluster target.
  • the detection target is a tracking target
  • the tracking target is classified and aggregated.
  • the classifying and aggregating the tracking target includes: after the tracking target is formed, identifying at least part of the tracking target, such as pedestrian classification based on distance and energy to judge the RCS statistics of the target And/or trucks composed of multiple points.
  • the tracking target mode target tracking is performed on the reflective target point to form a tracking target.
  • the tracking target mode also refers to the conventional ordinary tracking process, which can include pre-tracking track, mature track and other related processes.
  • the detection target of the preset type for example, a cluster target and a tracking target
  • the angle change rate of the target position is greater than the angle change rate threshold, if otherwise, it is temporarily recognized as a normal target, if it is, it is determined whether the angle change rate trend is increasing or decreasing, if otherwise Tentatively set as a normal target, if yes, determine whether the distance change of the target position in the direction of the vehicle's movement is less than the distance change threshold, if yes, determine that the detection target (such as clustering target and tracking target) is a laterally moving object, if otherwise Tentatively set as a general target.
  • the value of the angle change rate threshold is related to the distance between the detection target and the millimeter wave radar in the direction of movement of the vehicle.
  • the angle change rate threshold is set The smaller the value.
  • the angle change rate of the clustering target can be calculated by obtaining the position information of the clustering target in multiple frames.
  • the angle change rate threshold of the tracking target is also a distance-related value, but since the tracking target is far from the vehicle body, the distance component coefficient here is already relatively small because the basic angle is relatively small relative to nearby objects. Therefore, the threshold of the angle change rate of the tracking target and the threshold of the angle change rate of the cluster target are different parameters.
  • the determining whether the angle change rate trend is increasing or decreasing includes: determining the angle change according to the direction of movement of the detection target (for example, a clustering target or a tracking target) in the backward direction of the vehicle Whether the rate trend is increasing or decreasing.
  • the detection target for example, a clustering target or a tracking target
  • the determining whether the angular change rate trend is increasing or decreasing according to the direction of movement of the detection target in the rear of the vehicle includes: when the direction of movement of the detection target in the rear of the vehicle is from inside to outside When the angle change rate trend is increasing (in the statistical interval, FIFO); when the detection target moves in the backward direction of the vehicle from the outside to the inside, the angle change rate trend is decreasing (In the statistical interval, FIFO).
  • the direction of movement of the detection target in the backward direction of the vehicle is from inside to outside, including the detection target being in the rear of the vehicle to the left and moving outwards and the detection target being in the back of the vehicle to the right and moving out; and
  • the movement direction of the detection target in the backward direction of the vehicle is from the outside to the inside, including the detection target being in the left and inward movement after the vehicle and the detection target being in the right and inward movement after the vehicle.
  • the above-mentioned basically similar logic can be used to determine whether the angle change rate trend is increasing or decreasing.
  • the judgment condition strictness in the statistical interval (FIFO) is weaker than that of aggregation. Class goals.
  • the distance change of the target position in the moving direction of the vehicle is the distance change after the vehicle speed compensation is added.
  • the distance of the target position in the lateral direction is the distance in the geodetic coordinate system, and the distance in the geodetic coordinate system is converted from the distance in the vehicle body coordinate system to reflect the lateral movement.
  • the laterally moving object After determining that the detection target is a laterally moving object (that is, a laterally moving target), the laterally moving object is tracked and detected.
  • a millimeter-wave radar is arranged behind the vehicle, and the tracking and detecting the laterally moving object includes: tracking and detecting the laterally moving object based on the millimeter-wave radar.
  • tracking and detecting the laterally moving object further includes: using the laterally moving object tracking gate parameter to track and detect the laterally moving object for the detection target determined to be a laterally moving object; and For the detection target tentatively designated as a common target, common gate parameters are used.
  • Ordinary target gate parameters are mainly the distance gate and speed gate of ordinary moving targets.
  • the main difference between it and the horizontally moving object is that the horizontally moving object has a small distance from the gate in the longitudinal direction (X direction) and the horizontal (Y direction) )
  • the range of the wave gate is relatively large, that is, the parameters of the laterally moving object tracking wave gate include a longitudinal distance wave gate and a lateral distance wave gate, wherein the range of the longitudinal distance wave gate is smaller than the range of the lateral distance wave gate.
  • the laterally moving object tracking gate parameter and the ordinary gate parameter both include a range gate, a velocity gate, and an angle gate, where the tracking gate parameter of the laterally moving object tracking target The distance gate and the velocity gate are smaller than those of the ordinary gate parameters, and the angle gate of the laterally moving object tracking gate parameter is larger than the angle gate of the ordinary gate parameter.
  • the clustering target and the tracking target adopt different laterally moving object tracking gate parameters.
  • the laterally moving object tracking gate parameter refers to the system gate used in the normal tracking system, including distance, speed and angle, when lateral motion is used At time, the distance and velocity gates become smaller, and the angle gates become larger.
  • the longitudinal direction refers to the x direction in the vehicle body coordinate system
  • the lateral direction refers to the y direction in the vehicle body coordinate system.
  • FIG. 5 shows a schematic block diagram of a millimeter wave radar 300 in an embodiment of the present invention.
  • the millimeter wave radar is used to implement the tracking detection method in the foregoing embodiment.
  • the millimeter wave radar 300 includes one or more processors 303, which work individually or together, and the processors are used to: obtain target detection information of a reflection target point, and the target detection information includes the reflection Position information of the target point in the movement direction of the current movement state of the vehicle, wherein the current movement state includes at least one of the following: a forward gear state, a reverse gear state; and the reflection target is determined according to the position information Point processing mode, wherein the processing mode includes at least one of the following: a clustering target mode and a tracking target mode.
  • the position information includes distance information, and the processing mode of the reflective target point is determined according to the distance information and a preset distance threshold, wherein if the distance information does not exceed the distance threshold, the processing mode of the reflective target point Is the cluster target mode; if the distance information exceeds the distance threshold, the processing mode of the reflected target point is the tracking target mode.
  • the processor 303 may be a central processing unit (CPU), an image processing unit (GPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a data processing capability and/or instruction execution capability. Other forms of processing units, and can control other components in the millimeter wave radar 300 to perform desired functions.
  • the processor can execute the instructions stored in the memory to execute the millimeter wave radar tracking and detection method described herein, and the method will not be repeated here.
  • the processor 303 can include one or more embedded processors, processor cores, microprocessors, logic circuits, hardware finite state machines (FSM), digital signal processors (DSP), or combinations thereof.
  • the processor 303 is further configured to: power on or restart the millimeter wave radar.
  • the processor is further used for: when the vehicle is just powered on, the millimeter-wave radar is powered on and initialized and the parameter configuration is initialized; when the vehicle changes forward or reverse gear, the millimeter-wave radar first stops transmitting radio frequency signals, and Restart to reset the parameter configuration of the millimeter wave radar.
  • the parameter configuration includes at least one of radio frequency parameter configuration, installation parameter configuration, and algorithm parameter configuration.
  • the processor is further configured to: determine the current motion state of the vehicle; according to the current motion state of the vehicle, activate a corresponding detection mode, the detection mode includes at least one of the following: a forward gear detection mode, Reverse gear detection mode. That is, when the current motion state of the vehicle is the forward gear state, the forward gear detection mode is activated, and when the current motion state of the vehicle is the reverse gear state, the reverse gear detection mode is activated.
  • the processor is further configured to obtain vehicle body information, and determine the current motion state of the vehicle according to the vehicle body information.
  • vehicle body information includes at least one of vehicle speed, gear position, steering, and yaw rate
  • the vehicle body information includes a vehicle speed
  • the processor is further configured to determine whether the current state of motion of the vehicle is in a forward gear state or a reverse gear state according to the vehicle speed, wherein, when the vehicle speed is greater than When the threshold vehicle speed is used, it is determined that the current state of motion of the vehicle is a forward gear state, and when the vehicle speed is less than the threshold vehicle speed, it is determined that the current state of motion of the vehicle is a reverse gear state.
  • the processor is further configured to: form a preset type of detection target according to the determined processing mode, and the preset type includes at least one of the following: clustering target, tracking target; calculating the detection target
  • the position information of the target includes at least one of the following: the angle change rate of the target position, the trend of the angle change rate, and the distance change of the target position in the direction of the vehicle's movement; Whether the preset type of detection target is a laterally moving object; and tracking and detecting the laterally moving object.
  • clustering target mode clustering the reflection target points to form a clustering target.
  • tracking target mode target tracking is performed on the reflective target point to form a tracking target.
  • the position information includes the angle change rate of the cluster target, the trend of the angle change rate, and the distance change of the cluster target in the moving direction of the vehicle.
  • the position information of the cluster target further includes at least one of the center of gravity coordinate and the action range of the cluster target.
  • the detection target is a tracking target
  • the tracking target is classified and aggregated.
  • the processor is also used for judging the pedestrian classification of the target RCS statistical value based on distance and energy and/or a truck composed of multiple points.
  • the processor is further configured to determine whether the angle change rate of the target position is greater than the angle change rate threshold; if not, it is temporarily recognized as a normal target; if so, determine whether the angle change rate trend is increasing Or decrementally, if otherwise, it is tentatively set as a normal target, if so, it is determined whether the distance change of the target position in the direction of the vehicle's movement is less than the distance change threshold, if it is, it is determined that the detection target is a laterally moving object, if otherwise, it is tentatively set as a normal target aims.
  • the value of the angle change rate threshold is related to the distance between the detection target and the millimeter wave radar in the moving direction of the vehicle, and when the distance is greater, the value of the angle change rate threshold The smaller.
  • the processor is further configured to determine whether the angle change rate trend is increasing or decreasing according to the direction of movement of the detection target in the backward direction of the vehicle.
  • the processor is further configured to: when the direction of movement of the detection target in the backward direction of the vehicle is from the inside to the outside, the angle change rate trend is increased; when the detection target is in the backward direction of the vehicle When the movement direction is from the outside to the inside, the trend of the angle change rate appears to decrease.
  • the direction of movement of the detection target in the backward direction of the vehicle is from inside to outside, including the detection target being in the rear of the vehicle to the left and moving outwards and the detection target being in the back of the vehicle to the right and moving out; and
  • the movement direction of the detection target in the backward direction of the vehicle is from the outside to the inside, including the detection target being in the left and inward movement after the vehicle and the detection target being in the right and inward movement after the vehicle.
  • the processor is further configured to: for the detection target determined to be a laterally moving object, use the laterally moving object tracking gate parameter to track and detect the laterally moving object;
  • the detection target of adopts ordinary wave gate parameters.
  • the processor is further configured to: when the current motion state of the vehicle is the reverse gear state, set the reverse mode radio frequency parameter configuration to start the reverse gear detection mode; when the current motion state of the vehicle is In the forward gear state, the forward mode radio frequency parameter configuration is set to activate the forward gear detection mode.
  • the processor is further configured to: set forward target tracking gate parameters to perform the forward gear detection mode.
  • the processor is further configured to track and detect a forward moving target based on the forward mode radio frequency parameter configuration and the forward target tracking gate parameter.
  • the millimeter wave radar 300 further includes an antenna device 301, which is used to transmit millimeter wave signals and receive reflected signals; millimeter wave radar uses millimeter waves, usually millimeter waves refer to 30-300 GHz In the frequency domain (wavelength is 1-10mm), millimeter wave is an electromagnetic wave between infrared light wave and microwave frequency band.
  • the millimeter wave radar 300 generally includes an antenna device 301 for transmitting millimeter wave signals and receiving reflected signals.
  • the millimeter wave signals transmitted by the antenna device are reflected by the target and then received by the receiving module of the antenna device to obtain
  • the reflection target point to the target to be measured can also be called a point cloud.
  • the antenna device 301 may include an array antenna (such as a transmitting antenna) dedicated to transmitting millimeter wave signals and an array antenna (such as a receiving antenna) dedicated to receiving reflected signals.
  • the millimeter wave radar 300 further includes a signal processing circuit 302, electrically connected to the antenna device 301, for processing the reflected signal and converting it into a data signal, wherein the processor 303 is connected to the signal
  • the processing circuit 302 is connected in communication and is used to process the data signal sent by the signal processing circuit 302.
  • the signal processing circuit 302 and the processor 303 may communicate in a wired or wireless manner.
  • the signal processing circuit 302 includes an incident wave estimation unit AU.
  • the incident wave estimating unit AU uses a well-known algorithm to infer the distance to the wave source of the incident wave, namely the target, the relative speed of the target, and the orientation (that is, the angle) of the target, and generates a data signal representing the inference result, that is, the signal processing circuit and the target
  • the antenna device is electrically connected to process the reflected signal and convert it into a data signal, and the data signal includes the position information of the reflected target point and the like.
  • the signal processing circuit in the embodiment of the present invention is not limited to a single circuit, and includes a form in which a combination of multiple circuits is generally understood as a functional element.
  • the signal processing circuit 302 can also be implemented by one or more systems on a chip (SoC).
  • SoC systems on a chip
  • a part or all of the signal processing circuit 302 may also be a programmable logic device (PLD), that is, an FPGA (Field-Programmable Gate Array).
  • PLD programmable logic device
  • FPGA Field-Programmable Gate Array
  • the signal processing circuit 302 includes a plurality of arithmetic elements (for example, general logic and multipliers) and a plurality of storage elements (for example, a look-up table or a memory module).
  • the signal processing circuit 302 may also be a collection of a general-purpose processor and a main storage device.
  • the signal processing circuit 302 may also be a circuit including a processor core and a memory. These can function as the
  • the components and structure of the millimeter wave radar 300 shown in FIG. 5 are only exemplary and not restrictive, and the components of the millimeter wave radar 300 may also have other components and structures as required. Among them, the technical features in the aforementioned tracking detection method can also be applied to this embodiment, and the description will not be repeated here.
  • the embodiment of the present invention also provides a computer storage medium on which a computer program is stored.
  • the computer storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk Read-only memory (CD-ROM), USB memory, or any combination of the above storage media.
  • the computer-readable storage medium may be any combination of one or more computer-readable storage media.
  • One or more computer program instructions may be stored on the computer-readable storage medium, and the processor may run the program instructions stored in the memory to implement the functions (implemented by the processor) in the embodiments of the present invention described herein And/or other desired functions, for example, to perform the corresponding steps of the method for detecting stationary objects near a fence by a microwave radar according to an embodiment of the present invention.
  • Various application programs and various data such as various data used and/or generated by the application program, can also be stored in the computer-readable storage medium.
  • an embodiment of the present invention also provides a vehicle, which includes the millimeter wave radar in the foregoing embodiment.
  • the vehicle may include an autonomous vehicle, or other types of vehicles.
  • the vehicle includes a vehicle body, and the millimeter wave radar may be arranged in front and/or rear of the vehicle body, or other suitable positions.
  • one or more millimeter wave radars can be installed on the vehicle body.
  • the aforementioned millimeter-wave radar tracking detection method can be implemented, so as to accurately and effectively determine whether the detection target is a laterally moving object, and track and detect the detection target determined as a laterally moving object, thereby improving the safety of the entire ADAS And robustness, it can more effectively protect lateral shuttle obstacles (such as crossing pedestrians), effectively avoid accidents caused by lateral moving objects during driving, and improve user experience.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are merely illustrative, for example, 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 It can be integrated into another device, or some features can be ignored or not implemented.
  • the various component embodiments of the present invention may be implemented by hardware, or by software modules running on one or more processors, or by their combination.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules according to the embodiments of the present invention.
  • DSP digital signal processor
  • the present invention can also be implemented as a device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein.
  • Such a program for realizing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals. Such signals can be downloaded from Internet websites, or provided on carrier signals, or provided in any other form.

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

Abstract

La présente invention concerne un procédé de détection de suivi basé sur un radar à ondes millimétriques (300), un radar à ondes millimétriques (300) et un véhicule. Le procédé consiste à : acquérir des informations de détection de cible d'un point cible de réflexion, les informations de détection de cible comprenant des informations de position du point cible de réflexion dans la direction de déplacement d'un véhicule dans un état de déplacement de l'instant, l'état de déplacement de l'instant comprenant au moins l'un des éléments suivants : un état de marche avant et un état de marche arrière (S101); déterminer, en fonction des informations de position, un mode de traitement du point cible de réflexion, le mode de traitement comprenant au moins l'un des éléments suivants : un mode cible de regroupement et un mode cible de suivi (S102), de telle sorte qu'il peut être déterminé de manière précise et efficace que la cible de détection est un objet à déplacement latéral, et une détection de suivi peut être effectuée sur la cible de détection qui a été identifiée comme étant un objet à déplacement latéral, ce qui permet d'améliorer la sécurité et la robustesse globales d'un ADAS.
PCT/CN2019/080607 2019-03-29 2019-03-29 Procédé de détection de suivi basé sur un radar à ondes millimétriques, radar à ondes millimétriques et véhicule WO2020199010A1 (fr)

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CN201980010373.8A CN111699406B (zh) 2019-03-29 2019-03-29 毫米波雷达的跟踪检测方法、毫米波雷达和车辆

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