WO2021056434A1 - 一种探测对象的检测方法、探测设备及毫米波雷达 - Google Patents

一种探测对象的检测方法、探测设备及毫米波雷达 Download PDF

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Publication number
WO2021056434A1
WO2021056434A1 PCT/CN2019/108600 CN2019108600W WO2021056434A1 WO 2021056434 A1 WO2021056434 A1 WO 2021056434A1 CN 2019108600 W CN2019108600 W CN 2019108600W WO 2021056434 A1 WO2021056434 A1 WO 2021056434A1
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Prior art keywords
detection
target
point cloud
detection object
parameters
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PCT/CN2019/108600
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English (en)
French (fr)
Inventor
陆新飞
陈雷
李怡强
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深圳市大疆创新科技有限公司
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Priority to CN201980030315.1A priority Critical patent/CN112105950B/zh
Priority to PCT/CN2019/108600 priority patent/WO2021056434A1/zh
Publication of WO2021056434A1 publication Critical patent/WO2021056434A1/zh

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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
    • G01S13/88—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
    • G01S2013/9315—Monitoring blind spots
    • 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
    • G01S2013/93185—Controlling the brakes

Definitions

  • the invention relates to the field of electronic technology, in particular to a detection method, detection equipment and millimeter wave radar for detecting objects.
  • millimeter-wave radar as an important sensor for detecting distance, can effectively guarantee all-weather and all-weather conditions such as automatic emergency braking (Autonomous Emergency Braking, AEB) and forward collision warning (Forward Collision Warning). , FCW) and blind spot detection (Blind Spot Detection, BSD) and other mobile auxiliary functions.
  • AEB Autonomous Emergency Braking
  • FCW forward collision warning
  • BSD Blind Spot Detection
  • the millimeter-wave radar needs to accurately determine the distance, speed, and angle of the detected object to provide accurate input information.
  • close-range and strong reflective targets may form multiple reflections between the self-car and the real target object (such as other vehicles, obstacles, etc.), resulting in multiple distances and multiples.
  • the harmonic target of the speed condition then forms false input information, causing false alarms and affecting the safety of mobile platforms such as vehicles. Therefore, for millimeter-wave radars, it is necessary to suppress the harmonic signals generated by the multiple reflection phenomenon, so as to delete the harmonic target.
  • hardware design filters are usually used to suppress the harmonic information, so as to delete the harmonic target.
  • the construction of filters will increase the hardware cost, and the filter can only filter out part of the harmonic signals, and cannot completely filter out the harmonic signals. After the wave signal passes through the filter, it may still exceed the filter threshold, forming a harmonic target.
  • the embodiment of the present invention discloses a detection method, detection equipment and millimeter wave radar for detecting objects, which can more effectively determine the detected harmonic target without increasing the hardware cost, and avoid the error caused by the harmonic target. Off.
  • an embodiment of the present invention provides a detection method for a detection object, the method including:
  • an embodiment of the present invention provides a detection device, the detection device includes a processor and a memory, wherein:
  • the memory is configured to store a computer program, and the computer program includes program instructions
  • the processor is used to execute when the program instruction is called:
  • an embodiment of the present invention also provides a detection device, which is applied to a detection device, and the device includes:
  • the acquisition module is used to acquire the target point cloud frame detected in the environment detection process
  • the determining module is used to determine the target detection object on the target point cloud frame
  • the determining module is also used to determine the associated detection object on the target point cloud frame
  • the detection module is used to perform harmonic object detection on the determined detection parameters of the associated detection object, so as to determine whether the associated detection object is the harmonic object of the target detection object.
  • an embodiment of the present invention also provides a millimeter-wave radar, the millimeter-wave radar includes the above-mentioned detection device, and is used to implement the above-mentioned detection method of a detection object.
  • an embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above detection object detection method is implemented.
  • the embodiment of the present invention can obtain the target point cloud frame detected in the environment detection process, determine the target detection object and the associated detection object on the target point cloud frame, and perform harmonic object detection on the determined detection parameters of the associated detection object , So as to determine whether the associated detection object is the harmonic object of the target detection object, so as to delete the related information of the harmonic object in time.
  • harmonic targets caused by multiple reflections of strong targets can avoid false judgments caused by harmonic targets.
  • Fig. 1 is a schematic diagram of the formation principle of a harmonic target disclosed in an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a detection method for detecting objects disclosed in an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of another method for detecting an object disclosed in an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a detection device disclosed in an embodiment of the present invention.
  • Fig. 5 is a schematic structural diagram of a detection device disclosed in an embodiment of the present invention.
  • Millimeter-wave radar is widely used due to its advantages such as all-weather, all-weather, long range, and high accuracy of speed measurement.
  • millimeter wave radar as an important sensor, can effectively guarantee automatic emergency braking (AEB), forward collision warning (FCW) and blind spots under all-weather and all-weather conditions.
  • Mobile auxiliary functions such as Blind Spot Detection (BSD).
  • BSD Blind Spot Detection
  • the embodiment of the present invention selects some characteristic parameters of the millimeter wave radar in the process of receiving and sending detection signals, and performs calculation and analysis based on these characteristic parameters, and then determines whether a detection object in each point cloud frame obtained by detection is a harmonic object. .
  • Figure 1 is a schematic diagram of the formation principle of a harmonic target disclosed in an embodiment of the present invention.
  • the detection signal ie electromagnetic wave
  • the detection signal ie electromagnetic wave
  • the electromagnetic wave reflected by the real target hits the strong reflection point of the vehicle and is reflected to the real target again.
  • the electromagnetic wave is received by the millimeter wave radar to form a second harmonic target, and so on, it may form three times Harmonic target is even more harmonic target.
  • the electromagnetic waves emitted by the millimeter wave radar are reflected multiple times between the vehicle and the real target to form a multiple harmonic target.
  • the parameters of the harmonic target and the real target have the following relationship: the distance between the harmonic target and the real target shows a multiple relationship; because in the same time, The distance between the harmonic target and the real target presents a multiple relationship, so that the speed of the harmonic target and the real target presents the same multiple relationship as the distance; when harmonics occur, the electromagnetic wave intensity reflected by the real target for the first time is very strong. Harmonics undergo multiple reflections and attenuate greatly. The energy of the harmonics is weaker than the electromagnetic wave intensity reflected by the real target.
  • embodiments of the present invention provide a detection method, detection equipment and millimeter wave radar for detecting objects.
  • the detection method of detecting objects divides the harmonic target and the real target between the three parameters of distance, speed and energy.
  • the existing relationship is used as the basis for judging the harmonic target.
  • the real target and the harmonic target are determined among the targets detected by the millimeter wave radar, so that the harmonic target can be deleted as needed.
  • the detection method of the detected object can effectively judge and Delete harmonic targets caused by multiple reflections from close-range strong targets to avoid false judgments caused by harmonic targets, and no additional hardware is required.
  • FIG. 2 is a schematic flowchart of a detection method of a detection object disclosed in an embodiment of the present invention.
  • the detection method of a detection object provided by the embodiment of the present invention can be applied to a detection device.
  • the method includes but is not limited to the following step:
  • the millimeter wave radar transmits detection signals to the surrounding environment through the detector and receives the detection signals to form a point cloud frame set, where the detection signals can be electromagnetic waves, pulse signals, laser signals, etc., which are not limited in the embodiment of the present invention;
  • the detection device can obtain the target point cloud frame in the point cloud frame set detected in the environment detection process.
  • the millimeter-wave radar can periodically transmit detection signals to the surrounding environment through the detector, once a cycle, and receive the detection signals reflected by the surrounding environment to form a point cloud frame set; the detection device can obtain the surrounding environment The target point cloud frame in the point cloud frame set detected in the environment detection process, and the detection object on the target point cloud frame is detected.
  • the detection device can detect the surrounding environment in one cycle and obtain a point cloud frame set including N point cloud frames , And detect the detection object on the target point cloud frame in the point cloud frame set, where N is a positive integer.
  • a millimeter-wave radar emits electromagnetic waves every 50ms through a detector and receives electromagnetic waves reflected by the surrounding environment to form a point cloud frame set; within 50ms, the detection equipment detects the surrounding environment, that is, the detection equipment detects at 20 frames per second The speed detects the surrounding environment and detects the detection object on the target point cloud frame acquired every 50ms.
  • S202 Determine the target detection object on the target point cloud frame. After the detection device obtains the point cloud frame set detected in the environment detection process, it can determine the target detection object on the target point cloud frame included in the point cloud frame set. In one embodiment, the detection parameters of the target detection object meet the first One condition.
  • the detection parameters of the target detection object may include the detection energy parameter of the target detection object, the detection distance parameter of the target detection object, and the detection speed parameter of the target detection object.
  • the detection energy parameter can be determined according to the energy when the detector emits electromagnetic waves and the energy of the reflected electromagnetic wave corresponding to the corresponding detection object received; the detection distance parameter can be based on the time when the detector emits the electromagnetic wave and the corresponding detection object is received The time of reflected electromagnetic wave and the propagation speed of electromagnetic wave are determined; the detection speed parameter can be calculated based on the detection distance parameter obtained from the detection of the same object in at least two point cloud frames, and the detection time difference between the two point cloud frames of.
  • the detection parameter of the target detection object satisfies the first condition means that the detection energy parameter of the target detection object is greater than the preset energy threshold, and/or the detection distance parameter of the target detection object is less than the preset distance threshold.
  • the target detection object may include an object that exists in all M point cloud frames in the point cloud frame set, and the detection parameters of the object in each point cloud frame of the M point cloud frames all satisfy the first condition, and M is a positive integer , And 2 ⁇ M ⁇ N.
  • FIG. 3 is another method for detecting a detection object disclosed in an embodiment of the present invention.
  • Schematic diagram of the process, among the N point cloud frames in the point cloud frame set, take the detection device detecting the i-th detection object on the k-th point cloud frame as an example, where P represents the detection energy parameter of the detection object, and R represents the detection The detection distance parameter of the object, V represents the detection speed parameter of the detection object.
  • P i represents the detection energy parameter of the i-th detection object on the k-th point cloud frame
  • R i represents the detection distance parameter of the i-th detection object on the k-th point cloud frame
  • Vi represents the i-th detection object on the k- th point cloud frame
  • a represents a preset energy threshold
  • b represents a preset distance threshold. The specific values of the preset energy threshold and the preset distance threshold may be determined by the emission power of the electromagnetic wave emitted by the detector.
  • the detection device determines that the i-th detection object is the target Detect the object.
  • the detection device detects the next detection object on the k-th point cloud frame, determines whether it meets the first condition, and then determines whether it is a target Detect the object.
  • the parameter value of the detection energy parameter of the i-th detection object on the k-th point cloud frame is 70 decibels
  • the parameter value of the detection distance parameter of the i-th detection object is 10 meters
  • the parameter value of the detection speed parameter of the i-th detection object Is 10 meters per second
  • the preset energy threshold a is 60 decibels
  • the preset distance threshold b is 15 meters
  • 70>60 and 10 ⁇ 15 that is, the parameter value of the detection energy parameter of the i-th detection object is greater than the preset Energy threshold
  • the parameter value of the detection distance parameter of the i-th detection object is less than the preset distance threshold
  • the detection parameter of the i-th detection object on the k-th point cloud frame satisfies the first condition.
  • the detection device After confirming that the detection parameters of the i-th detection object on the k-th point cloud frame satisfy the first condition, the detection device detects the detection parameters of the i-th detection object on the M point cloud frames starting with the k-th point cloud frame Whether the first conditions are all satisfied, and if they are all satisfied, the detection device confirms that the i-th detection object is the target detection object.
  • the parameter value of the detection energy parameter of the i-th detection object on the k-th point cloud frame is 50 decibels
  • the parameter value of the detection distance parameter of the target detection object is 10 meters
  • the parameter value of the detection speed parameter of the i-th detection object Is 10 meters per second
  • the preset energy threshold a is 60 decibels
  • the preset distance threshold b is 15 meters, 50 ⁇ 60 and 10 ⁇ 15, that is, the parameter value of the detection energy parameter of the i-th detection object is less than the preset Energy threshold
  • the parameter value of the detection distance parameter of the i-th detection object is less than the preset distance threshold
  • the detection parameter of the i-th detection object on the k-th point cloud frame does not meet the first condition
  • the detection device will check the k-th point cloud
  • the i+1th detection object on the frame is detected to determine whether it is a target detection object.
  • S203 Determine the associated detection object on the target point cloud frame. After the detection device determines the target detection object on the target point cloud frame included in the point cloud frame set, the detection device may determine the associated detection object on the target point cloud frame.
  • the associated detection object may be any detection object in the target point cloud frame except the target detection object. In this embodiment of the present invention, the detection device may analyze other detection objects in the target point cloud frame sequentially or simultaneously. To determine whether these detection objects are harmonic objects of the target detection object.
  • the k-th point cloud frame is the target point cloud frame
  • the detection device determines that the i-th detection object on the k-th point cloud frame is the target detection Object
  • the detection device determines that any detection object on the k-th point cloud frame except the i-th detection object is the associated detection object
  • the jth (j ⁇ i) detection object can be the associated detection object
  • the detection object can be an associated detection object, and so on.
  • the detection device may successively or simultaneously analyze other detection objects in the k-th point cloud frame to determine whether these detection objects are harmonic objects of the target detection object.
  • S204 Perform harmonic object detection on the determined detection parameters of the associated detection object, so as to determine whether the associated detection object is a harmonic object of the target detection object.
  • the detection device can perform harmonic object detection on the determined detection parameters of the associated detection object, so as to determine whether the associated detection object is the harmonic object of the target detection object.
  • the detection parameter of the associated detection object includes the detection energy parameter of the associated detection object, the detection distance parameter of the associated detection object, and the detection speed parameter of the associated detection object.
  • the detection device performs harmonic object detection on the determined detection parameters of the associated detection object may be: determining the detection parameters of the associated detection object; when the associated detection object is at M points in the point cloud frame set If all cloud frames exist, and the second condition is satisfied between the detection parameters of the associated detection object and the detection parameters of the target detection object in the M point cloud frames, it is determined that the associated detection object is a harmonic object of the target detection object.
  • the second condition is satisfied between the detection parameters of the associated detection object and the detection parameters of the target detection object, which means that the difference between the detection energy parameter of the target detection object and the detection energy parameter of the associated detection object is greater than the preset energy difference threshold.
  • the absolute value of the difference between the sum of the detection distance parameters of the m target detection objects and the detection distance parameters of the associated detection object is less than the preset distance difference threshold, and the sum of the detection speed parameters of the m target detection objects and the associated detection object
  • the absolute value of the difference between the detected speed parameters is less than the preset speed difference threshold.
  • m is less than or equal to the preset harmonic order threshold, and m is a positive integer greater than or equal to 2.
  • Fig. 3 The specific process of detecting the harmonic object by the detection device on the determined detection parameters of the associated detection object can be seen in Fig. 3.
  • the detection device is Take the detection of the detection object on the point cloud frame as an example.
  • the detection device determines that the i-th detection object is the target detection object, the detection device detects the j-th detection object on the k-th point cloud frame except for the i-th detection object, where , P j represents the detection energy parameter of the j-th detection object on the k-th point cloud frame, R j represents the detection distance parameter of the j-th detection object on the k-th point cloud frame, and V j represents the detection energy parameter of the j-th point cloud frame on the k-th point cloud frame.
  • j The detection speed parameter of the detection object.
  • c is the preset energy difference threshold
  • d is the preset distance difference threshold
  • e is the preset speed difference threshold
  • f is the preset harmonic order threshold.
  • the detection device When the second condition P i -P j >c is satisfied between the detection parameters of the j-th detection object and the detection parameters of the target detection object and
  • the detection device determines that the i-th detection object is the target detection object, and the target detection
  • the parameter value of the detection energy parameter of the object is 70 decibels
  • the parameter value of the detection distance parameter of the target detection object is 10 meters
  • the parameter value of the detection speed parameter of the target detection object is 10 meters per second
  • the detection energy parameter of the j-th detection object The parameter value of is 30 decibels
  • the parameter value of the detection distance parameter of the j-th detection object is 19.9 meters
  • the parameter value of the detection speed parameter of the j-th detection object is 19.9 meters per second
  • the preset energy difference threshold c is 30 decibels.
  • the preset distance difference threshold d is 0.5 meters
  • the preset speed difference threshold e is 0.2 meters per second, 70-30>30 and
  • the jth detection object The detection parameters of and the detection parameters of the target detection object satisfy the second condition.
  • the detection device After confirming that the detection parameters of the j-th detection object on the k-th point cloud frame and the detection parameters of the target detection object satisfy the second condition, the detection device detects that the detection parameters on the M point cloud frames starting with the k-th point cloud frame Whether the detection parameters of the j-th detection object and the detection parameters of the target detection object both satisfy the second condition, if both are satisfied, the detection device confirms that the j-th detection object is a harmonic object of the target detection object.
  • the millimeter-wave radar determines that the i-th detection object is the target detection object, the parameter value of the detection energy parameter of the target detection object is 70 decibels, and the detection of the target detection object
  • the parameter value of the distance parameter is 10 meters
  • the parameter value of the detection speed parameter of the target detection object is 10 meters per second
  • the parameter value of the detection energy parameter of the jth detection object is 30 decibels
  • the parameter value of the detection distance parameter of the jth detection object The value is 29.9 meters
  • the parameter value of the detection speed parameter of the j-th detection object is 29.9 meters per second
  • the preset energy difference threshold c is 30 decibels
  • the preset distance difference threshold d is 0.5 meters
  • the preset speed difference threshold e is 0.2 meters per second, 70-30>30 and
  • m is 3, and m is still less than or equal to the preset harmonic order threshold of 3, 70-30>30 and
  • the detection device After confirming that the detection parameters of the j-th detection object on the k-th point cloud frame and the detection parameters of the target detection object satisfy the second condition, the detection device detects that the detection parameters on the M point cloud frames starting with the k-th point cloud frame Whether the detection parameters of the j-th detection object and the detection parameters of the target detection object both satisfy the second condition, if both are satisfied, the detection device confirms that the j-th detection object is a harmonic object of the target detection object.
  • the detection device may set the target point cloud frame The above determines the next associated detection object.
  • the preset harmonic order threshold f is 3
  • the millimeter-wave radar determines that the i-th detection object is the target detection object, and the target
  • the parameter value of the detection energy parameter of the detection object is 70 decibels
  • the parameter value of the detection distance parameter of the target detection object is 10 meters
  • the parameter value of the detection speed parameter of the target detection object is 10 meters per second
  • the detection energy of the j-th detection object The parameter value of the parameter is 30 decibels
  • the parameter value of the detection distance parameter of the j-th detection object is 39.9 meters
  • the parameter value of the detection speed parameter of the j-th detection object is 39.9 meters per second
  • the preset energy difference threshold c is 30 decibels
  • the preset distance difference threshold d is 0.5 meters
  • the preset speed difference threshold e is 0.2 meters per second, 70-30>30 and
  • the millimeter-wave radar can analyze and process the detection objects in the point cloud frame detected by the detector, except for the harmonic objects, to determine the next target detection object and the harmonic of the target detection object. Wave object.
  • the detection equipment can be independent of a millimeter wave radar, and perform harmonic object analysis and other processing on the point cloud frames in the point cloud frame set generated by the millimeter wave radar; the detection equipment can also be set in the millimeter wave radar, The detector of the millimeter wave radar transmits and receives the detection signal. After the point cloud frame set is generated based on the detection signal, the detection device can perform processing such as analysis of the harmonic object based on the point cloud frame set.
  • the detection device can obtain the target point cloud frame detected in the environment detection process, and determine the target detection object and the associated detection object on the target point cloud frame. After the detection device determines the target detection object and the associated detection object , It is possible to perform harmonic object detection on the determined detection parameters of the associated detection object, so as to determine whether the associated detection object is the harmonic object of the target detection object.
  • the harmonic target caused by multiple reflections of the close-range strong target can be effectively judged and deleted, the wrong judgment caused by the harmonic target can be avoided, and no additional hardware is required.
  • FIG. 4 is a schematic structural diagram of a detection device disclosed in an embodiment of the present invention.
  • the detection device 40 includes:
  • the obtaining module 401 is configured to obtain the target point cloud frame detected in the environment detection process
  • the determining module 402 is configured to determine the target detection object on the target point cloud frame
  • the determining module 402 is further configured to determine the associated detection object on the target point cloud frame;
  • the detection module 403 is configured to perform harmonic object detection on the determined detection parameters of the associated detection object, so as to determine whether the associated detection object is the harmonic object of the target detection object.
  • the detection parameters of the target detection object include: at least one of: a detection energy parameter of the target detection object, a detection distance parameter of the target detection object, and a detection speed parameter of the target detection object .
  • the target point cloud frame is a point cloud frame in a point cloud frame set detected in the environment detection process, and the point cloud frame set includes N point cloud frames, and N is a positive integer
  • the detection parameter of the target detection object meets the first condition means: the detection energy parameter of the target detection object is greater than the preset energy threshold, and/or the detection distance parameter of the target detection object is less than the preset distance threshold .
  • the target detection object includes: an object that exists in all M point cloud frames in the point cloud frame set, and the object is in each point cloud frame of the M point cloud frames
  • the detection parameters all satisfy the first condition, M is a positive integer, and 2 ⁇ M ⁇ N.
  • the detection parameter of the associated detection object includes: at least one of the detection energy parameter of the associated detection object, the detection range parameter of the associated detection object, and the detection speed parameter of the associated detection object .
  • the detection module 403 is specifically configured to:
  • the detection parameters of the associated detection object and the detection parameters of the target detection object If the detection parameters all satisfy the second condition, it is determined that the associated detection object is a harmonic object.
  • the satisfaction of the second condition between the detection parameter of the associated detection object and the detection parameter of the target detection object includes:
  • the difference between the sum of the detection distance parameters of the m target detection objects and the detection distance parameters of the associated detection objects is less than a preset distance difference threshold
  • the difference between the sum of the detection speed parameters of the m target detection objects and the detection speed parameters of the associated detection objects is less than a preset speed difference threshold
  • n is a positive integer greater than or equal to 2.
  • satisfying the second condition between the detection parameter of the associated detection object and the detection parameter of the target detection object further includes: the detection energy parameter of the target detection object and the detection energy of the associated detection object The difference between the parameters is greater than the preset energy difference threshold.
  • the value of m is less than or equal to a preset harmonic order threshold.
  • the preset harmonic order threshold is equal to 3.
  • the The determining module 402 is further configured to determine the next associated detection object on the target point cloud frame.
  • the determining module 402 is further configured to analyze and process the detected objects in the detected target point cloud frame other than the harmonic objects.
  • the acquiring module 401 can acquire the target point cloud frame detected in the environment detection process; the determining module 402 can determine the target detection object on the target point cloud frame; the determining module 402 can also acquire the target point cloud frame The associated detection object is determined; then the detection module 403 can perform harmonic object detection on the determined detection parameters of the associated detection object, so as to determine whether the associated detection object is a harmonic object of the target detection object.
  • FIG. 5 is a schematic structural diagram of a detection device disclosed in an embodiment of the present invention.
  • the detection device 50 described in this embodiment includes a processor 501 and a memory 502.
  • the above-mentioned processor 501 and memory 502 are connected by a bus.
  • the above-mentioned processor 501 may be a central processing unit (CPU), and the processor 501 may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), and application specific integrated circuits (Application Specific Integrated Circuits). ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the aforementioned memory 502 may include a read-only memory and a random access memory, and provides program instructions and data to the processor 501. A part of the memory 502 may also include a non-volatile random access memory. Wherein, the processor 501 is used to execute when calling the program instructions:
  • the detection parameters of the target detection object include: at least one of: a detection energy parameter of the target detection object, a detection distance parameter of the target detection object, and a detection speed parameter of the target detection object .
  • the detection parameter of the target detection object satisfies the first condition means: the detection energy parameter of the target detection object is greater than a preset energy threshold, and/or the detection distance parameter of the target detection object is less than The preset distance threshold.
  • the target point cloud frame is a point cloud frame in a point cloud frame set detected in the environment detection process, and the point cloud frame set includes N point cloud frames, and N is a positive integer
  • the target detection object includes: an object that exists in the M point cloud frames in the point cloud frame set, and the detection parameters of the object in each of the M point cloud frames satisfy the first One condition, M is a positive integer, and 2 ⁇ M ⁇ N.
  • the detection parameter of the associated detection object includes: at least one of the detection energy parameter of the associated detection object, the detection range parameter of the associated detection object, and the detection speed parameter of the associated detection object .
  • the processor 501 is specifically configured to:
  • the detection parameters of the associated detection object and the detection parameters of the target detection object If the detection parameters all satisfy the second condition, it is determined that the associated detection object is a harmonic object.
  • the satisfaction of the second condition between the detection parameter of the associated detection object and the detection parameter of the target detection object includes:
  • the difference between the sum of the detection distance parameters of the m target detection objects and the detection distance parameters of the associated detection objects is less than a preset distance difference threshold
  • the difference between the sum of the detection speed parameters of the m target detection objects and the detection speed parameters of the associated detection objects is less than a preset speed difference threshold
  • n is a positive integer greater than or equal to 2.
  • satisfying the second condition between the detection parameter of the associated detection object and the detection parameter of the target detection object further includes: the detection energy parameter of the target detection object and the detection energy of the associated detection object The difference between the parameters is greater than the preset energy difference threshold.
  • the value of m is less than or equal to a preset harmonic order threshold.
  • the preset harmonic order threshold is equal to 3.
  • the The processor 501 is specifically configured to: determine the next associated detection object on the target point cloud frame.
  • the processor 501 is specifically configured to analyze and process detected objects in the detected target point cloud frame other than the harmonic objects.
  • the processor 501 and the memory 502 described in the embodiment of the present invention can perform the implementation described in the detection method of the detection object provided in Figure 2 of the embodiment of the present invention, and can also perform the implementation described in Figure 4 of the embodiment of the present invention. The implementation of the described detection device will not be repeated here.
  • the processor 501 may obtain the target point cloud frame detected in the environment detection process, and determine the target detection object and the associated detection object on the target point cloud frame included in the point cloud frame set, where the The detection parameters of the target detection object meet the first condition; after the target detection object and the associated detection object are determined on the target point cloud frame included in the point cloud frame set, harmonic object detection can be performed on the determined detection parameters of the associated detection object, In order to determine whether the associated detection object is a harmonic object of the target detection object.
  • the embodiment of the present invention also provides a millimeter-wave radar.
  • the millimeter-wave radar may include the detection device described in the embodiment shown in FIG. 5, and the detection device may adopt the foregoing implementations. Example structure.
  • the embodiment of the present invention also provides a computer storage medium in which program instructions are stored, and the program execution may include part or all of the steps of the detection object detection method in the embodiment corresponding to FIG. 2.
  • the millimeter wave radar can transmit and receive detection signals through the detector to form a point cloud frame set
  • the millimeter-wave radar can perform corresponding processing such as harmonic object detection on the associated detection object through the detection device.
  • the detection device may be the detection device described in the embodiment corresponding to FIG. 5.
  • the program can be stored in a computer-readable storage medium, and the storage medium can include: Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.

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Abstract

一种探测对象的检测方法、探测设备及毫米波雷达，其中，探测对象的检测方法包括：获取在环境检测过程中检测到的目标点云帧（201）；确定目标点云帧上的目标探测对象（202）；在目标点云帧上确定出关联探测对象（203）；对确定出的关联探测对象的探测参数进行谐波对象检测，以便于确定关联探测对象是否为目标探测对象的谐波对象（204）。可以在不增加硬件成本的前提下，较为有效地判断出探测到的谐波目标，避免谐波目标造成的误断。

Description

一种探测对象的检测方法、探测设备及毫米波雷达 技术领域
本发明涉及电子技术领域，尤其涉及一种探测对象的检测方法、探测设备及毫米波雷达。
背景技术
近年来，毫米波雷达作为一种重要的用于探测距离的传感器，能有效保障全天时、全天候条件下的诸如自动紧急制动(Autonomous Emergency Braking，AEB)、前向碰撞预警(Forward Collision Warning，FCW)和盲点监测(Blind Spot Detection，BSD)等移动辅助功能。
在保证上述相关功能的过程中，毫米波雷达需要准确判断探测对象的距离、速度和角度等相关信息，以提供准确的输入信息。但是对于毫米波雷达来说，近距离强反射目标可能会在自车与真实目标对象(如其他车辆、障碍物等等)之间形成多次反射现象，从而形成了具有多倍距离、多倍速度条件的谐波目标，进而形成了虚假的输入信息，造成虚警，影响车辆等移动平台的安全性。因此，针对毫米波雷达，需要抑制因多次反射现象产生的谐波信号，从而删除谐波目标。
目前，通常采用硬件设计滤波器的方式对谐波信息进行抑制，从而删除谐波目标。在采用硬件设计滤波器的方式对谐波信号进行抑制的过程中，构造滤波器会增加硬件成本，并且滤波器只能滤除部分谐波信号，不能完全滤除谐波信号，较强的谐波信号经过滤波器后仍然可能超过滤波门限，形成谐波目标。
发明内容
本发明实施例公开了一种探测对象的检测方法、探测设备及毫米波雷达，可以在不增加硬件成本的前提下，较为有效地判断出探测到的谐波目标，避免谐波目标造成的误断。
一方面，本发明实施例提供了一种探测对象的检测方法，所述方法包括：
获取在环境检测过程中检测到的目标点云帧；
确定所述目标点云帧上的目标探测对象；
在所述目标点云帧上确定出关联探测对象；
对确定出的关联探测对象的探测参数进行谐波对象检测，以便于确定该关联探测对象是否为所述目标探测对象的谐波对象。
另一方面，本发明实施例提供了一种探测设备，所述探测设备包括处理器和存储器，其中：
所述存储器，用于存储有计算机程序，所述计算机程序包括程序指令；
所述处理器，调用所述程序指令时用于执行：
获取在环境检测过程中检测到的目标点云帧；
确定所述目标点云帧上的目标探测对象；
在所述目标点云帧上确定出关联探测对象；
对确定出的关联探测对象的探测参数进行谐波对象检测，以便于确定该关联探测对象是否为所述目标探测对象的谐波对象。
相应地，本发明实施例还提供了一种探测装置，应用于探测设备，所述装置包括：
获取模块，用于获取在环境检测过程中检测到的目标点云帧；
确定模块，用于确定所述目标点云帧上的目标探测对象；
确定模块，还用于在所述目标点云帧上确定出关联探测对象；
检测模块，用于对确定出的关联探测对象的探测参数进行谐波对象检测，以便于确定该关联探测对象是否为所述目标探测对象的谐波对象。
相应地，本发明实施例还提供了一种毫米波雷达，所述毫米波雷达包括上述的探测设备，用于实现上述的探测对象的检测方法。
相应地，本发明实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现上述的探测对象的检测方法。
本发明实施例可以获取在环境检测过程中检测到的目标点云帧，确定目标点云帧上的目标探测对象和关联探测对象，并对确定出的关联探测对象的探测参数进行谐波对象检测，从而确定该关联探测对象是否为目标探测对象的谐波对象，以便于将该谐波对象的相关信息及时删除，通过本发明实施例，可以在 不增加硬件成本的前提下，有效判断并删除因强目标多次反射造成的谐波目标，避免谐波目标造成的错误判断。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅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是本发明实施例公开的一种谐波目标的形成原理示意图；
图2是本发明实施例公开的一种探测对象的检测方法的流程示意图；
图3是本发明实施例公开的另一种探测对象的检测方法的流程示意图；
图4是本发明实施例公开的一种探测装置的结构示意图；
图5是本发明实施例公开的一种探测设备的结构示意图。
具体实施方式
近年来高级辅助驾驶(Advanced Driver Assistant System，ADAS)技术和自动驾驶(Autonomous Driving，AD)技术发展迅速，毫米波雷达因其全天时、全天候、作用距离远、测速精度高等优点而被广泛使用到这些领域，毫米波雷达作为一种重要的传感器，能有效保障全天时、全天候条件下的自动紧急制动(Autonomous Emergency Braking，AEB)、前向碰撞预警(Forward Collision Warning，FCW)和盲点监测(Blind Spot Detection，BSD)等移动辅助功能。在保证上述相关功能的过程中，毫米波雷达需要准确判断目标的距离、速度和角度等相关信息，以提供相对准确的输入信息。本发明实施例选取了毫米波雷达在探测信号收发的过程中的一些特征参数，从这些特征参数出发进行计算分析，进而确定出探测得到的各个点云帧中某个探测对象是否为谐波对象。
请参见图1，图1是本发明实施例公开的一种谐波目标的形成原理示意图，由毫米波雷达发射的探测信号(即电磁波)经过真实目标反射后被毫米波雷达接收，毫米波雷达接收到真实目标反射的电磁波后，可以获取真实目标的相对距离、速度及角度信息。经真实目标反射后的电磁波打到自车强反射点上，再 次反射至真实目标，由真实目标再次反射后，电磁波被毫米波雷达接收，形成二次谐波目标，以此类推可能会形成三次谐波目标甚至更多次的谐波目标。毫米波雷达发射的电磁波在自车及真实目标之间多次反射后，形成多次谐波目标。根据对谐波目标的形成原理进行分析后，可以得出谐波目标与真实目标的参数之间具有以下关系：谐波目标与真实目标的距离之间呈现倍数关系；因为在相同的时间内，谐波目标与真实目标的距离之间呈现倍数关系，从而谐波目标与真实目标的速度之间呈现与距离相同的倍数关系；出现谐波时，真实目标第一次反射的电磁波强度很强，谐波经过多次反射，衰减较大，谐波的能量相比于真实目标反射的电磁波强度要弱。
为了解决上述问题，本发明实施例提供了一种探测对象的检测方法、探测设备及毫米波雷达，该探测对象的检测方法将谐波目标与真实目标在距离、速度和能量三个参数之间存在的关系作为判断谐波目标的依据，在毫米波雷达探测到的目标中确定真实目标和谐波目标，从而可以根据需要将谐波目标删除，通过该探测对象的检测方法，可以有效判断并删除因近距离强目标多次反射造成的谐波目标，避免谐波目标造成的错误判断，并且不需要增加额外的硬件。
请参见图2，图2是本发明实施例公开的一种探测对象的检测方法的流程示意图，本发明实施例提供的探测对象的检测方法可以应用于探测设备中，该方法包括但不限于如下步骤：
S201、获取在环境检测过程中检测到的目标点云帧。毫米波雷达通过探测器向周围的环境发射探测信号并接收探测信号，形成点云帧集合，其中，探测信号可以为电磁波、脉冲信号或者激光信号等等，本发明实施例对此不做限定；探测设备可以获取在环境检测过程中检测到的点云帧集合中的目标点云帧。在一个实施例中，毫米波雷达可以通过探测器周期性地向周围环境发射探测信号，一个周期发射一次，并接收周围环境反射的探测信号，形成点云帧集合；探测设备可以获取在对周围环境进行检测过程中检测到的点云帧集合中的目标点云帧，并对目标点云帧上的探测对象进行检测。在一个周期中，即毫米波雷达通过探测器向周围环境发射一次探测信号并接受探测信号时，探测设备可以在一个周期内对周围环境进行检测，获取包括N个点云帧的点云帧集合，并对点云帧集合中的目标点云帧上的探测对象进行检测，其中，N为正整数。
例如，毫米波雷达通过探测器每隔50ms发射一次电磁波并接收周围环境反射的电磁波，形成点云帧集合；在50ms内，探测设备对周围环境进行检测，即探测设备以每秒20帧的检测速度对周围环境进行检测，并对每50ms获取的目标点云帧上的探测对象进行检测。
S202、确定目标点云帧上的目标探测对象。探测设备获取到在环境检测过程中检测到的点云帧集合后，可以确定点云帧集合包括的目标点云帧上的目标探测对象，在一个实施例中，目标探测对象的探测参数满足第一条件。
在一个实施例中，目标探测对象的探测参数可以包括目标探测对象的探测能量参数、目标探测对象的探测距离参数和目标探测对象的探测速度参数。探测能量参数可以是根据探测器发射电磁波时的能量、以及接收到相应探测对象对应的反射电磁波的能量确定的；探测距离参数可以是根据探测器发射电磁波时的时间、接收到相应探测对象对应的反射电磁波的时间、以及电磁波传播速度来确定的；探测速度参数可以是根据至少两个点云帧中，在对同一探测对象探测得到的探测距离参数，以及两个点云帧的探测时间差计算得到的。目标探测对象的探测参数满足第一条件是指目标探测对象的探测能量参数大于预设的能量阈值，和/或目标探测对象的探测距离参数小于预设的距离阈值。目标探测对象可以包括在点云帧集合中的M个点云帧均存在的对象、并且该对象在M个点云帧的各个点云帧中的探测参数均满足第一条件，M为正整数，且2≤M≤N。
探测设备确定点云帧集合包括的目标点云帧上的目标探测对象的具体过程可参见图3，如图3所示，图3是本发明实施例公开的另一种探测对象的检测方法的流程示意图，在点云帧集合的N个点云帧中，以探测设备对第k点云帧上的第i探测对象进行检测为例，其中，P表示探测对象的探测能量参数，R表示探测对象的探测距离参数，V表示探测对象的探测速度参数。P i表示第k点云帧上的第i探测对象的探测能量参数，R i表示第k点云帧上的第i探测对象的探测距离参数，V i表示第k点云帧上的第i探测对象的探测速度参数。a表示预设的能量阈值，b表示预设的距离阈值，预设的能量阈值和预设的距离阈值的具体取值可以由探测器发射电磁波的发射功率决定。当第i探测对象满足第一条件Pi>a且Ri<b，即第i探测对象的探测能量参数Pi大于预设的能 量阈值a，第i探测对象的探测距离参数Ri小于预设的距离阈值b，且在以第k点云帧开始的M个点云帧上该第i探测对象的探测参数均满足第一条件Pi>a且Ri<b时，探测设备确定该第i探测对象为目标探测对象。当第i探测对象不满足第一条件Pi>a且Ri<b时，探测设备对第k点云帧上的下一个探测对象进行检测，判断其是否满足第一条件，进而判断其是否为目标探测对象。
例如，第k点云帧上的第i探测对象的探测能量参数的参数值为70分贝，第i探测对象的探测距离参数的参数值为10米，第i探测对象的探测速度参数的参数值为10米每秒，预设的能量阈值a为60分贝，预设的距离阈值b为15米，70>60且10<15，即第i探测对象的探测能量参数的参数值大于预设的能量阈值，且第i探测对象的探测距离参数的参数值小于预设的距离阈值，第k点云帧上的第i探测对象的探测参数满足第一条件。进一步的，确认第k点云帧上的第i探测对象的探测参数满足第一条件后，探测设备检测在以第k点云帧开始的M个点云帧上该第i探测对象的探测参数是否均满足第一条件，若均满足，则探测设备确认该第i探测对象为目标探测对象。
又如，第k点云帧上的第i探测对象的探测能量参数的参数值为50分贝，目标探测对象的探测距离参数的参数值为10米，第i探测对象的探测速度参数的参数值为10米每秒，预设的能量阈值a为60分贝，预设的距离阈值b为15米，50<60且10<15，即第i探测对象的探测能量参数的参数值小于预设的能量阈值，且第i探测对象的探测距离参数的参数值小于预设的距离阈值，第k点云帧上的第i探测对象的探测参数不满足第一条件，探测设备将对第k点云帧上的第i+1探测对象进行检测，以确定其是否为目标探测对象。
S203、在目标点云帧上确定出关联探测对象。探测设备确定点云帧集合包括的目标点云帧上的目标探测对象后，探测设备可以在目标点云帧上确定出关联探测对象。该关联探测对象可以是目标点云帧上除所述目标探测对象外的其他任意一个探测对象，本发明实施例中，探测设备可以先后或者同时对目标点云帧中的其他探测对象进行分析，以确定这些探测对象是否为所述目标探测对象的谐波对象。
例如，在图3所示的另一种探测对象的检测方法的流程示意图中，第k点云帧为目标点云帧，探测设备确定在第k点云帧上的第i探测对象为目标探 测对象，则探测设备确定第k点云帧上除第i探测对象外的其他任意一个探测对象为关联探测对象，第j(j≠i)探测对象可以为关联探测对象，第j+1(j+1≠i)探测对象可以为关联探测对象，等等。探测设备可以先后或者同时对第k点云帧中的其他探测对象进行分析，以确定这些探测对象是否为所述目标探测对象的谐波对象。
S204、对确定出的关联探测对象的探测参数进行谐波对象检测，以便于确定出关联探测对象是否为目标探测对象的谐波对象。在目标点云帧中确定出关联探测对象后，探测设备可以对确定出的关联探测对象的探测参数进行谐波对象检测，以便于确定出关联探测对象是否为目标探测对象的谐波对象。其中，关联探测对象的探测参数包括关联探测对象的探测能量参数、关联探测对象的探测距离参数和关联探测对象的探测速度参数。
在一个实施例中，探测设备对确定出的关联探测对象的探测参数进行谐波对象检测的方式可以为：确定关联探测对象的探测参数；当关联探测对象在点云帧集合中的M个点云帧均存在、且在M个点云帧中该关联探测对象的探测参数与目标探测对象的探测参数之间均满足第二条件，则确定该关联探测对象为目标探测对象的谐波对象。关联探测对象的探测参数与目标探测对象的探测参数之间均满足第二条件是指目标探测对象的探测能量参数与关联探测对象的探测能量参数之间的差值大于预设的能量差阈值，m个目标探测对象的探测距离参数之和与关联探测对象的探测距离参数之间的差值的绝对值小于预设的距离差阈值，m个目标探测对象的探测速度参数之和与关联探测对象的探测速度参数之间的差值的绝对值小于预设的速度差阈值。其中，m小于或等于预设的谐波次数阈值，m为大于等于2的正整数。
探测设备对确定出的关联探测对象的探测参数进行谐波对象检测的具体过程可参见图3，如图3所示，在点云帧集合的N个点云帧中，以探测设备对第k点云帧上的探测对象进行检测为例，当探测设备确定第i探测对象为目标探测对象时，探测设备对第k点云帧上除第i探测对象外的第j探测对象进行检测，其中，P j表示第k点云帧上的第j探测对象的探测能量参数，R j表示第k点云帧上的第j探测对象的探测距离参数，V j表示第k点云帧上的第j探测对象的探测速度参数。c为预设的能量差阈值，d为预设的距离差阈值，e为预设的速度差阈值，f 为预设的谐波次数阈值。当第j探测对象的探测参数与目标探测对象的探测参数之间满足第二条件P i-P j>c且|mⅹR i-R j|<d且|mⅹV i-V j|<e，即目标探测对象的探测能量参数P i与第j探测对象的探测能量参数P j之间的差值大于预设的能量差阈值c，m个目标探测对象的探测距离参数R i之和与第j探测对象的探测距离参数R j之间的差值的绝对值小于预设的距离差阈值d，m个目标探测对象的探测速度参数V i之和与第j探测对象的探测速度参数V j之间的差值的绝对值小于预设的速度差阈值e，且在以第k点云帧开始的M个点云帧上该第j探测对象的探测参数均满足第二条件时，探测设备确定该第j探测对象为目标探测对象的关联探测对象。m为大于或者等于2，且小于或者等于预设的谐波次数阈值f的正整数。
例如，在图3所示的另一种探测对象的检测方法的流程示意图中，m为2，预设的谐波次数阈值f为3，探测设备确定第i探测对象为目标探测对象，目标探测对象的探测能量参数的参数值为70分贝，目标探测对象的探测距离参数的参数值为10米，目标探测对象的探测速度参数的参数值为10米每秒，第j探测对象的探测能量参数的参数值为30分贝，第j探测对象的探测距离参数的参数值为19.9米，第j探测对象的探测速度参数的参数值为19.9米每秒，预设的能量差阈值c为30分贝，预设的距离差阈值d为0.5米，预设的速度差阈值e为0.2米每秒，70-30>30且|2ⅹ10-19.9|<0.5且|2ⅹ10-19.9|<0.2，第j探测对象的探测参数与目标探测对象的探测参数满足第二条件。进一步的，确认第k点云帧上的第j探测对象的探测参数与目标探测对象的探测参数满足第二条件后，探测设备检测在以第k点云帧开始的M个点云帧上该第j探测对象的探测参数与目标探测对象的探测参数是否均满足第二条件，若均满足，探测设备确认该第j探测对象为目标探测对象的谐波对象。
又如，m为2，预设的谐波次数阈值f为3，毫米波雷达确定第i探测对象为目标探测对象，目标探测对象的探测能量参数的参数值为70分贝，目标探测对象的探测距离参数的参数值为10米，目标探测对象的探测速度参数的参数值为10米每秒，第j探测对象的探测能量参数的参数值为30分贝，第j探测对象的探测距离参数的参数值为29.9米，第j探测对象的探测速度参数的参数值为29.9米每秒，预设的能量差阈值c为30分贝，预设的距离差阈值d为0.5米，预设的速度差阈值e为0.2米每秒，70-30>30且|2ⅹ10-29.9|>0.5且|2ⅹ10-29.9|>0.2，第j探 测对象的探测参数与目标探测对象的探测参数不满足第二条件，将m的值增加1，此时，m为3，m仍然小于或者等于预设的谐波次数阈值3，70-30>30且|3ⅹ10-29.9|<0.5且|3ⅹ10-29.9|<0.2，第j探测对象的探测参数与目标探测对象的探测参数满足第二条件。进一步的，确认第k点云帧上的第j探测对象的探测参数与目标探测对象的探测参数满足第二条件后，探测设备检测在以第k点云帧开始的M个点云帧上该第j探测对象的探测参数与目标探测对象的探测参数是否均满足第二条件，若均满足，探测设备确认该第j探测对象为目标探测对象的谐波对象。
在一个实施例中，当关联探测对象的探测参数与目标探测对象的探测参数之间不满足第二条件、且m的值大于预设的谐波次数阈值时，探测设备可以在目标点云帧上确定出下一个关联探测对象。
例如，在图3所示的另一种探测对象的检测方法的流程示意图中，m为3，预设的谐波次数阈值f为3，毫米波雷达确定第i探测对象为目标探测对象，目标探测对象的探测能量参数的参数值为70分贝，目标探测对象的探测距离参数的参数值为10米，目标探测对象的探测速度参数的参数值为10米每秒，第j探测对象的探测能量参数的参数值为30分贝，第j探测对象的探测距离参数的参数值为39.9米，第j探测对象的探测速度参数的参数值为39.9米每秒，预设的能量差阈值c为30分贝，预设的距离差阈值d为0.5米，预设的速度差阈值e为0.2米每秒，70-30>30且|3ⅹ10-39.9|>0.5且|3ⅹ10-39.9|>0.2，第j探测对象的探测参数与目标探测对象的探测参数不满足第二条件，将m的值增加1，此时，m为4，m大于预设的谐波次数阈值3，探测设备将对除第i探测对象外的第j+1探测对象进行检测，以确定其是否为目标探测对象的谐波对象。
在一个实施例中，毫米波雷达可以对探测器检测到的点云帧中除被确定为谐波对象之外的探测对象进行分析处理，以确定下一个目标探测对象和该目标探对象的谐波对象。
需要说明的是，探测设备可以独立于一个毫米波雷达，对毫米波雷达生成的点云帧集合中的点云帧进行谐波对象的分析等处理；探测设备也可以设置于毫米波雷达中，毫米波雷达的探测器进行探测信号的收发，在根据探测信号生成了点云帧集合后，探测设备可以基于点云帧集合进行谐波对象的分析等处理。
本发明实施例中，探测设备可以获取在环境检测过程中检测到的目标点云帧，并确定目标点云帧上的目标探测对象和关联探测对象，探测设备确定目标探测对象和关联探测对象后，可以对确定出的关联探测对象的探测参数进行谐波对象检测，以便确定该关联探测对象是否为目标探测对象的谐波对象。通过本发明实施例，可以有效判断并删除因近距离强目标多次反射造成的谐波目标，避免谐波目标造成的错误判断，并且不需要增加额外的硬件。
请参见图4，图4为本发明实施例公开的一种探测装置的结构示意图。所述探测装置40包括：
获取模块401，用于获取在环境检测过程中检测到目标点云帧；
确定模块402，用于确定所述目标点云帧上的目标探测对象；
确定模块402，还用于在所述目标点云帧上确定出关联探测对象；
检测模块403，用于对确定出的关联探测对象的探测参数进行谐波对象检测，以便于确定该关联探测对象是否为所述目标探测对象的谐波对象。
在一个实施例中，所述目标探测对象的探测参数包括：所述目标探测对象的探测能量参数、所述目标探测对象的探测距离参数、以及所述目标探测对象的探测速度参数中的至少一个。
在一个实施例中，所述目标点云帧是在环境检测过程中检测到的点云帧集合中的一个点云帧，所述点云帧集合中包括N个点云帧，N为正整数；所述目标探测对象的探测参数满足第一条件是指：所述目标探测对象的探测能量参数大于预设的能量阈值，和/或所述目标探测对象的探测距离参数小于预设的距离阈值。
在一个实施例中，所述目标探测对象包括：在所述点云帧集合中的M个点云帧均存在的对象、并且该对象在所述M个点云帧的各个点云帧中的探测参数均满足第一条件，M为正整数，且2≤M≤N。
在一个实施例中，所述关联探测对象的探测参数包括：所述关联探测对象的探测能量参数、所述关联探测对象的探测距离参数、以及所述关联探测对象的探测速度参数中的至少一个。
在一个实施例中，检测模块403，具体用于：
确定所述关联探测对象的探测参数；
根据所述关联探测对象的探测参数确定所述关联探测对象是否为谐波对象；
其中，当所述关联探测对象在所述点云帧集合中的M个点云帧均存在、且在所述M个点云帧中所述关联探测对象的探测参数与所述目标探测对象的探测参数之间均满足第二条件，则确定该关联探测对象为谐波对象。
在一个实施例中，所述关联探测对象的探测参数与所述目标探测对象的探测参数之间满足第二条件包括：
m个所述目标探测对象的探测距离参数之和与所述关联探测对象的探测距离参数之间的差值小于预设的距离差阈值；
m个所述目标探测对象的探测速度参数之和与所述关联探测对象的探测速度参数之间的差值小于预设的速度差阈值；
m为大于等于2的正整数。
在一个实施例中，所述关联探测对象的探测参数与所述目标探测对象的探测参数之间满足第二条件还包括：所述目标探测对象的探测能量参数与所述关联探测对象的探测能量参数之间的差值大于预设的能量差阈值。
在一个实施例中，m的值小于或等于预设的谐波次数阈值。
在一个实施例中，所述预设的谐波次数阈值等于3。
在一个实施例中，当所述关联探测对象的探测参数与所述目标探测对象的探测参数之间不满足第二条件、且m的值大于所述预设的谐波次数阈值时，所述确定模块402还用于：在所述目标点云帧上确定出下一个关联探测对象。
在一实现方式中，所述确定模块402还用于：对检测到的所述目标点云帧中除被确定为谐波对象之外的探测对象进行分析处理。
本发明实施例中，获取模块401可以获取在环境检测过程中检测到的目标点云帧；确定模块402可以确定目标点云帧上的目标探测对象；确定模块402还可以在目标点云帧上确定出关联探测对象；进而检测模块403可以对确定出的关联探测对象的探测参数进行谐波对象检测，以便于确定该关联探测对象是否为目标探测对象的谐波对象。通过本发明实施例，可以在不增加硬件成本的前提下，有效判断并删除因近距离强目标多次反射造成的谐波目标，避免谐波目标造成的错误判断。
请参见图5，图5是本发明实施例公开的一种探测设备的结构示意图。本实施例中所描述的探测设备50，包括：处理器501和存储器502。上述处理器501和存储器502通过总线连接。
上述处理器501可以是中央处理单元(Central Processing Unit，CPU)，该处理器501还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
上述存储器502可以包括只读存储器和随机存取存储器，并向处理器501提供程序指令和数据。存储器502的一部分还可以包括非易失性随机存取存储器。其中，所述处理器501调用所述程序指令时用于执行：
获取在环境检测过程中检测到的目标点云帧；
确定所述目标点云帧上的目标探测对象；
在所述目标点云帧上确定出关联探测对象；
对确定出的关联探测对象的探测参数进行谐波对象检测，以便于确定所述关联探测对象是否为所述目标探测对象的谐波对象。
在一个实施例中，所述目标探测对象的探测参数包括：所述目标探测对象的探测能量参数、所述目标探测对象的探测距离参数、以及所述目标探测对象的探测速度参数中的至少一个。
在一个实施例中，所述目标探测对象的探测参数满足第一条件是指：所述目标探测对象的探测能量参数大于预设的能量阈值，和/或所述目标探测对象的探测距离参数小于预设的距离阈值。
在一个实施例中，所述目标点云帧是在环境检测过程中检测到的点云帧集合中的一个点云帧，所述点云帧集合中包括N个点云帧，N为正整数；所述目标探测对象包括：在所述点云帧集合中的M个点云帧均存在的对象、并且该对象在所述M个点云帧的各个点云帧中的探测参数均满足第一条件，M为正整数，且2≤M≤N。
在一个实施例中，所述关联探测对象的探测参数包括：所述关联探测对象 的探测能量参数、所述关联探测对象的探测距离参数、以及所述关联探测对象的探测速度参数中的至少一个。
在一个实施例中，所述处理器501，具体用于：
确定所述关联探测对象的探测参数；
根据所述关联探测对象的探测参数确定所述关联探测对象是否为谐波对象；
其中，当所述关联探测对象在所述点云帧集合中的M个点云帧均存在、且在所述M个点云帧中所述关联探测对象的探测参数与所述目标探测对象的探测参数之间均满足第二条件，则确定该关联探测对象为谐波对象。
在一个实施例中，所述关联探测对象的探测参数与所述目标探测对象的探测参数之间满足第二条件包括：
m个所述目标探测对象的探测距离参数之和与所述关联探测对象的探测距离参数之间的差值小于预设的距离差阈值；
m个所述目标探测对象的探测速度参数之和与所述关联探测对象的探测速度参数之间的差值小于预设的速度差阈值；
m为大于等于2的正整数。
在一个实施例中，所述关联探测对象的探测参数与所述目标探测对象的探测参数之间满足第二条件还包括：所述目标探测对象的探测能量参数与所述关联探测对象的探测能量参数之间的差值大于预设的能量差阈值。
在一个实施例中，m的值小于或等于预设的谐波次数阈值。
在一个实施例中，所述预设的谐波次数阈值等于3。
在一个实施例中，当所述关联探测对象的探测参数与所述目标探测对象的探测参数之间不满足第二条件、且m的值大于所述预设的谐波次数阈值时，所述处理器501，具体用于：在所述目标点云帧上确定出下一个关联探测对象。
在一实现方式中，所述处理器501，具体用于：对检测到的所述目标点云帧中除被确定为谐波对象之外的探测对象进行分析处理。
具体实现中，本发明实施例中所描述的处理器501和存储器502可执行本发明实施例图2提供的探测对象的检测方法中所描述的实现方式，也可执行本发明实施例图4所描述的探测装置的实现方式，在此不再赘述。
本发明实施例中，处理器501可以获取在环境检测过程中检测到的目标点云帧，并确定点云帧集合包括的目标点云帧上的目标探测对象和关联探测对象，其中，所述目标探测对象的探测参数满足第一条件；在点云帧集合包括的目标点云帧上确定目标探测对象和关联探测对象后，可以对确定出的关联探测对象的探测参数进行谐波对象检测，以便于确定关联探测对象是否为目标探测对象的谐波对象。通过本发明实施例，可以在不增加硬件成本的前提下，有效判断并删除因近距离强目标多次反射造成的谐波目标，避免谐波目标造成的错误判断。
本发明实施例还提供了一种本发明实施例还提供了一种毫米波雷达，所述毫米波雷达可以包括图5所示实施例中描述的探测设备，所述探测设备可以采用上述各个实施例的构造。
本发明实施例还提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序执行时可包括如图2对应实施例中的探测对象的检测方法的部分或全部步骤。
需要说明的是，对于前述的各个方法实施例中涉及的探测设备和探测器，可以集成于同一毫米波雷达中，毫米波雷达可以通过探测器发射探测信号并接收探测信号，形成点云帧集合；毫米波雷达可以通过探测设备进行相应的诸如对关联探测对象进行谐波对象检测等处理，具体的，该探测设备可以是图5对应的实施例中描述的探测设备。
需要说明的是，对于前述的各个方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本申请，某一些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取器(Random Access Memory，RAM)、磁盘或光盘等。
以上对本发明实施例所提供的一种探测对象的检测方法、探测设备及毫米 波雷达进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (25)

  1. 一种探测对象的检测方法，其特征在于，所述方法包括：
    获取在环境检测过程中检测到的目标点云帧；
    确定所述目标点云帧上的目标探测对象；
    在所述目标点云帧上确定出关联探测对象；
    对确定出的关联探测对象的探测参数进行谐波对象检测，以便于确定所述关联探测对象是否为所述目标探测对象的谐波对象。
  2. 根据权利要求1所述的方法，其特征在于，
    所述目标点云帧是在环境检测过程中检测到的点云帧集合中的一个点云帧，所述点云帧集合包括N个点云帧，N为正整数；
    所述目标探测对象包括：在所述点云帧集合中的M个点云帧均存在的对象、并且该对象在所述M个点云帧的各个点云帧中的探测参数均满足第一条件，M为正整数，且2≤M≤N。
  3. 根据权利要求1或2所述的方法，其特征在于，所述目标探测对象的探测参数包括所述目标探测对象的探测能量参数、所述目标探测对象的探测距离参数、以及所述目标探测对象的探测速度参数中的至少一个。
  4. 根据权利要求1所述的方法，其特征在于，所述目标探测对象的探测参数满足：
    所述目标探测对象的探测能量参数大于预设的能量阈值，和/或所述目标探测对象的探测距离参数小于预设的距离阈值。
  5. 根据权利要求1所述的方法，其特征在于，所述关联探测对象的探测参数包括：所述关联探测对象的探测能量参数、所述关联探测对象的探测距离参数、以及所述关联探测对象的探测速度参数中的至少一个。
  6. 根据权利要求1所述的方法，其特征在于，所述对确定出的关联探测对象的探测参数进行谐波对象检测，包括：
    确定所述关联探测对象的探测参数；
    根据所述关联探测对象的探测参数确定所述关联探测对象是否为谐波对象；
    其中，当所述关联探测对象在所述点云帧集合中的M个点云帧均存在、且在所述M个点云帧中所述关联探测对象的探测参数与所述目标探测对象的探测参数之间均满足第二条件，则确定该关联探测对象为谐波对象。
  7. 根据权利要求6所述的方法，其特征在于，所述关联探测对象的探测参数与所述目标探测对象的探测参数之间满足第二条件包括：
    m个所述目标探测对象的探测距离参数之和与所述关联探测对象的探测距离参数之间的差值小于预设的距离差阈值；
    m个所述目标探测对象的探测速度参数之和与所述关联探测对象的探测速度参数之间的差值小于预设的速度差阈值；
    m为大于等于2的正整数。
  8. 根据权利要求7所述的方法，其特征在于，所述关联探测对象的探测参数与所述目标探测对象的探测参数之间满足第二条件还包括：
    所述目标探测对象的探测能量参数与所述关联探测对象的探测能量参数之间的差值大于预设的能量差阈值。
  9. 根据权利要求7或8所述的方法，其特征在于，m的值小于或等于预设的谐波次数阈值。
  10. 根据权利要求9所述的方法，其特征在于，所述预设的谐波次数阈值等于3。
  11. 根据权利要求6所述的方法，其特征在于，当所述关联探测对象的探 测参数与所述目标探测对象的探测参数之间不满足第二条件、且m的值大于所述预设的谐波次数阈值时，则在所述目标点云帧上确定出下一个关联探测对象。
  12. 根据权利要求1-11任一项所述的方法，其特征在于，所述方法还包括：
    对检测到的所述目标点云帧中除被确定为谐波对象之外的探测对象进行分析处理。
  13. 一种探测设备，其特征在于，所述探测设备包括：处理器和存储器，其中：
    所述存储器，用于存储有计算机程序，所述计算机程序包括程序指令；
    所述处理器调用所述程序指令时用于执行：
    获取在环境检测过程中检测到的目标点云帧；
    确定所述目标点云帧上的目标探测对象；
    在所述目标点云帧上确定出关联探测对象；
    对确定出的关联探测对象的探测参数进行谐波对象检测，以便于确定所述关联探测对象是否为所述目标探测对象的谐波对象。
  14. 根据权利要求13所述的探测设备，其特征在于，
    所述目标点云帧是在环境检测过程中检测到的点云帧集合中的一个点云帧，所述点云帧集合包括N个点云帧，N为正整数；
    所述目标探测对象包括：在所述点云帧集合中的M个点云帧均存在的对象、并且该对象在所述M个点云帧的各个点云帧中的探测参数均满足第一条件，M为正整数，且2≤M≤N。
  15. 根据权利要求13或14所述的探测设备，其特征在于，所述目标探测对象的探测参数包括所述目标探测对象的探测能量参数、所述目标探测对象的探测距离参数、以及所述目标探测对象的探测速度参数中的至少一个。
  16. 根据权利要求13所述的探测设备，其特征在于，所述目标探测对象的探测参数满足：
    所述目标探测对象的探测能量参数大于预设的能量阈值，和/或所述目标探测对象的探测距离参数小于预设的距离阈值。
  17. 根据权利要求13所述的探测设备，其特征在于，所述关联探测对象的探测参数包括：所述关联探测对象的探测能量参数、所述关联探测对象的探测距离参数、以及所述关联探测对象的探测速度参数中的至少一个。
  18. 根据权利要求13所述的探测设备，其特征在于，所述处理器，具体用于：
    确定所述关联探测对象的探测参数；
    根据所述关联探测对象的探测参数确定所述关联探测对象是否为谐波对象；
    其中，当所述关联探测对象在所述点云帧集合中的M个点云帧均存在、且在所述M个点云帧中所述关联探测对象的探测参数与所述目标探测对象的探测参数之间均满足第二条件，则确定该关联探测对象为谐波对象。
  19. 根据权利要求18所述的探测设备，其特征在于，所述关联探测对象的探测参数与所述目标探测对象的探测参数之间满足第二条件包括：
    m个所述目标探测对象的探测距离参数之和与所述关联探测对象的探测距离参数之间的差值小于预设的距离差阈值；
    m个所述目标探测对象的探测速度参数之和与所述关联探测对象的探测速度参数之间的差值小于预设的速度差阈值；
    m为大于等于2的正整数。
  20. 根据权利要求19所述的探测设备，其特征在于，所述关联探测对象的探测参数与所述目标探测对象的探测参数之间满足第二条件还包括：
    所述目标探测对象的探测能量参数与所述关联探测对象的探测能量参数之间的差值大于预设的能量差阈值。
  21. 根据权利要求19或20所述的探测设备，其特征在于，m的值小于或等于预设的谐波次数阈值。
  22. 根据权利要求21所述的探测设备，其特征在于，所述预设的谐波次数阈值等于3。
  23. 根据权利要求18所述的探测设备，其特征在于，当所述关联探测对象的探测参数与所述目标探测对象的探测参数之间不满足第二条件、且m的值大于所述预设的谐波次数阈值时，则在所述目标点云帧上确定出下一个关联探测对象。
  24. 根据权利要求13-23任一项所述的探测设备，其特征在于，所述处理器，具体用于：
    对检测到的所述目标点云帧中除被确定为谐波对象之外的探测对象进行分析处理。
  25. 一种毫米波雷达，其特征在于，所述毫米波雷达包括如权利要求13-24任一项所述的探测设备。
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