WO2022198566A1 - Procédé et appareil d'estimation de vitesse basés sur des données d'écho - Google Patents

Procédé et appareil d'estimation de vitesse basés sur des données d'écho Download PDF

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Publication number
WO2022198566A1
WO2022198566A1 PCT/CN2021/083004 CN2021083004W WO2022198566A1 WO 2022198566 A1 WO2022198566 A1 WO 2022198566A1 CN 2021083004 W CN2021083004 W CN 2021083004W WO 2022198566 A1 WO2022198566 A1 WO 2022198566A1
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WIPO (PCT)
Prior art keywords
processed
image
speed
data
echo
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PCT/CN2021/083004
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English (en)
Chinese (zh)
Inventor
黄磊
王犇
赵博
李强
陈佳民
易程博
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华为技术有限公司
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Priority to PCT/CN2021/083004 priority Critical patent/WO2022198566A1/fr
Priority to CN202180001251.XA priority patent/CN113196098B/zh
Publication of WO2022198566A1 publication Critical patent/WO2022198566A1/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
    • G01S13/02—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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
    • G01S13/9021—SAR image post-processing techniques
    • G01S13/9029—SAR image post-processing techniques specially adapted for moving target detection within a single SAR image or within multiple SAR images taken at the same time
    • 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
    • G01S7/415—Identification of targets based on measurements of movement associated with the target

Definitions

  • the embodiments of the present application relate to the technical field of radar, and in particular, to a method and apparatus for estimating velocity based on echo data.
  • Synthetic aperture radar is an all-weather, all-weather modern remote sensing imaging radar with long-range and high-resolution detection capabilities. It is often used in remote sensing mapping, regional detection, geological exploration, disaster rescue and many other fields. . In the broader civil field, the vehicle-mounted SAR platform for intelligent driving is becoming a new round of research hotspots.
  • the radar needs to move continuously to form a synthetic aperture, and the echo properties are closely related to the speed of the radar movement.
  • the relative motion velocity information of radar and target is one of the key parameters that need to be used in data processing of SAR imaging algorithm. Whether the recorded echoes can be accurately matched with the radar speed at that time will directly affect the imaging quality.
  • SAR imaging systems mainly work on platforms such as aircraft or satellites.
  • high-precision inertial sensor systems are installed, which can provide accurate speed information for the imaging system.
  • the embodiments of the present application provide a method and device for velocity estimation based on echo data, which can complete velocity estimation without relying on inertial sensors and reduce hardware costs.
  • a first aspect of the embodiments of the present application provides a velocity estimation method based on echo data.
  • a local area is first determined from an imaging area, and a plurality of first to-be-processed velocities are obtained according to a preset velocity range , and divide the echo data to obtain multiple echo sub-data, perform imaging processing on one of the multiple echo sub-data in a local area according to the multiple first to-be-processed speeds, and obtain multiple first to-be-processed images , and each first to-be-processed image corresponds to a first to-be-processed speed, and based on this, the target to-be-processed image is determined from the plurality of first to-be-processed images.
  • each first image to be processed corresponds to a first speed to be processed
  • the target image to be processed also corresponds to a first speed to be processed, so the first speed to be processed corresponding to the target image to be processed can be determined as the echo sub-data.
  • the estimated velocity, the estimated velocity of the echo sub-data is used to obtain the estimated velocity of the echo data.
  • the estimated velocity of the echo sub-data can be determined based on the echo data, and the estimated velocity of the echo data can be obtained through the estimated velocity of the echo sub-data, so the velocity estimation can be completed without relying on the inertial sensor, and the hardware is reduced. cost.
  • the echo sub-data is imaged in a local area according to a plurality of first speeds to be processed, to obtain a plurality of Before the first image to be processed, the estimated speed range is divided at first preset speed intervals to obtain a plurality of first speeds to be processed.
  • the first preset speed interval may be determined to be 1 m/s, that is, 1 m/s to 0 to 10 m/s Divide, you can get 10 first pending speeds, then the 10 first pending speeds are 1m/s, 2m/s, 3m/s, 4m/s, 5m/s, 6m/s, 7m/s , 8m/s, 9m/s and 10m/s.
  • the larger speed range can be reduced, so that the speed estimation can be performed more accurately in the smaller speed range, This improves the accuracy of velocity estimation.
  • the second implementation manner of the first aspect of the embodiments of the present application specifically for the multiple first to-be-processed directions of each first to-be-processed image
  • the dimensions are superimposed along the same direction to obtain multiple first stacking direction dimensions of each first image to be processed, and then the first stacking direction dimension with the largest value among the multiple first stacking direction dimensions of each first image to be processed is calculated. is determined as the first quality evaluation index of each first image to be processed, and finally the first image to be processed with the largest value among the first quality evaluation indices of the plurality of first images to be processed is determined as the target image to be processed.
  • the lines in the first to-be-processed image will be close to the vertical distance dimension, that is, in the direction dimension
  • the lines are relatively clustered, so when the first speed to be processed is accurate, the values corresponding to the multiple direction dimensions are obtained after accumulating along each azimuth dimension, and then the maximum value among the values corresponding to the multiple direction dimensions is taken along the distance dimension, When it is inaccurate than the first to-be-processed speed, the maximum value obtained by a similar method is larger, so this value can be used as a quality evaluation index.
  • the first to-be-processed direction dimension in the first to-be-processed image with the largest value in the first quality evaluation index is relatively on a line similar to a straight line, so the determined first to-be-processed image corresponding to the target to-be-processed image at this time is determined
  • the processing speed is closer to the real speed.
  • the first quality evaluation index of the plurality of first images to be processed can also be included in the first quality evaluation index.
  • the first image to be processed with the largest value is determined as the first estimated image, and a plurality of second speeds to be processed are obtained according to the first speed range, and then, in a similar manner to the first aspect of the embodiment of the present application, according to the plurality of second speeds to be processed.
  • the second to-be-processed speed performs imaging processing on the first estimated image to obtain a plurality of second to-be-processed images, each second to-be-processed image corresponds to a second to-be-processed speed, and is determined from the plurality of second to-be-processed images The target image to be processed.
  • the first to-be-processed image with the largest value among the first quality evaluation indices of the plurality of first to-be-processed images is determined as the first estimated image (that is, the target to-be-processed image described above),
  • the estimated velocity of the echo sub-data is not determined first, but the velocity estimation interval (ie, the first velocity range) is further narrowed.
  • the velocity estimation interval in a smaller area Determine the target image to be processed whose corresponding speed is more in line with the actual situation. This step can be repeated several times to improve the accuracy of the speed estimation.
  • the first estimated image is imaged according to a plurality of second to-be-processed speeds. processing, before obtaining a plurality of second images to be processed, based on the first speed to be processed corresponding to the first estimated image, determine the first speed range, and divide the first speed range with the second first preset speed interval to obtain A plurality of second pending speeds. For example, if the first speed to be processed corresponding to the first estimated image is 3m/s, then the first speed range may be 2.5 to 3.5m/s.
  • the first speed range is divided by the second preset speed interval , to obtain a plurality of second speeds to be processed.
  • the second preset speed interval can be determined as 0.1m/s, that is, 0.1m/s is divided into 2.5 to 3.5m/s, and 11 first speeds can be obtained.
  • Second pending speed, then 11 second pending speeds are 2.5m/s, 2.6m/s, 2.7m/s, 2.5m/s, 2.9m/s, 3.0m/s, 3.1m/s, 3.2m/s, 3.3m/s, 3.4m/s and 3.5m/s.
  • the speed range can be further reduced, so that the speed estimation can be performed more accurately in the smaller speed range, thereby improving the Accuracy of velocity estimates.
  • the plurality of second to-be-processed direction dimensions of each second to-be-processed image are Superimpose along the same direction to obtain a plurality of second superposition direction dimensions of each second image to be processed, and determine the second superposition direction dimension with the largest value among the plurality of second superposition direction dimensions of each second image to be processed.
  • the second image to be processed with the largest value among the second quality evaluation indices of the plurality of second images to be processed is determined as the target image to be processed.
  • the second to-be-processed speed corresponding to the second to-be-processed image is closer to the real speed, the lines in the second to-be-processed image will be close to the vertical distance dimension. Therefore, when the second to-be-processed speed is accurate, the values corresponding to multiple direction dimensions are obtained after accumulating along each azimuth dimension, and then the maximum value among the values corresponding to multiple direction-dimensions is taken along the distance dimension, which will be faster than the second to-be-processed speed. When inaccurate, the maximum value obtained by similar methods is larger, so this value can be used as a quality evaluation index.
  • the first to-be-processed direction dimension in the second to-be-processed image with the largest value in the second quality evaluation index is relatively on a line similar to a straight line, so the determined second to-be-processed image corresponding to the target to-be-processed image at this time is determined.
  • the processing speed is closer to the real speed.
  • the echo data is divided by a preset step size to obtain a plurality of echo sub-data.
  • the above-mentioned multiple echo sub-data can be obtained, thereby ensuring that the velocity estimation method introduced in the above-mentioned embodiment can be performed on each echo sub-data, thereby improving the performance of this solution. feasibility.
  • the seventh implementation manner of the first aspect of the embodiments of the present application it is also necessary to perform filtering processing on the estimated velocities of multiple echo sub-data to obtain Estimated velocity of echo data.
  • the speed estimation error is further reduced by the filtering process, thereby improving the speed estimation accuracy.
  • the direction of the imaging area is The dimension is larger than the direction dimension of the local area, and the distance dimension of the imaging area is larger than the distance dimension of the local area.
  • the estimated velocity of the echo sub-data is determined by the local area in the imaging area, which can reduce the amount of calculation while improving the velocity estimation accuracy, thereby improving the velocity estimation efficiency.
  • a second aspect of the embodiments of the present application provides a speed estimation device, including:
  • a determination module for determining a local area from the imaging area
  • a processing module configured to perform imaging processing on the echo sub-data in a local area according to a plurality of first to-be-processed speeds to obtain a plurality of first to-be-processed images, wherein the plurality of first to-be-processed speeds are obtained according to a preset speed range , the echo sub-data is obtained by dividing the echo data, and each first image to be processed corresponds to a first speed to be processed;
  • a determining module further configured to determine a target image to be processed from the plurality of first images to be processed
  • the determining module is further configured to determine the first speed to be processed corresponding to the target image to be processed as the estimated speed of the echo sub-data, wherein the estimated speed of the echo sub-data is used to obtain the estimated speed of the echo data.
  • the speed estimation apparatus further includes a division module
  • the division module is used to perform imaging processing on the echo sub-data in a local area according to the multiple first to-be-processed speeds to obtain multiple first to-be-processed images, and to perform an estimated speed range at the first preset speed interval. Divide to obtain a plurality of first speeds to be processed.
  • the determination module is specifically used for:
  • the first to-be-processed image with the largest value among the first quality evaluation indices of the plurality of first to-be-processed images is determined as the target to-be-processed image.
  • the determination module is specifically used for:
  • Imaging processing is performed on the first estimated image according to a plurality of second to-be-processed speeds to obtain a plurality of second to-be-processed images, wherein the plurality of second to-be-processed speeds are obtained according to the first speed range, and each second to-be-processed speed
  • the processed image corresponds to a second speed to be processed
  • the target to-be-processed image is determined from the plurality of second to-be-processed images.
  • the determining module is further configured to, before the processing module performs imaging processing on the first estimated image according to the plurality of second to-be-processed speeds to obtain the plurality of second to-be-processed images, based on a first speed to be processed corresponding to the first estimated image, and a first speed range is determined;
  • the dividing module is further configured to divide the first speed range at second preset speed intervals to obtain a plurality of second speeds to be processed.
  • the determination module is specifically used for:
  • the second to-be-processed image with the largest value among the second quality evaluation indices of the plurality of second to-be-processed images is determined as the target to-be-processed image.
  • the speed estimation apparatus further includes an acquisition module
  • the division module is further configured to divide the echo data with a preset step size to obtain a plurality of echo sub-data.
  • the processing module is also used to filter the estimated speed of multiple echo sub-data to obtain the estimated speed of the echo data.
  • the direction dimension of the imaging area is larger than the direction dimension of the local area
  • the distance dimension of the imaging area is larger than the distance dimension of the local area
  • a vehicle including a speed estimation device implementing any one of the possible implementations of the second aspect above.
  • a processor including: an input circuit, an output circuit, and a processing circuit.
  • the processing circuit is configured to receive a signal through the input circuit and transmit a signal through the output circuit, so that the processor executes the method in any one of the possible implementation manners of the first aspect.
  • the above-mentioned processor may be a chip
  • the input circuit may be an input pin
  • the output circuit may be an output pin
  • the processing circuit may be a transistor, a gate circuit, a flip-flop, and various logic circuits.
  • the input signal received by the input circuit may be received and input by, for example, but not limited to, a receiver
  • the signal output by the output circuit may be, for example, but not limited to, output to and transmitted by a transmitter
  • the circuit can be the same circuit that acts as an input circuit and an output circuit at different times.
  • the embodiments of the present application do not limit the specific implementation manners of the processor and various circuits.
  • a speed estimation apparatus including a communication interface and a processor.
  • the communication interface is coupled with the processor.
  • the communication interface is used to input and/or output information.
  • the information includes at least one of instructions and data.
  • the processor is configured to execute a computer program to cause the speed estimation apparatus to perform the method of any possible implementation of the first aspect.
  • processors there are one or more processors and one or more memories.
  • a speed estimation apparatus including a processor and a memory.
  • the processor is configured to read instructions stored in the memory, and can receive signals through a receiver and transmit signals through a transmitter, so that the apparatus performs the method in any possible implementation manner of the first aspect.
  • processors there are one or more processors and one or more memories.
  • the memory may be integrated with the processor, or the memory may be provided separately from the processor.
  • the memory can be a non-transitory memory, such as a read only memory (ROM), which can be integrated with the processor on the same chip, or can be separately set in different On the chip, the embodiment of the present application does not limit the type of the memory and the setting manner of the memory and the processor.
  • ROM read only memory
  • sending a message may be a process of outputting a message from the processor
  • receiving a message may be a process of inputting a received message to the processor.
  • the information output by the processing can be output to the transmitter, and the input information received by the processor can be from the receiver.
  • the transmitter and the receiver may be collectively referred to as a transceiver.
  • the speed estimation device in the fifth aspect and the sixth aspect may be a chip, and the processor may be implemented by hardware or software.
  • the processor When implemented by hardware, the processor may be a logic circuit, an integrated circuit, or the like;
  • the processor When implemented by software, the processor may be a general-purpose processor, which is implemented by reading software codes stored in a memory, which may be integrated in the processor or located outside the processor and exist independently.
  • a computer program product comprising: a computer program (also referred to as code, or instructions), which, when the computer program is executed, causes the computer to execute any one of the above-mentioned first aspects.
  • a computer program also referred to as code, or instructions
  • a computer-readable storage medium stores a computer program (which may also be referred to as code, or an instruction), when it is run on a computer, causing the computer to execute the above-mentioned first aspect method in any of the possible implementations.
  • the present application provides a chip system, the chip system includes a processor and an interface, the interface is used to obtain a program or an instruction, and the processor is used to call the program or instruction to implement or support the speed estimation device Implement the functions involved in the first aspect.
  • the chip system further includes a memory for storing necessary program instructions and data of the speed estimation device.
  • the chip system may be composed of chips, or may include chips and other discrete devices.
  • FIG. 1 is a schematic diagram of an echo data collection scenario provided by an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a method for estimating velocity based on echo data in an embodiment of the present application
  • FIG. 3 is a schematic diagram of an embodiment of determining a local area from an imaging area in an embodiment of the present application
  • FIG. 4 is a schematic diagram of an embodiment of imaging in a local area in an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a backprojection imaging algorithm in an embodiment of the present application.
  • FIG. 6 is a schematic diagram of an embodiment of a plurality of first images to be processed in an embodiment of the present application
  • FIG. 7 is a schematic diagram of another embodiment of a plurality of first images to be processed in an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of determining a target to-be-processed image from a plurality of first to-be-processed images in an embodiment of the present application
  • FIG. 9 is a schematic diagram of an embodiment of a speed estimation result in an embodiment of the present application.
  • FIG. 10 is another schematic flowchart of a method for estimating velocity based on echo data in an embodiment of the present application
  • FIG. 11 is a schematic structural diagram of a speed estimation apparatus in an embodiment of the present application.
  • FIG. 1 is a schematic diagram of an echo data collection scenario provided by an embodiment of the present application.
  • the echo data is mainly collected by the synthetic aperture radar 120, and the synthetic aperture radar 120 is arranged on the top of the mobile carrier.
  • the synthetic aperture radar 120 may also be disposed in other parts of the mobile carrier, which is not specifically limited here.
  • the mobile carrier can be, for example, a collection vehicle 100, an unmanned aerial vehicle, a network device, etc.
  • the above-mentioned vehicle 100 can be a car, a truck, a motorcycle, a bus, an amusement vehicle, an amusement park vehicle, a construction equipment, a tram and a train, etc.
  • the application examples are not particularly limited.
  • the synthetic aperture radar needs to perform continuous motion to form the synthetic aperture, and the echo properties are closely related to the speed of the radar movement. Therefore, in the imaging processing, the relative motion velocity information between the synthetic aperture radar and the target is one of the key parameters that need to be used in the data processing of the SAR imaging algorithm. Whether the recorded echoes can be accurately matched with the radar speed at that time will directly affect the imaging quality.
  • the vehicle is used as the working platform of the radar, it is difficult to maintain a stable speed for a long time in the road environment, which makes the vehicle SAR imaging more difficult. Therefore, obtaining the speed information of the radar in the process of picking up the echo has become an indispensable part of the work to obtain high-quality imaging results.
  • SAR imaging systems mainly work on platforms such as aircraft or satellites.
  • platforms such as aircraft or satellites.
  • high-precision inertial navigation systems are installed, which can provide accurate speed information for the imaging system.
  • the application of such an inertial navigation system for imaging has a large hardware cost, and will increase the system complexity, and the inertial sensor system will have errors in the case of vibration, so there is an urgent need for a kind of A velocity estimation method that does not rely on inertial sensors.
  • an embodiment of the present application provides a velocity estimation method based on echo data, which can complete velocity estimation without relying on inertial sensors and reduce hardware costs.
  • the method for estimating velocity based on echo data provided by the embodiment of the present application will be described in detail below.
  • FIG. 2 is a schematic flowchart of the method for estimating velocity based on echo data in the embodiment of the present application, as shown in FIG. 2 .
  • the specific steps of the velocity estimation method based on echo data are as follows.
  • the speed estimation device needs to determine the local area from the imaging area.
  • the direction dimension of the imaging area is larger than the direction dimension of the local area
  • the distance dimension of the imaging area is larger than the distance dimension of the local area.
  • the distance dimension of the imaging area is 0 to 20 meters
  • the azimuth dimension is 0 to 20 meters.
  • the distance dimension of the local area should be less than 20 meters
  • the azimuth dimension should be less than 20 meters.
  • the distance dimension of the imaging area is 0 to 20 meters
  • the azimuth dimension is 0 to 20 meters as an example for description.
  • FIG. 3 is the method of determining the local area from the imaging area in the embodiment of the application.
  • a schematic diagram of the embodiment, as shown in FIG. 3 the horizontal axis shown in FIG. 3 is the distance dimension, and the horizontal axis shown in FIG. 3 is the direction dimension.
  • the distance dimension of the imaging area 301 is 0 to 20 meters
  • the azimuth dimension of the imaging area 301 is 0 to 20 meters.
  • a local area 302 is determined from the imaging area 301, and the distance dimension of the local area 302 is 0 to 20 meters.
  • FIG. 4 is a schematic diagram of an embodiment of imaging in a local area in an embodiment of the present application.
  • the distance dimension of the imaging result 401 obtained after imaging in the imaging area is 0 to 20 meters
  • the azimuth dimension is 0 to 20 meters
  • the distance dimension of the imaging result 402 obtained after imaging in the imaging area is 0 to 4 meters
  • the azimuth dimension is 0 to 6 meters.
  • the local area may also be located at other positions in the imaging area, and the specific distance dimension and specific direction dimension of the local area need to be tested through experiments and/or based on a large amount of data.
  • the statistical determination of therefore the foregoing examples should not be construed as limitations of this scheme.
  • S202 Perform imaging processing on the echo sub-data in a local area according to the multiple first to-be-processed speeds to obtain multiple first to-be-processed images.
  • this embodiment based on the scenario shown in FIG. 1 , after the velocity estimation device obtains the echo data through the synthetic aperture radar, the echo data is divided to obtain a plurality of echo sub-data. Based on this, this embodiment will first introduce how to perform velocity estimation on any echo sub-data in a plurality of echo sub-data.
  • the speed estimation device processes according to a preset speed range to obtain a plurality of first speeds to be processed.
  • the preset speed range is determined by which mobile carrier the speed estimation device is set on. If the mobile carrier is a vehicle, the preset speed range is determined by the mobile carrier.
  • the speed range is set to be the driving speed of the vehicle. Since the driving speed of each vehicle is different, the specific preset speed range also needs to be flexibly determined according to the actual situation. Specifically, the speed estimation device will divide the estimated speed range at the first preset speed interval to obtain a plurality of first speeds to be processed.
  • the preset speed range may be determined to be 0 to 36 km/h, and 0 to 36 km/h is specifically 0 to 10 meters per hour Second (m/s), based on this, the first preset speed interval can be determined as 1m/s, that is, 1m/s is divided into 0 to 10m/s, and 10 first speeds to be processed can be obtained, Then the 10 first pending speeds are 1m/s, 2m/s, 3m/s, 4m/s, 5m/s, 6m/s, 7m/s, 8m/s, 9m/s and 10m/s, respectively.
  • the speed estimation device performs imaging processing on the echo sub-data in the local area determined in step S201 according to the multiple first speeds to be processed, so as to obtain a first image to be processed corresponding to each of the first speeds to be processed.
  • the back projection (BP) imaging algorithm performs imaging processing on the echo sub-data in a local area, that is, in a dual-station synthetic aperture radar, the BP imaging algorithm reverses the echo sub-data by inverting the echo sub-data.
  • the pixel value is imaged by calculating the time delay of the radar echo sub-data in the distance between the radar antenna and the image pixel, thereby obtaining the first image to be processed.
  • FIG. 5 is a schematic flowchart of a backward projection imaging algorithm in an embodiment of the present application.
  • step S501 the acquired echo sub-data is first input.
  • step S502 the echo sub-data is subjected to demodulation (Dechirp) processing, and the range-dimensional pulse compression process is completed to obtain a high-resolution range image.
  • step S503 the sampling interval of the distance dimension and the sampling interval of the direction dimension are selected according to the resolution, and the sampling interval of the distance dimension and the azimuth dimension must be based on the resolution not greater than the respective dimensions.
  • step S504 taking the distance line where each pixel is located as the center, take T S /2 and T S /2 to the left and right respectively, where T s is the complete synthetic aperture time of the target location, That is, the time it takes for the target to be swept by a complete beam, taking the distance line where the pixel is located as the center, taking T S /2 on the left and right, indicating that the scene position corresponding to this pixel is in the beam irradiation during this period of time.
  • step S5051 the time delay from the sampling point of each azimuth dimension to all pixel sampling points is calculated, and the corresponding range gate is determined, and in step S5052, the position of the synthetic aperture radar is calculated, and the corresponding direction dimension unit is determined .
  • step S506 determine the compensation phase factor exp( j4 ⁇ Rn / ⁇ ), where Rn is the distance from the radar to each pixel at the current azimuth point.
  • step S507 based on the compensation phase factor exp( j4 ⁇ Rn / ⁇ ), the signals on the cumulative curve are superimposed coherently, thereby generating a first image to be processed in step S508.
  • imaging algorithms applied to SAR imaging such as Range Migration (RM) imaging algorithm, Range-Doppler (RD) imaging algorithm, etc.
  • RM Range Migration
  • RD Range-Doppler
  • the echo sub-data is imaged in the region, and all possibilities are not exhaustive and detailed here.
  • FIG. 6 is a schematic diagram of an embodiment of a plurality of first images to be processed in an embodiment of the present application.
  • FIG. 6 shows the echo sub-data in the local area according to the first to-be-processed speed B
  • the first to-be-processed image B obtained after imaging processing
  • the first to-be-processed image C obtained by imaging the echo sub-data in a local area according to the first to-be-processed speed C . It should be understood that the foregoing examples are only used for understanding this solution, and in practical applications, the specific first images to be processed corresponding to different first speeds to be processed are related to the imaging algorithm.
  • S203 Determine a target image to be processed from the plurality of first images to be processed.
  • the speed estimation apparatus determines a target image to be processed among the plurality of first images to be processed obtained in step S202. Specifically, if the BP imaging algorithm is used to obtain multiple first images to be processed, if the first image to be processed corresponding to the first image to be processed is closer to the real speed, then the first image to be processed obtained after imaging processing will be Lines will appear. On the contrary, if the difference between the first to-be-processed speed corresponding to the first to-be-processed image and the real speed is greater, then deformed lines will appear in the first to-be-processed image obtained after imaging processing.
  • FIG. 7 is a schematic diagram of another embodiment of a plurality of first images to be processed in the embodiment of the present application.
  • a line 701 can be seen in (A) of FIG. 7 , the line 701 is deformed to the right of the direction dimension, so it can be determined that the first to-be-processed speed corresponding to the first to-be-processed image shown in (A) in FIG. 7 is smaller than the real speed.
  • a line 702 can be seen. At this time, the line 702 is basically perpendicular to the distance dimension. Therefore, the first image to be processed corresponding to the first image to be processed shown in (B) of FIG.
  • the processing speed is close to the real speed.
  • the line 703 can be seen in (C) of FIG. 7 .
  • the line 703 is deformed to the left of the direction dimension. Therefore, it can be determined that the first image to be processed shown in (C) in FIG. 7 corresponds to The first pending speed is greater than the true speed.
  • the line in the first to-be-processed image will be close to the vertical distance dimension, that is, in the direction dimension, the line is Relatively aggregated, so when the first speed to be processed is accurate, the values corresponding to multiple direction dimensions are obtained after accumulating along each azimuth dimension, and then the maximum value among the values corresponding to multiple direction dimensions is taken along the distance dimension, which will be more When the processing speed is inaccurate, the maximum value obtained by a similar method is larger, so this value can be used as a quality evaluation index.
  • the speed estimating device can superimpose a plurality of first to-be-processed direction dimensions of each first to-be-processed image along the same direction to obtain a plurality of first superimposed direction dimensions of each first to-be-processed image, and then add each The first stacking direction dimension with the largest value among the multiple first stacking direction dimensions of the first images to be processed is determined as the first quality evaluation index of each first image to be processed, and then the The first image to be processed with the largest value in the first quality evaluation index is determined as the target image to be processed.
  • FIG. 8 is a schematic flowchart of determining a target to-be-processed image from a plurality of first to-be-processed images in an embodiment of the present application.
  • the method can obtain N first to-be-processed speeds, where the N first to-be-processed speeds include the first to-be-processed speed A, the first to-be-processed speed B to the first to-be-processed speed N.
  • imaging processing is performed on the first speed A to be processed, speed B to speed N to be processed in a local area, and the first speed corresponding to each speed to be processed can be obtained.
  • Images to be processed for example, the first image to be processed A corresponding to the first speed A to be processed, the first image B to be processed corresponding to the first speed B to be processed, to the first image to be processed corresponding to the first speed N to be processed N et al.
  • each first to-be-processed direction dimension of each first to-be-processed image is superimposed along the same direction to obtain a plurality of first superimposed direction dimensions of each first to-be-processed image, for example, the first to-be-processed image A plurality of first stacking direction dimensions A are obtained for the image A, and a plurality of first stacking direction dimensions B are obtained for the first image B to be processed.
  • a first quality evaluation index is determined from a plurality of first stacking direction dimensions of each first image to be processed, and specifically, the first stacking direction dimension with the largest value among the plurality of first stacking direction dimensions is determined as the first quality assessment
  • the plurality of first stacking direction dimensions A include values of 3.0, 4.6, 6.4, 7.2 and 8.8, wherein the maximum value is 6.8, then the first quality evaluation index A is 6.8.
  • first quality assessment indices such as the first quality assessment index B and the first quality assessment index N can be obtained.
  • the values of the first quality evaluation index A to the first quality evaluation index N are compared, and the target image to be processed is determined as the first image to be processed corresponding to the first quality evaluation index with the largest value.
  • the first quality assessment index A is 8.8, the first quality assessment index B is 9.8, the first quality assessment index C is 8.6, and the first quality assessment index N is 3.8. If it can be determined that the first quality assessment index B is N
  • the maximum value among the first quality assessment indices that is, the target to-be-processed image that can be determined by the first to-be-processed image B corresponding to the first quality assessment index B.
  • the first image to be processed includes a plurality of pixel points, and each pixel point has a corresponding direction dimension and a distance dimension. Therefore, each first direction dimension to be processed of the first image to be processed is superimposed along the same direction, Actually, the direction dimensions of the pixels with the same distance dimension in the first image to be processed are superimposed, so as to obtain a plurality of first superimposed direction dimensions.
  • the first image to be processed includes pixel 1, pixel 2, pixel 3, pixel 4, pixel 5, and pixel 6, and the coordinates of pixel 1 are (3.8, 1.2), and the coordinates of pixel 2 are (2.8, 1.8), the coordinates of pixel 3 are (2.0, 2.0), the coordinates of pixel 4 are (1.6, 3.2), the coordinates of pixel 5 are (0.8, 3.8), and the coordinates of pixel 6 are (0.8 , 4.2).
  • (3.8, 1.2) means that the distance dimension of pixel 1 is 3.8, and the direction dimension is 2.
  • the distance dimension and direction dimension of other pixels are not all examples here.
  • the distance dimension distribution of the pixels in the first image to be processed includes 3.8, 2.8, 2.0, 1.6 and 0.8, in which there is only one pixel in the distance dimension of 3.8, 2.8, 2.0 and 1.6, and the distance of 0.8
  • the dimension includes pixel point 5 and pixel point 6, so the direction dimension of the pixel point with the same distance dimension is superimposed, that is, the direction dimension of pixel point 5 and pixel point 6 needs to be superimposed, so that 5 first superimposed direction dimension can be achieved.
  • S204 Determine the first to-be-processed speed corresponding to the target to-be-processed image as the estimated speed of the echo sub-data.
  • step S203 can determine the target image to be processed, and the first to-be-processed speed corresponding to the target to-be-processed image is the closest to the real speed among the multiple first to-be-processed speeds
  • the speed estimation device can The first to-be-processed speed corresponding to the to-be-processed image is determined as the estimated speed of the echo sub-data. This makes it possible to obtain the estimated velocity of echo data based on the estimated velocity of multiple echo sub-data subsequently.
  • the velocity estimation interval can be narrowed down, and the velocity estimation can be further performed, that is, the similar method shown in the step S202 to the step S204 is repeatedly performed, to Further improve the speed estimation accuracy.
  • the speed estimation device determines the first to-be-processed image with the largest value among the first quality evaluation indices of the plurality of first to-be-processed images as the first estimated image (that is, the aforementioned step S203).
  • the presented target image to be processed determines the first to-be-processed image with the largest value among the first quality evaluation indices of the plurality of first to-be-processed images as the first estimated image (that is, the aforementioned step S203).
  • the velocity estimation device does not perform the above step S204 to determine the estimated velocity of the echo sub-data, but determines the first velocity by a method similar to the above-mentioned step S202, that is, based on the first to-be-processed velocity corresponding to the first estimated image range, for example, if the first speed to be processed corresponding to the first estimated image is 3m/s, then the first speed range may be 2.5 to 3.5m/s. It should be understood that in practical applications, the first speed range may also be 2.4 to 3.4 m/s, or 2.6 to 3.6 m/s, the specific setting method of the first speed range is not limited here, and the first speed range only needs to include the first speed to be processed.
  • the first speed range is divided by the second preset speed interval to obtain a plurality of second speeds to be processed.
  • the second preset speed interval can be determined as 0.1m/s, that is, 0.1m/s s is divided into 2.5 to 3.5m/s, 11 second to-be-processed speeds can be obtained, then the 11 second-to-be-processed speeds are 2.5m/s, 2.6m/s, 2.7m/s, 2.5m/s respectively s, 2.9m/s, 3.0m/s, 3.1m/s, 3.2m/s, 3.3m/s, 3.4m/s and 3.5m/s.
  • the speed estimating device superimposes a plurality of second to-be-processed direction dimensions of each second to-be-processed image along the same direction by a method similar to the above-mentioned step S203, to obtain a plurality of first-to-be-processed images of each second to-be-processed image.
  • Two stacking direction dimensions, and the second stacking direction dimension with the largest value among the multiple second stacking direction dimensions of each second image to be processed is determined as the second quality evaluation index of each second image to be processed, and then
  • the second to-be-processed image with the largest value among the second quality evaluation indices of the plurality of second to-be-processed images is determined as the target to-be-processed image.
  • the specific manner is similar to that of step S203, and details are not repeated here.
  • the speed estimation apparatus has repeatedly performed the similar methods shown in steps S202 to S204 once.
  • the similar methods shown in steps S202 to S204 can be performed again.
  • the speed estimating device executes the similar method shown in steps S202 to S204 three times to determine the target image to be processed. In practical applications, the number of repetitions can be flexibly determined according to requirements, which is not limited at this time.
  • FIG. 9 is a schematic diagram of an embodiment of the speed estimation result in the embodiment of the present application.
  • (A) in FIG. 9 is the first execution of the method shown in step S202 to step S204
  • the obtained echo sub-data, an image obtained after performing imaging processing on the imaging region and the local region includes an image 901 obtained after performing imaging processing on the imaging region and an image 902 obtained after performing imaging processing on the local region.
  • FIG. 9 is the echo sub-data obtained by performing the method shown in step S202 to step S204 for the second time, and the image obtained after performing imaging processing in the imaging area and the local area, including the image obtained after performing imaging processing in the imaging area
  • the obtained image 903 and the image 904 obtained after the local area is subjected to imaging processing.
  • Figure (C) in FIG. 9 is the echo sub-data obtained by performing the method shown in step S202 to step S204 for the third time, and the image obtained after imaging processing is performed on the imaging area and the local area, including the image obtained after performing imaging processing on the imaging area.
  • the obtained image 905 and the image 906 obtained after the local area is subjected to imaging processing.
  • the estimated velocity of the echo sub-data can be determined based on the echo data, and the estimated velocity of the echo data can be obtained by the estimated velocity of the echo sub-data, so it is possible to obtain the estimated velocity of the echo data.
  • Speed estimation is done without relying on inertial sensors, reducing hardware costs.
  • the local area in the imaging area determines the estimated velocity of the echo sub-data, which can reduce the amount of calculation while improving the velocity estimation accuracy, thereby improving the velocity estimation efficiency.
  • the embodiment of FIG. 2 mainly introduces the method for determining the estimated velocity of the echo sub-data.
  • the following will introduce how to determine the estimated velocity of the echo data through the estimated velocity of the echo sub-data.
  • FIG. 10 Another schematic flowchart of the velocity estimation method based on echo data in the embodiment of the application, as shown in FIG. 10 , the specific steps of the velocity estimation method based on echo data are as follows.
  • the velocity estimation apparatus can acquire echo data through synthetic aperture radar.
  • the specific manner is similar to that described in step S202, and details are not repeated here.
  • S1002 Divide the echo data with a preset step size to obtain multiple echo sub-data.
  • the velocity estimation apparatus divides the echo data with a preset step size to obtain a plurality of echo sub-data.
  • the preset step size means that the echo sub-data used in the current frame is advanced by a fixed length compared to the echo sub-data used in the previous frame, and multiple echo sub-data are the same.
  • the meaning of multiple pieces of echo sub-data of the same size is that each frame of image contains the same number of sampling points. For example, assuming that each frame of image is obtained from 500 azimuth sampling point data, the preset step size is 100, and the previous frame The range of the echo sub-data used is 500 to 1000, and the range of the echo sub-data used in the current frame is 600-1100. In this way, the echo data is processed in a stepwise manner, and multiple echo sub-data can be obtained.
  • the velocity estimation apparatus performs filtering processing on the estimated velocity of each echo sub-data, so as to further reduce the estimation error.
  • the method for filtering processing may include, but is not limited to, Kalman filter (Kalman filter, KF), Extended Kalman Filter (Extended Kalman Filter, EKF) and Sigma Point Kalman Filter (Sigma Point Kalman Filter, SPKF), etc., There is no specific limitation here.
  • the speed estimation apparatus includes corresponding hardware structures and/or software modules for executing each function.
  • the present application can be implemented in hardware or in the form of a combination of hardware and computer software. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.
  • the embodiments of the present application may divide the speed estimation apparatus into functional modules based on the above method examples.
  • each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module.
  • the above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. It should be noted that, the division of modules in the embodiments of the present application is schematic, and is only a logical function division, and there may be other division manners in actual implementation.
  • FIG. 11 is a schematic structural diagram of the speed estimation device in the embodiment of the present application. As shown in the figure, the speed estimation device 1100 includes:
  • a determination module 1101 configured to determine a local area from the imaging area
  • the processing module 1102 is configured to perform imaging processing on the echo sub-data in a local area according to a plurality of first to-be-processed speeds to obtain a plurality of first to-be-processed images, wherein the plurality of first to-be-processed speeds are obtained according to a preset speed range , the echo sub-data is obtained by dividing the echo data, and each first image to be processed corresponds to a first speed to be processed;
  • the determining module 1101 is further configured to determine the target image to be processed from the plurality of first images to be processed;
  • the determining module 1101 is further configured to determine the first speed to be processed corresponding to the target image to be processed as the estimated speed of the echo sub-data, wherein the estimated speed of the echo sub-data is used to obtain the estimated speed of the echo data.
  • the speed estimation apparatus 1100 further includes a division module 1103;
  • the dividing module 1103 is used to perform imaging processing on the echo sub-data in the local area according to the multiple first to-be-processed speeds to obtain a plurality of first to-be-processed images, and use the first preset speed interval to estimate the speed range. Divide to obtain a plurality of first speeds to be processed.
  • the determining module 1101 is specifically used for:
  • the first to-be-processed image with the largest value among the first quality evaluation indices of the plurality of first to-be-processed images is determined as the target to-be-processed image.
  • the determining module 1101 is specifically used for:
  • Imaging processing is performed on the first estimated image according to a plurality of second to-be-processed speeds to obtain a plurality of second to-be-processed images, wherein the plurality of second to-be-processed speeds are obtained according to the first speed range, and each second to-be-processed speed
  • the processed image corresponds to a second speed to be processed
  • the target to-be-processed image is determined from the plurality of second to-be-processed images.
  • the determination module 1101 is further configured to perform imaging processing on the first estimated image according to multiple second to-be-processed speeds to obtain multiple second to-be-processed images, based on the first to-be-processed image corresponding to the first estimated image Speed, determine the first speed range;
  • the dividing module 1103 is further configured to divide the first speed range at second preset speed intervals to obtain a plurality of second speeds to be processed.
  • the determining module 1101 is specifically used for:
  • the second to-be-processed image with the largest value among the second quality evaluation indices of the plurality of second to-be-processed images is determined as the target to-be-processed image.
  • the speed estimation apparatus 1100 further includes an obtaining module 1104;
  • the dividing module 1103 is further configured to divide the echo data with a preset step size to obtain a plurality of echo sub-data.
  • the processing module 1102 is further configured to filter the estimated velocities of the multiple echo sub-data to obtain the estimated velocities of the echo data.
  • the direction dimension of the imaging area is greater than the direction dimension of the local area.
  • the distance dimension of the imaging area is larger than that of the local area.
  • the present application also provides a speed estimation apparatus, including at least one processor, where the at least one processor is configured to execute a computer program stored in a memory, so that the speed estimation apparatus executes the speed estimation apparatus in any of the above method embodiments method performed.
  • the speed estimation device may be one or more chips.
  • the speed estimation device may be a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), or a system on chip (SoC). It can be a central processing unit (CPU), a network processor (NP), a digital signal processing circuit (DSP), or a microcontroller (microcontroller). unit, MCU), it can also be a programmable logic device (PLD) or other integrated chips.
  • FPGA field programmable gate array
  • ASIC application specific integrated circuit
  • SoC system on chip
  • SoC system on chip
  • SoC system on chip
  • MCU microcontroller
  • MCU programmable logic device
  • PLD programmable logic device
  • the embodiments of the present application also provide a speed estimation apparatus, which includes a processor and a communication interface.
  • the communication interface is coupled with the processor.
  • the communication interface is used to input and/or output information.
  • the information includes at least one of instructions and data.
  • the processor is configured to execute a computer program, so that the speed estimation apparatus executes the method performed by the speed estimation apparatus in any of the above method embodiments.
  • the embodiments of the present application also provide a speed estimation apparatus, which includes a processor and a memory.
  • the memory is used to store a computer program
  • the processor is used to call and run the computer program from the memory, so that the speed estimation apparatus executes the method performed by the speed estimation apparatus in any of the above method embodiments.
  • each step of the above-mentioned method can be completed by a hardware integrated logic circuit in a processor or an instruction in the form of software.
  • the steps of the methods disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.
  • the software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art.
  • the storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware. To avoid repetition, detailed description is omitted here.
  • the present application further provides a vehicle, the vehicle including executing the speed estimation device in the embodiment shown in FIG. 2 , FIG. 5 , FIG. 8 and FIG. 10 .
  • the present application also provides a computer program product, the computer program product includes: computer program code, when the computer program code is run on a computer, the computer is made to execute FIG. 2 , FIG. 5 , Methods performed by various units in the embodiments shown in FIG. 8 and FIG. 10 .
  • the present application also provides a computer-readable storage medium, where the computer-readable storage medium stores program codes, and when the program codes are run on a computer, the computer is made to execute FIG. 2 , and FIG. 5, and the method performed by each unit in the embodiment shown in FIG. 10 and FIG. 8 .
  • the modules in the above-mentioned device embodiments correspond to the units in the method embodiments completely, and the corresponding modules or units perform corresponding steps. Other steps may be performed by a processing unit (processor). For functions of specific units, reference may be made to corresponding method embodiments.
  • the number of processors may be one or more.
  • the disclosed system, apparatus and method may be implemented in other manners.
  • the apparatus embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium.
  • the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .

Abstract

La présente demande a trait au domaine technique des radars. L'invention concerne un procédé et un appareil d'estimation de vitesse basés sur des données d'écho, qui sont utilisés pour une conduite autonome ou une conduite intelligente, et peuvent réaliser une estimation de vitesse sans s'appuyer sur un capteur inertiel. Le procédé comprend les étapes consistant à : déterminer une région locale dans une région d'imagerie ; réaliser, dans la région locale, un traitement d'imagerie sur des sous-données d'écho selon une pluralité de premières vitesses à traiter, de sorte à obtenir une pluralité de premières images à traiter, la pluralité de premières vitesses à traiter étant obtenue selon une plage de vitesses prédéfinie, les sous-données d'écho étant obtenues par division de données d'écho, et chaque première image à traiter correspondant à une première vitesse à traiter ; puis, à déterminer une image cible à traiter parmi la pluralité de premières images à traiter ; et à déterminer, en tant que vitesse estimée des sous-données d'écho, la première vitesse à traiter qui correspond à l'image cible à traiter ; et, enfin, à obtenir une vitesse estimée des données d'écho. La présente demande peut servir à l'Internet des véhicules, tels que les véhicules à tout (V2X), la technologie des véhicules d'évolution à long terme (LTE-V) et les véhicules à véhicules (V2V).
PCT/CN2021/083004 2021-03-25 2021-03-25 Procédé et appareil d'estimation de vitesse basés sur des données d'écho WO2022198566A1 (fr)

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