A point cloud data processing method, device, controller and radar sensor

A radar sensor and point cloud data technology, applied in the field of intelligent vehicle environment perception, can solve the problems of poor folding effect and complex processing algorithm, and achieve the effect of improving accuracy, processing efficiency and driving experience.
CN108919217BActive Publication Date: 2021-05-25ZHEJIANG GEELY AUTOMOBILE RES INST CO LTD +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
ZHEJIANG GEELY AUTOMOBILE RES INST CO LTD
Publication Date
2021-05-25

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Abstract

The invention discloses a point cloud data processing method, device, controller and radar sensor; the method includes: acquiring point cloud data of a detection point sent by the radar sensor and target data corresponding to the detection point; the point cloud data of the detection point The cloud data includes the distance change rate of the detection point; obtain the measurement range of the distance change rate of the detection point by the radar sensor; extract the detection points whose distance change rate exceeds the measurement range in the point cloud data; The distance change rate in the point cloud data is adjusted so that the distance change rate in the point cloud data is consistent with the distance change rate in the target data corresponding to the detection points. This method avoids repeated calculations; it is simple and efficient; it only needs to judge the area or space of each detection point; it does not need complex tracking, which improves the processing efficiency of point cloud data in the whole process; and further improves the driving experience of users.
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Description

technical field

[0001] The invention relates to the technical field of intelligent vehicle environment perception, in particular to a point cloud data processing method, device, controller and radar sensor. Background technique

[0002] Millimeter-wave radar generally adopts chirp sequence modulation, which emits a series of continuous linear chirp signals, and the time length of a single signal is often only a few microseconds. After the radar transmits a series of signals and receives the reflected signals of various objects in the environment, it will perform a two-dimensional or more than two-dimensional Fourier transform on the received signals, thus obtaining a two-dimensional or more than two-dimensional frequency domain signal; this frequency domain signal is called a frame (frame), which is similar to a frame in a video signal. Wherein, each frame signal includes several valid detection points (detections). Each frame signal includes at least two dimensions, one o...

Claims

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