A radar target clustering method and device
A technology of radar target and clustering method, applied in the direction of radio wave measurement system, instrument, etc., can solve the problems of increasing system processing complexity, unrealistic, complicated, etc.
Active Publication Date: 2022-05-31
HUAWEI TECH CO LTD
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Problems solved by technology
At the same time, due to the high resolution of the millimeter-wave radar and the high complexity of the traffic environment, the scattering characteristics of the detection target present complex diversity
For a single target, the number of scatter points is usually not unique, and when a target has a large number of scatter points, tracking all the scatter points will greatly increase the processing complexity of the system, especially in a multi-target environment
Therefore, it is not realistic to apply the method of tracking all scatter points in the actual scene
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[0032] In this application, "at least one" refers to one or more, and "multiple" refers to two or more. "and / or",
[0033] The embodiments of the present application can be applied to terminal equipment, and the terminal equipment can be used for realizing wireless communication functions.
[0036] The processor 101, the memory 102 and the transceiver 103 are connected by a communication line. The communication line may include a
[0037] The processor 101 may be a general-purpose central processing unit (central processing unit, CPU), a microprocessor,
[0038] The memory 102 may be a device having a storage function. For example, a read-only memory
[0043] The output device 104 is in communication with the processor 101 and can display information in a variety of ways. For example, output device 104
[0044] The input device 105 is in communication with the processor 101 and can accept user input in a variety of ways. For example, input device
[0045] It can be understoo...
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A radar target clustering method and device relate to the field of automatic driving. The method includes: acquiring first coordinate information on a first coordinate axis and second coordinate information on a second coordinate axis of a plurality of radar samples (101); for the first sample in the plurality of radar samples, using the first sample Determine a plurality of regions within a predetermined cluster radius R for the center (102); according to the first coordinate information and the second coordinate information of the first sample and the radar samples in each of the plurality of regions The similarity between the first sample and each of the plurality of areas is calculated based on the first coordinate information on one coordinate axis and the second coordinate information on the second coordinate axis (103); For the similarity of each of the multiple regions, the region with the greatest similarity is determined as the target region, and the cluster to which the first sample belongs is determined according to the cluster information of the radar samples in the target region (104). This method effectively improves the accuracy and robustness of target clustering.
Description
A radar target clustering method and device technical field [0001] The application relates to the field of automatic driving, in particular to a method and device for clustering radar targets. Background technique Advanced driving assistant system (advanced driving assistant system, ADAS) through the vehicle sensor The device collects, analyzes and processes the data of the surrounding environment, and realizes the detection and tracking of the target objects around the vehicle. The possibility of the vehicle being in danger during autonomous driving is greatly reduced, thereby improving the safety of traffic travel. Therefore, the car On-board sensors need to be able to monitor the surrounding environment of the driving vehicle in real time and be robust to changes in the environment Adaptive detection effect. At the same time, the complex and changeable road conditions also impose strict requirements on the detection accuracy of on-board sensors. because There...
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IPC IPC(8): G01S7/41
CPCG01S7/41
Inventor 魏子平陶艺文李德建李晓波
Owner HUAWEI TECH CO LTD