Mirror image target determination method and device, electronic equipment and storage medium
A technology for determining methods and targets, applied in the field of intelligent driving, can solve the problems of misjudgment and interference of real objects and mirror objects, affecting the object recognition ability of millimeter-wave radar, and achieve the effect of improving driving safety and improving judgment accuracy.
Pending Publication Date: 2022-05-03
福瑞泰克智能系统有限公司
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[0003] However, in the detection process of the millimeter-wave radar, due to the multipath effect caused by the reflection of the electromagnetic wave signal of the object by the reflector, the millimeter-wave radar mistakenly recognizes the mirror object as a real object, which will seriously affect the object recognition ability of the millimeter-wave radar
The existing mirror object recognition method is relatively rough. When it is determined that there is a reflector, and the moving distance and speed of the real object and the object to be determined relative to the reflector on both sides of the reflector are within the allowable range of error, if the to-be-determined When the radar cross section of the object is much smaller than the radar cross section of the real object, it will be judged that the object to be determined is a mirror object; if the radar cross section of the object to be determined is not much smaller than the radar cross section of the real object, it will be judged that the object to be determined is real object, which ignores the influence of reflectors on the radar cross section of the object to be determined
In this way, there will be misjudgment of the real object and the mirror object, which will attract the driver's attention and cause unnecessary interference
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[0055] In order to make the purpose, technical solution and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. Apparently, the described embodiment is only one embodiment of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.
[0056] The "embodiment" referred to herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the embodiments of the present application, it should be understood that the orientations or positional relationships indicated by the terms "left", "right", etc. are based on the orientations or positional relationships shown in ...
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The embodiment of the invention discloses a mirror image target determination method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining an echo data set of a radar set at each sampling moment, determining a reflection target set, a reference target set and a candidate target set according to the echo data set at each sampling moment, determining a first radar cross section of each reference target in the reference target set, a second radar cross section of a candidate target corresponding to each reference target, and a third radar cross section of a reflection target corresponding to each reference target, and determining a first radar cross section of each reference target in the reference target set according to the first radar cross section, the second radar cross section and the third radar cross section; and determining a mirror image target corresponding to each reference target. According to the embodiment of the invention, the influence of the reflection target on the mirror target is fully considered, the judgment accuracy of the mirror target can be improved, and the driving safety can be improved.
Description
technical field [0001] The present invention relates to the technical field of intelligent driving, in particular to a method, device, electronic equipment and storage medium for determining a mirror image target. Background technique [0002] The millimeter-wave radar detects the environmental information outside the vehicle body based on the physical characteristics of electromagnetic wave reflection, and can realize functions such as blind spot detection, lane change assistance, door opening collision warning, reverse crossing warning, forward warning, and backward warning. It has strong environmental adaptability, Due to the advantages of long detection distance, high measurement accuracy and low manufacturing cost, it is widely used in assisted driving systems and automatic driving systems. [0003] However, in the detection process of the millimeter-wave radar, due to the multipath effect caused by the reflection of the electromagnetic wave signal of the object by the ...
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IPC IPC(8): G01S13/931G01S13/72G01S7/41
CPCG01S13/931G01S13/726G01S7/415
Inventor 李银灵方楚颖
Owner 福瑞泰克智能系统有限公司