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Target detection method and device, electronic equipment and storage medium

A target detection and target object technology, which is applied in measuring devices, radio wave measurement systems, radio wave reflection/reradiation, etc., can solve problems that cannot meet real-time driving, driver error reminder, working principle and resolution of millimeter wave radar low level problem

Pending Publication Date: 2022-05-06
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, due to the working principle and low resolution of the millimeter-wave radar itself, it will misidentify the stationary utility poles, roadside fences, and large stationary trucks on the roadside, which will cause wrong reminders to the driver.
At present, the commonly used algorithm for improving target detection is relatively complex, which can improve the effect of target detection to a certain extent. However, due to the high complexity of the algorithm in terms of time and space, it exceeds the computing power of the chip and cannot meet the needs of real-time driving.

Method used

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  • Target detection method and device, electronic equipment and storage medium
  • Target detection method and device, electronic equipment and storage medium
  • Target detection method and device, electronic equipment and storage medium

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Embodiment 1

[0032] figure 1 It is a schematic flow chart of a target detection method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of detecting the position of obstacles around the target vehicle. This method can be executed by a target detection device, which It may be implemented in the form of software and / or hardware, and the hardware may be an electronic device, and optionally, the electronic device may be a mobile terminal or the like.

[0033] Such as figure 1 As described, the method of this embodiment specifically includes the following steps:

[0034] S110. Collect at least one image frame of the target object based on the vehicle-mounted camera of the target vehicle, and collect at least two data frames of the target object based on at least two vehicle-mounted radars of the target vehicle.

[0035] Wherein, the target vehicle may be a vehicle whose obstacle is currently to be detected. The target object may be an obstacle...

Embodiment 2

[0053] image 3 It is a schematic flow chart of a target detection method provided by Embodiment 2 of the present invention. On the basis of the above-mentioned embodiments, this embodiment focuses on the synchronization mode of image frames and data frames in time, the radar coordinate system and the camera coordinate system For the conversion method and the conversion method between the camera coordinate system and the image coordinate system, please refer to the technical solution of this embodiment. Wherein, explanations of terms that are the same as or corresponding to the above embodiments are not repeated here.

[0054] Such as image 3 As described, the method of this embodiment specifically includes the following steps:

[0055] S210. Collect at least one image frame of the target object based on the vehicle-mounted camera of the target vehicle, and collect at least two data frames of the target object based on at least two vehicle-mounted radars of the target vehic...

Embodiment 3

[0094] Figure 5 It is a schematic structural diagram of a target detection device provided in Embodiment 3 of the present invention, which includes: a frame acquisition module 310, a frame synchronization module 320, a first coordinate conversion module 330, a second coordinate conversion module 340, and a position information determination module 350.

[0095] Wherein, the frame collection module 310 is used to collect at least one image frame of the target object based on the vehicle-mounted camera of the target vehicle, and collect at least two data frames of the target object based on at least two vehicle-mounted radars of the target vehicle; frame synchronization module 320, for determining the target data frame corresponding to each image frame according to the camera sampling frame rate of the vehicle camera and the radar sampling frame rate of the vehicle radar; the first coordinate conversion module 330 is used for each An image frame, converting the target object i...

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Abstract

The embodiment of the invention discloses a target detection method and device, electronic equipment and a storage medium, and the method comprises the steps: collecting an image frame of a target object based on a vehicle-mounted camera of a target vehicle, and collecting a data frame of the target object based on a vehicle-mounted radar of the target vehicle; determining a target data frame corresponding to each image frame according to the camera sampling frame rate of the vehicle-mounted camera and the radar sampling frame rate of the vehicle-mounted radar; for each image frame, converting a target object in a target data frame corresponding to the image frame into a camera coordinate system to obtain a radar coordinate of the target object in the camera coordinate system; converting the radar coordinate and a camera coordinate of a target object in the image frame in a camera coordinate system into an image coordinate system through a method of converting the camera coordinate system into the image coordinate system, and obtaining an image coordinate of the target object in the image coordinate system; and obtaining position information of the target object according to image coordinate fusion. According to the technical scheme of the embodiment of the invention, the obstacle detection accuracy is improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of driving assistance, and in particular, to a target detection method, device, electronic equipment, and storage medium. Background technique [0002] The blind spot monitoring system can use the millimeter-wave radar behind the vehicle to detect whether there is a car approaching behind the adjacent lane, and whether there is a vehicle in the blind spot of the rearview mirror. When there is a vehicle approaching or there is a vehicle in the blind spot, the blind spot monitoring system will remind the driver through sound, light, etc. [0003] However, due to the working principle and low resolution of the millimeter-wave radar itself, it will misrecognize the stationary utility poles, roadside fences, and large stationary trucks on the roadside, which will cause wrong reminders to the driver. At present, the commonly used improved target detection algorithm is relatively complex, whi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/73G06T7/80G01S13/931G01S13/58G01S13/50G01S13/42
CPCG06T7/0002G06T7/73G06T7/80G01S13/931G01S13/58G01S13/50G01S13/42G06T2207/10044G06T2207/30244G06T2207/30248G01S2013/93272
Inventor 冷长峰谭明伟蔡世民韩贤贤徐刚高如杉
Owner CHINA FIRST AUTOMOBILE