Reflection point filtering method of radar device and radar device
A technology of radar device and reflection point, which is applied in the direction of radio wave reflection/re-radiation, measurement device, and utilization of re-radiation, etc., which can solve problems such as reflection point and difficult filtering
Pending Publication Date: 2022-06-07
CONTINENTAL AUTOMOTIVE SYST SHANGHAI
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Problems solved by technology
However, when the radar detects various moving objects on the road, due to the railings, walls, etc. set on the road, the problem of reflection points often occurs
The basic properties of the data of these reflection points are not significantly different from those of real moving objects, so it is difficult to filter them out
Method used
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[0016] Hereinafter, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.
[0017] The terminology used herein is used to describe particular embodiments only and is not intended to limit the present disclosure. As used herein, the singular forms "a" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the stated features, integers, steps, operations, elements and / or components are specified to be present, but not precluded or Add one or more other features...
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The present invention provides a reflection point filtering method for a radar device and a radar device, the method comprising: a detection step in which the radar device is used to detect the position and speed of each moving body traveling on a road; a reflection point presence determination step for determining whether or not there is a reflection point on the basis of the detected positions and velocities of the respective moving bodies, and determining that there is a reflection point between the two moving bodies if the two moving bodies travel on the road substantially in parallel for a certain period of time and the velocity difference between the two moving bodies is equal to or less than a threshold value; a reflection point determination step of determining which one of the two moving bodies is a reflection point based on a pre-stored probability table; and a filtering step of filtering the reflection points determined in the reflection point determining step.
Description
technical field [0001] The present invention relates to a reflection point filtering method of a radar device and a radar device, for example, to a reflection point filtering technology of a radar installed on a road side. Background technique [0002] The radar transmits electromagnetic waves through the transmitting antenna, and receives the corresponding reflected waves through the reflection of different objects, and analyzes the receiving results, which can effectively extract the information such as the object's position from the radar and the speed of movement. At present, in order to better assist autonomous vehicles in various levels of autonomous driving, radars are usually installed on the side of the road to detect the position, motion speed, direction angle and other information of each moving body (vehicle) driving on the road. . However, when the radar detects various moving objects on the road, the problem of reflection points often occurs due to the railing...
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IPC IPC(8): G01S7/40G01S13/931
CPCG01S7/40G01S13/931
Inventor 孟庆雪
Owner CONTINENTAL AUTOMOTIVE SYST SHANGHAI