Detection trace determination method and device, storage medium and electronic equipment

Abstract

The invention discloses a detection trace determination method and device, a storage medium and electronic equipment. The method comprises the following steps: determining a first plot set according to an echo signal of a target radar system; under the condition that the first trace point set comprises the strong reflection trace point, determining an echo energy difference value between the strong reflection trace point and at least one reference trace point associated with the strong reflection trace point; under the condition that the echo energy difference value between the strong reflection trace point and the current reference trace point is greater than a second energy threshold value, obtaining an index difference value between a first speed index value of the strong reflection trace point and a second speed index value of the current reference trace point; and under the condition that the index difference meets a target interval condition, the current reference trace point is determined as a false detection trace point, and the target interval condition is determined according to a waveform parameter of the target radar system. The technical problem that the validity of the detection trace is not accurately determined in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving, and more specifically, to a method, device, storage medium, and electronic device for determining detection points. Background Art

[0002] In the fields of intelligent driving and radar applications, especially for radar systems that utilize a multiple-input, multiple-output (MIMO) architecture and Doppler-dimensional multiple access (DDMA) waveform design, the impact of hardware manufacturing accuracy and ambient temperature variations on system performance is a long-standing challenge. In DDMA MIMO radar systems, each transmitting antenna is configured with a specific frequency offset to ensure orthogonality of the transmitted waveform. However, due to inconsistencies in the manufacturing process (such as fluctuations in phase shifter performance), non-uniformity in circuit layout (such as asymmetric PCB traces), and dynamic changes in the operating environment (such as temperature fluctuations), the actual configured frequency offset often deviates in phase from the designed value.

[0003] On memory-constrained hardware platforms, the demodulation process fails to accurately identify falsely detected traces, resulting in noise occupying limited output quotas. Since DDMA demodulation outputs traces in radial order from near to far, falsely detected traces at close range are output first, preventing valid traces at far distances from reaching the output queue. This results in inaccurate valid traces output after DDMA demodulation. This means that the existing technology suffers from inaccurate determination of the validity of detected traces. Summary of the Invention

[0004] The embodiments of the present application provide a method, device, storage medium, and electronic device for determining a detection point trace, so as to at least solve the technical problem of inaccurate determination of the validity of the detection point trace in the related art.

[0005] According to one aspect of an embodiment of the present application, a method for determining a detection point trace is provided, including: determining a first point trace set based on an echo signal of a target radar system, wherein the echo energy value of the point trace object in the first point trace set is greater than a first energy threshold; when the first point trace set includes a strong reflection point trace, determining the echo energy difference between the strong reflection point trace and at least one reference point trace associated with the strong reflection point trace; when the echo energy difference between the strong reflection point trace and the current reference point trace is greater than a second energy threshold, obtaining the index difference between the first velocity index value of the strong reflection point trace and the second velocity index value of the current reference point trace; when the index difference meets the target interval condition, determining the current reference point trace as a false detection point trace, wherein the target interval condition is determined according to the waveform parameters of the target radar system.

[0006] According to another aspect of an embodiment of the present application, a device for determining a detection point trace is also provided, including: a first determination unit, determining a first point trace set based on the echo signal of the target radar system, wherein the echo energy value of the point trace object in the first point trace set is greater than a first energy threshold; a second determination unit, determining the echo energy difference between the strong reflection point trace and at least one reference point trace associated with the strong reflection point trace when the first point trace set includes a strong reflection point trace; an acquisition unit, acquiring an index difference between the first velocity index value of the strong reflection point trace and the second velocity index value of the current reference point trace when the echo energy difference between the strong reflection point trace and the current reference point trace is greater than a second energy threshold; a third determination unit, determining the current reference point trace as a false detection point trace when the index difference meets the target interval condition, wherein the target interval condition is determined according to the waveform parameters of the target radar system.

[0007] As an optional solution, the above-mentioned first determination unit also includes: a fourth determination module, which is used to determine the distance-velocity spectrum diagram based on the echo signal; determine the point trace object in the distance-velocity spectrum diagram whose echo energy value is greater than the detection threshold value as a candidate point trace object; determine the echo energy parameter value matching the candidate point trace object based on multiple echo energy values ​​collected for the candidate point trace object at multiple acquisition intervals; determine the candidate point trace object whose echo energy parameter value is greater than the first energy threshold as the point trace object in the first point trace set.

[0008] As an optional solution, the fourth determination module includes: a first acquisition module, used to obtain the waveform phase offset parameter value corresponding to each transmitting antenna; and determine the acquisition interval according to the waveform phase offset parameter value and the first sample acquisition value.

[0009] As an optional solution, the above-mentioned fourth determination module includes: a fifth determination module, which is used to perform mean processing on multiple echo energy values ​​collected based on multiple acquisition intervals to obtain an average echo energy value that matches the candidate point trace object, and determine the average echo energy value as the echo energy parameter value; determine the candidate point trace object whose echo energy parameter value is greater than the first energy threshold as the point trace object in the first point trace set.

[0010] As an optional solution, the above-mentioned fourth determination module includes: a sixth determination module, which is used to perform extreme value processing on multiple echo energy values ​​collected based on multiple acquisition intervals to obtain the minimum echo energy value that matches the candidate point trace object, and determine the minimum echo energy value as the echo energy parameter value; determine the candidate point trace object whose echo energy parameter value is greater than the first energy threshold as the point trace object in the first point trace set.

[0011] As an optional solution, the above-mentioned first determination unit also includes a second acquisition module, which is used to obtain the echo energy value of the point trace object in the first point trace set; obtain the distance index value of the point trace object when the echo energy value is greater than the third energy threshold; determine that the point trace object is a strong reflection point trace when the distance index value is less than the second sample acquisition value; and determine the point trace object in the first point trace set with the same distance index value as the strong reflection point trace as the reference point trace.

[0012] As an optional solution, the above-mentioned third determination unit is also used to determine that the current reference point trace is a false detection point trace when the index difference between the first speed index value and the second speed index value meets the condition of an integer multiple of the phase offset difference in the waveform parameters of the target radar system.

[0013] According to another aspect of the embodiments of the present application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the above-described method for determining detected point traces.

[0014] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the above-mentioned method for determining the detection point traces through the computer program.

[0015] Through the above-mentioned implementation mode of the present application, a first point trace set is determined according to the echo signal of the target radar system; when the first point trace set includes a strong reflection point trace, the echo energy difference between the strong reflection point trace and at least one reference point trace associated with the strong reflection point trace is determined, that is, the energy difference between the reference point trace that may be falsely detected due to the influence of the strong reflection point and the strong reflection point is determined; when the echo energy difference between the strong reflection point trace and the current reference point trace is greater than the second energy threshold, the index difference between the first velocity index value of the strong reflection point trace and the second velocity index value of the current reference point trace is obtained; when the index difference meets the target interval condition, the current reference point trace is determined as a false detection point trace, wherein the target interval condition is determined according to the waveform parameters of the target radar system, and the false detection point trace is accurately identified in combination with the energy difference condition and the index difference condition, thereby solving the technical problem of inaccurate determination of the validity of the detection point trace in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 is a schematic diagram of an application environment of an optional method for determining detection point traces according to an embodiment of the present application;

[0018] Figure 2 is a flowchart of an optional method for determining a detection point trace according to an embodiment of the present application;

[0019] Figure 3 is an optional radial distance-radial relative velocity thermal diagram according to an embodiment of the present application;

[0020] Figure 4 is an optional schematic diagram of point trace screening according to an embodiment of the present application;

[0021] Figure 5 is another optional schematic diagram of point trace screening according to an embodiment of the present application;

[0022] Figure 6 is another optional schematic diagram of point trace screening according to an embodiment of the present application;

[0023] Figure 7 is another optional schematic diagram of point trace screening according to an embodiment of the present application;

[0024] Figure 8 is a flowchart of another optional method for determining detection point traces according to an embodiment of the present application;

[0025] Figure 9 is a flowchart of another optional method for determining detection point traces according to an embodiment of the present application;

[0026] Figure 10 is a schematic diagram of a device for determining a detection point trace according to an embodiment of the present application;

[0027] Figure 11 It is a schematic structural diagram of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] According to one aspect of the embodiment of the present application, a method for determining a detection point trace is provided. Optionally, the above-mentioned method for determining a detection point trace can be applied to, but is not limited to, Figure 1 Optionally, the above-mentioned method for determining the detection point trace provided by the present application can be applied to a vehicle terminal. Figure 1 The figure shows a side view of a vehicle terminal 101, which can travel on a travel surface 113. The vehicle terminal 101 includes an onboard navigation system 103, a memory 102 storing a digitized road map 104, a spatial monitoring system 117, a vehicle controller 109, a GPS (Global Positioning System) sensor 110, an HMI (Human / Machine Interface) device 111, an autonomous controller 112, and a telematics controller 114.

[0031] In one embodiment, the spatial monitoring system 117 includes one or more spatial sensors and systems for monitoring the visible area 105 in front of the vehicle terminal 101. The spatial monitoring system 117 also includes a spatial monitoring controller 118. The spatial sensors used to monitor the visible area 105 include a lidar sensor 106, a radar sensor 107, a camera 108, and the like. The spatial monitoring controller 118 can be configured to generate data related to the visible area 105 based on data input from the spatial sensors. The spatial monitoring controller 118 can determine the linear range, relative speed, and trajectory of the vehicle terminal 101 based on the input from the spatial sensors. For example, the spatial monitoring controller 118 can determine the current speed of the vehicle and its relative speed relative to the preceding vehicle. The spatial sensors of the vehicle terminal spatial monitoring system 117 can include object location sensing devices, which can include range sensors. The range sensors can be used to locate preceding objects, such as those in front of the vehicle.

[0032] The camera 108 is advantageously mounted and positioned on the vehicle terminal 101 in a position that allows it to capture images of the visible area 105, wherein at least a portion of the visible area 105 includes a portion of the travel surface 113 in front of the vehicle terminal 101 and including the trajectory of the vehicle terminal 101. The visible area 105 may also include the surrounding environment. Other cameras may also be used, for example, including a second camera disposed on the rear or side portion of the vehicle terminal 101 to monitor the rear of the vehicle terminal 101 and one of the right or left sides of the vehicle terminal 101.

[0033] The autonomous controller 112 is configured to implement autonomous driving or advanced driver assistance system (ADAS) vehicle terminal functionality. Such functionality may include a vehicle terminal onboard control system capable of providing a certain level of driving automation. Driving automation may include a series of dynamic driving and vehicle terminal operations. Driving automation may include a certain level of automatic control or intervention involving a single vehicle terminal function (e.g., steering, acceleration, and / or braking). For example, the autonomous controller or the radar sensor may be used to determine the validity of the detection trace by performing the following steps:

[0034] S102, determining a first point track set according to the echo signal of the target radar system, wherein the echo energy value of the point track objects in the first point track set is greater than a first energy threshold;

[0035] S104: when the first point trace set includes a strong reflection point trace, determining an echo energy difference between the strong reflection point trace and at least one reference point trace associated with the strong reflection point trace;

[0036] S106, when the echo energy difference between the strong reflection point trace and the current reference point trace is greater than the second energy threshold, obtaining an index difference between the first velocity index value of the strong reflection point trace and the second velocity index value of the current reference point trace;

[0037] S108 , when the index difference satisfies a target interval condition, determining the current reference point trace as a false detection point trace, wherein the target interval condition is determined according to waveform parameters of the target radar system.

[0038] The HMI device 111 provides human-machine interaction for the purpose of guiding the operation of the infotainment system, GPS (Global Positioning System) sensor 110, onboard navigation system 103 and the like, and includes a controller. The HMI device 111 monitors operator requests and provides the operator with status, service and maintenance information of the vehicle terminal system. The HMI device 111 communicates with multiple operator interface devices and / or controls the operation of multiple operator interface devices. The HMI device 111 can also communicate with one or more devices that monitor biometric data associated with the vehicle terminal operator. For simplicity of description, the HMI device 111 is depicted as a single device, but in the embodiments of the system described herein, it can be configured as multiple controllers and associated sensing devices.

[0039] Operator controls may be included in the passenger compartment of the vehicle terminal 101 and may include, by way of non-limiting example, a steering wheel, an accelerator pedal, a brake pedal, and an operator input device, which is an element of the HMI device 111. The operator controls enable a vehicle terminal operator to interact with the operating vehicle terminal 101 and direct the operation of the vehicle terminal 101 to provide passenger transportation.

[0040] The onboard navigation system 103 uses the digitized road map 104 for the purpose of providing navigation support and information to the vehicle terminal operator. The autonomous controller 112 uses the digitized road map 104 for the purpose of controlling the autonomous vehicle terminal operation or ADAS vehicle terminal functions.

[0041] The vehicle terminal 101 may include a telematics controller 114, which includes a wireless telematics communication system capable of communicating outside the vehicle terminal (including communicating with a communication network 115 having both wireless and wired communication capabilities). The wireless telematics communication system includes an off-board server 116 capable of short-range wireless communication with the mobile terminal.

[0042] As an optional implementation, Figure 2 As shown, the method for determining the detection point trace can be performed by an electronic device, and the specific steps include:

[0043] S202, determining a first point trace set according to the echo signal of the target radar system, wherein the echo energy value of the point trace objects in the first point trace set is greater than a first energy threshold;

[0044] S204: when the first point trace set includes a strong reflection point trace, determining an echo energy difference between the strong reflection point trace and at least one reference point trace associated with the strong reflection point trace;

[0045] S206, when the echo energy difference between the strong reflection point trace and the current reference point trace is greater than the second energy threshold, obtaining an index difference between the first velocity index value of the strong reflection point trace and the second velocity index value of the current reference point trace;

[0046] S208 , when the index difference satisfies a target interval condition, determining the current reference point trace as a false detection point trace, wherein the target interval condition is determined according to waveform parameters of the target radar system.

[0047] In S202 of the above embodiment, a first point track set is determined based on the echo signal of the target radar system. The point track objects in the above first point track set meet certain detection conditions in a certain distance and speed dimension. For example, the point tracks are detected by 2D CFAR. The point tracks include real target objects and may also include false detection points caused by environmental factors or system errors.

[0048] It can be obtained by, but is not limited to, performing coherent and non-coherent processing on the radar receiving signal. Figure 3 The radial distance-radial relative velocity heat map shown in the figure obtains M detected point traces through an adaptive threshold detection algorithm or its variation, and then sets a preset threshold to determine all point traces greater than the preset threshold from the M detected point traces to obtain the above-mentioned first point trace set. The average echo energy, minimum echo energy, etc. of each point in the M point traces can be further determined to determine multiple point trace objects greater than the preset threshold to obtain the above-mentioned first point trace set. No specific restrictions are imposed on the method of obtaining the first point trace set herein.

[0049] Furthermore, in step S204, if the first point trace set includes a strong reflection point trace, an echo energy difference between the strong reflection point trace and at least one reference point trace associated with the strong reflection point trace is determined. The strong reflection point trace is a point trace in the first point trace set having an echo energy significantly higher than that of other points traces.

[0050] It's important to note that when radar waves strike a strong reflection point, such as a large object, metal surface, or other strong reflector, the reflected signal strength is high. Due to the phase deviation between the actual frequency offset of the phase shifter and the theoretical design value, some of the echo energy at the strong reflection point "leaks" into the associated Doppler index value, resulting in multiple peaks. In other words, the reference trace associated with the strong reflection point is generated by the strong reflection point trace and is at the same or similar radial distance from the strong reflection point.

[0051] In the above step S206, when the echo energy difference between the strong reflection point and the current reference point is greater than the second energy threshold, the index difference between the first velocity index value of the strong reflection point and the second velocity index value of the current reference point is obtained.

[0052] If the energy difference between the strong reflection point and the current reference point exceeds the preset second energy threshold, it indicates that the current reference point may be a false detection caused by phase shifter phase deviation, rather than a detection of a real physical target. The second energy threshold can be a statistical value of the energy difference between normal strong reflection target points and false detection points caused by phase shifter phase deviation, obtained based on historical experimental analysis data. When the energy difference between the strong reflection point and the current reference point exceeds the preset second energy threshold, the current reference point can be considered a potential false detection point caused by phase shifter phase deviation.

[0053] In the above step S208, when the index difference satisfies the target interval condition, the current reference point trace is determined as a false detection point trace, wherein the target interval condition is determined according to the waveform parameters of the target radar system.

[0054] Because the frequency offsets of each transmitting antenna in a DDMA MIMO radar system are set based on a fixed phase step, and the phase deviation of the phase shifter is fixed with a fixed step size, periodic spurious artifacts appear in the Doppler spectrum. Therefore, if the radial relative velocity index interval between the current reference trace and the identified strong reflection trace exactly matches a periodic integer multiple of the phase shifter phase deviation, the current reference trace can be further identified as the false detection trace.

[0055] A first point track set is determined according to the echo signal of the target radar system; when the first point track set includes a strong reflection point track, an echo energy difference between the strong reflection point track and at least one reference point track associated with the strong reflection point track is determined, that is, an energy difference between a reference point track that may be misdetected due to the influence of the strong reflection point and the strong reflection point is determined; when the echo energy difference between the strong reflection point track and the current reference point track is greater than a second energy threshold, an index difference between a first velocity index value of the strong reflection point track and a second velocity index value of the current reference point track is obtained; when the index difference meets the target interval Under the target interval condition, the current reference point trace is determined as the false detection point trace, wherein the target interval condition is determined according to the waveform parameters of the target radar system, and the energy difference condition and the index difference condition are combined to realize the identification of the false detection point trace caused by the "leakage" of the energy of the strong reflection point trace. The false detection point trace can be directly eliminated in the internal process of the demodulation to avoid occupying the quota of the DDMA output valid point trace and not affecting the normal output of the long-range valid point trace, thereby solving the technical problem that other related technologies have inaccurate determination of the validity of the detection point trace due to the influence of the strong reflection point trace and inaccurate output results of the valid point trace.

[0056] In an optional implementation, determining a first point trace set according to an echo signal of a target radar system includes:

[0057] S1, determine the range-velocity spectrum according to the echo signal;

[0058] S2, determining the point trace objects whose echo energy values ​​in the range-velocity spectrum are greater than the detection threshold as candidate point trace objects;

[0059] S3, determining an echo energy parameter value matching the candidate point track object based on multiple echo energy values ​​collected for the candidate point track object at multiple collection intervals;

[0060] S4: Determine the candidate point trace objects whose echo energy parameter values ​​are greater than the first energy threshold as the point trace objects in the first point trace set.

[0061] As an optional implementation, in the above step S1, the range-velocity spectrum is determined according to the echo signal. For example, the DDMA MIMO radar system includes K transmitting antennas and L receiving antennas, and the phase offset steps corresponding to the K transmitting antennas are [PS_1, PS_2, ..., PS_K]. The radial range-radial relative velocity heat map is obtained by coherently and incoherently processing the radar receiving signal. For example, there are K = 3 transmitting antennas and L = 1 receiving antenna, and the phase offset steps corresponding to the K = 3 transmitting antennas are [PS_1, PS_2, PS_3] = [0, 0.25pi, 0.75pi]. The radial range-radial relative velocity heat map is obtained by coherently and incoherently processing the radar receiving signal. Figure 3 The radial distance-radial relative velocity heat map is shown.

[0062] Further in the above step S2, the trace objects whose echo energy values ​​in the range-velocity spectrum are greater than the detection threshold value are determined as candidate trace objects. Specifically, M detected traces (i.e., the candidate trace objects) are obtained through the adaptive threshold detection algorithm or its variation. For the mth detected trace, the detected trace related information includes the distance index value, the Doppler index value, and the target trace amplitude, which are respectively denoted as R_m, D_m, and P_m. The trace list contains the relevant information of the M detected traces. Figure 4 As shown, the radial relative velocity index value-echo energy diagram obtained when the radial distance index value is equal to 9 is taken as an example.

[0063] In step S3, the echo energy parameter value matching the candidate track object is determined based on the multiple echo energy values ​​collected for the candidate track object at multiple collection intervals. The candidate track object is a track object with an echo energy greater than a detection threshold in the range and velocity spectrum.

[0064] Optionally, the above-mentioned collection interval can be determined according to the Doppler code pattern. For example, the Doppler code pattern is obtained based on the phase offset of the transmitting antenna and the number of slow samples J=512, that is, [C_1, C_2, C_3]=[PS_1, PS_2, PS_3]*J / 2pi=[0, 64, 192]. Then, it is determined that at the position of the Doppler index (D_m+C_k), multiple echo energies are collected. These energy values ​​are obtained along the path of the Doppler code pattern on the Doppler spectrum at the same distance index value, and include echo energy information received from different receiving antennas. The multiple echo energy values ​​can be further processed by weighted averaging to obtain the above-mentioned echo energy parameter value.

[0065] In step S4, candidate trace objects with echo energy parameter values ​​greater than the first energy threshold are determined as trace objects in the first trace set. For example, the average echo energy value of the candidate traces is only a general trend of the energy intensity of the candidate traces, and further screening is required to identify the true target traces.

[0066] Through the above-mentioned implementation mode of the present application, the points whose echo energy values ​​exceed the preset threshold (i.e., candidate point trace objects) are identified in advance by analyzing the thermal map, that is, the noise is preliminarily screened out, and the false alarms caused by hardware equipment and environmental factors are reduced. The echo energy parameter value is further obtained by comprehensively calculating the echo energy collected at different intervals corresponding to the candidate point traces, and the point trace objects in the first point trace set that meet the threshold conditions are screened, thereby improving the authenticity of the points in the first point trace set. Furthermore, the strong reflection point trace can be determined from the first point trace set based on the echo energy value and the radial distance index value, thereby realizing the identification and deletion of noise caused by the strong reflection point trace, and improving the accuracy of the DDMA output of the valid point traces.

[0067] In an optional embodiment, before determining the echo energy parameter value matching the candidate point track object based on the multiple echo energy values ​​collected for the candidate point track object at multiple collection intervals, the method includes:

[0068] S1, obtaining the waveform phase offset parameter value corresponding to each transmitting antenna;

[0069] S2, determining a collection interval according to the waveform phase offset parameter value and the first sample collection value.

[0070] In the above step S1, the waveform phase offset parameter value corresponding to each transmitting antenna is obtained. For example, the DDMAMIMO radar system includes K = 3 transmitting antennas and L = 1 receiving antenna. The phase offset steps corresponding to K = 3 transmitting antennas (that is, the phase offset parameter values ​​matched to each transmitting antenna) are [PS_1, PS_2, PS_3] = [0, 0.25pi, 0.75pi] respectively.

[0071] Further in the above step S2, the above-mentioned first sample acquisition value is, for example, the slow sampling number J=512, that is, the sampling number in the slow-time Doppler dimension. There is no specific restriction on the value of the slow sampling number here, and it can be set according to actual conditions; and then the above-mentioned acquisition interval can correspond to the calculated Doppler code [C_1, C_2, C_3]=[PS_1, PS_2, PS_3]*J / 2pi=[0, 64, 192], where pi and π are synonymous. According to the Doppler code, for each preliminarily identified candidate point object, a set of echo energy values ​​can be collected along the path defined by the Doppler code on the Doppler spectrum.

[0072] In an optional embodiment, determining an echo energy parameter value matching a candidate point track object based on multiple echo energy values ​​collected for the candidate point track object at multiple collection intervals includes:

[0073] S1, performing mean processing on multiple echo energy values ​​collected based on multiple collection intervals to obtain an average echo energy value that matches the candidate point trace object, and determining the average echo energy value as the echo energy parameter value;

[0074] S2: Determine candidate point trace objects whose echo energy parameter values ​​are greater than a first energy threshold as point trace objects in a first point trace set.

[0075] The following is a complete implementation step to illustrate the above process:

[0076] Obtain information related to the detected point trace: For example, the DDMA MIMO radar system includes K = 3 transmitting antennas and L = 1 receiving antenna. The phase offset steps corresponding to K = 3 transmitting antennas are [PS_1, PS_2, PS_3] = [0, 0.25pi, 0.75pi]. By performing coherent and incoherent processing on the radar receiving signal, the following is obtained: Figure 3 The radial distance-radial relative velocity heat map shown. M detected traces (i.e., the candidate trace objects mentioned above) are obtained through the adaptive threshold detection algorithm or its variation. For the mth detected trace, the detected trace related information includes the distance index value (i.e., radial distance index value), Doppler index value (i.e., radial relative velocity index value), and target trace amplitude, which are denoted as R_m, D_m, and P_m respectively. The trace list contains the relevant information of the M detected traces. Take the radial distance index value equal to 9 as an example, as Figure 4 As shown, the following is a list of relevant information corresponding to the detected points (as shown by the marked detected points in the figure):

[0077] The m=1th detected point trace (R_1=9, D_1=0, P_1=147dB);

[0078] The m=2th detected trace (R_2=9, D_2=64, P_2=149dB);

[0079] The m=3rd detected point trace (R_3=9, D_3=128, P_3=114dB);

[0080] The m=4th detected trace (R_4=9, D_4=192, P_4=148dB);

[0081] The m=5th detected point trace (R_5=9, D_5=320, P_5=111dB);

[0082] The m=6th detected trace (R_6=9, D_6=448, P_6=115dB);

[0083] DDMA demodulation and false detection suppression: including obtaining Doppler pattern, extracting echo energy based on Doppler pattern, determining potential target points, determining whether potential target points are strong reflection points, and determining whether potential points are false detection points. The specific process is as follows:

[0084] Obtaining the Doppler pattern: Specifically, the Doppler pattern is obtained based on the phase offset of the transmitting antenna and the number of slow samples J = 512, that is, [C_1, C_2, C_3] = [PS_1, PS_2, PS_3]*J / 2pi = [0, 64, 192].

[0085] Echo energy extraction based on the Doppler pattern: traverse the point list and, for each detected point, extract the corresponding echo energy from the radial distance-radial relative velocity heat map according to the Doppler pattern at the same distance index as the detected point. Calculate the average echo energy, which is the echo energy parameter value mentioned above.

[0086] For example, the average echo energy extracted from the radial distance-radial relative velocity heat map pattern corresponding to the m=1th detected point trace is 148 dB.

[0087] The average echo energy extracted from the radial distance-radial relative velocity heat map pattern corresponding to the m=2th detected point trace is 120 dB.

[0088] The average echo energy extracted from the radial distance-radial relative velocity heat map pattern corresponding to the m=3 th detected point trace is 124 dB.

[0089] The average echo energy extracted from the radial distance-radial relative velocity heat map pattern corresponding to the m=4th detected point trace is 117 dB.

[0090] The average echo energy extracted from the radial distance-radial relative velocity heat map pattern corresponding to the m=5th detected point trace is 121 dB.

[0091] The average echo energy extracted from the radial distance-radial relative velocity heat map pattern corresponding to the m=6th detected point trace is 126 dB.

[0092] Potential target point determination: Assume that the set average echo energy threshold is 122dB. If the average echo energy in the previous step is greater than the set average echo energy threshold, the point is determined to be a potential target point.

[0093] The average echo energy of the m=1th detected point is 148 dB, which is greater than the set average echo energy threshold of 122 dB, and is determined to be a potential target point.

[0094] The average echo energy of the m=2nd detected point trace is 120dB, which is less than the set average echo energy threshold of 122dB, and is determined to be a non-potential target point trace.

[0095] The average echo energy of the m=3rd detected point is 124dB, which is greater than the set average echo energy threshold of 122dB, and is determined to be a potential target point.

[0096] The average echo energy of the m=4th detected point trace is 117 dB, which is less than the set average echo energy threshold of 122 dB, and is determined to be a non-potential target point trace.

[0097] The average echo energy of the m=5th detected point trace is 121 dB, which is less than the set average echo energy threshold of 122 dB, and is determined to be a non-potential target point trace.

[0098] The average echo energy of the m=6th detected point is 126 dB, which is greater than the set average echo energy threshold of 122 dB, and is determined to be a potential target point.

[0099] In summary, among the 6 detected points, 3 are judged to be potential target points (such as Figure 5 The corresponding potential target point traces are shown in , that is, the point trace objects in the first point trace set mentioned above. The potential target point trace list is as follows (the range index value, Doppler index value, and target point trace amplitude of the potential target point trace are recorded as RP_m, DP_m, and PP_m respectively):

[0100] The n=1th potential target point (RP_1=9, DP_1=0, PP_1=147dB) is m=1;

[0101] The n=2 potential target point trace (RP_2=9, DP_2=128, PP_2=114dB) is m=3;

[0102] The n = 3rd potential target trace (RP_3 = 9, DP_3 = 448, PP_3 = 115 dB), i.e., m = 6;

[0103] Judgment on whether the potential target trace is a strong reflection point: Assume that the threshold for strong reflection trace P_set = 130 dB is set. The threshold for the radial distance index value R_set = the number of fast-time samples = 256.

[0104] The n = 1st potential target trace satisfies PP_1 > P_set and RP_1 < R_set, and it is determined that the 1st potential target trace (i.e., m = 1) is a strong reflection point trace.

[0105] The n = 2nd potential target trace satisfies the condition RP_2 < R_set but does not satisfy the condition PP_2 > P_set, and it is determined that the 2nd potential target trace (i.e., m = 3) is a non-strong reflection point trace (i.e., a reference trace).

[0106] The n = 3rd potential target trace satisfies the condition RP_3 < R_set but does not satisfy the condition PP_3 > P_set, and it is determined that the 3rd potential target trace (i.e., m = 6) is a non-strong reflection point trace (i.e., a reference trace).

[0107] By comparing the echo energy value and the radial distance index value corresponding to the potential target trace with the preset thresholds for strong reflection point traces and radial distance indexes, the accuracy of determining strong reflection point traces is improved. Furthermore, according to the set threshold for the energy difference, the traces with echo energy significantly lower than that of the strong reflection point traces and having a specific relationship with the strong reflection point traces in the Doppler dimension can be identified as misdetected traces, and deleting the misdetected traces improves the accuracy of the output result of valid traces.

[0108] Judgment on whether the potential trace is a misdetected trace: Assume that the judgment threshold is set to 25 dB and the interval δ = 64. For the 1st potential target trace, since it is a strong reflection point trace itself, it does not meet the misdetected trace judgment conditions, so this potential target trace is retained.

[0109] For the 2nd potential target trace, there is a strong reflection point trace (i.e., the n = 1st potential target trace is a strong reflection point trace), and the difference between the echo energy of the strong reflection point trace and the echo energy of the potential target trace is 147 dB - 114 dB = 33 dB, which is greater than the judgment threshold of 25 dB. Also, the interval difference between the Doppler index value of the strong reflection point trace and the Doppler index value of the potential target trace is an integer multiple of the set interval, meeting the misdetected trace judgment conditions and being a misdetected trace. Therefore, this potential target trace is deleted.

[0110] For the third potential target point, there is a strong reflection point (i.e., the n=1 potential target point is a strong reflection point) and the difference between the echo energy of the strong reflection point and the echo energy of the potential target point is 147dB-115dB=32dB, which is greater than the judgment threshold of 25dB. In addition, the interval difference between the Doppler index value of the strong reflection point and the Doppler index value of the potential target point is an integer multiple of the set interval. It meets the false detection point judgment condition and is therefore deleted. Figure 6 The corresponding marks of the false detection points are shown in the figure.

[0111] Target trace output: For traces that meet the requirements of DDMA demodulation and non-phase shifter phase deviation and cause false detection, they are output as target traces for subsequent signal processing. The final output traces are as follows Figure 7 The final output target point trace is shown in the corresponding mark.

[0112] In an optional embodiment, determining an echo energy parameter value matching a candidate point track object based on multiple echo energy values ​​collected for the candidate point track object at multiple collection intervals includes:

[0113] S1, performing extreme value processing on multiple echo energy values ​​collected based on multiple collection intervals to obtain a minimum echo energy value that matches the candidate point trace object, and determining the minimum echo energy value as the echo energy parameter value;

[0114] S2: Determine candidate point trace objects whose echo energy parameter values ​​are greater than a first energy threshold as point trace objects in a first point trace set.

[0115] The above process is fully described in a specific implementation method:

[0116] Obtaining information about the detected points: Assume that the DDMA MIMO radar system includes K = 3 transmitting antennas and L = 1 receiving antenna. The phase offset steps corresponding to the K = 3 transmitting antennas are [PS_1, PS_2, PS_3] = [0, 0.25pi, 0.75pi]. The radial range-radial relative velocity heat map is obtained by coherently and incoherently processing the radar received signal, as shown in the following example: Figure 3 As shown. Through the adaptive threshold detection algorithm or its variant, M detected traces (i.e., candidate trace objects) are obtained. For the mth detected trace, the detected trace related information includes the distance index value, the Doppler index value, and the target trace amplitude, which are recorded as R_m, D_m, and P_m respectively. The trace list contains the relevant information of the M detected traces. For example, the radial distance index value is equal to 9, as shown in FIG. Figure 4 As shown, the following is a list of relevant information corresponding to the detected points:

[0117] The m=1th detected point trace (R_1=9, D_1=0, P_1=147dB);

[0118] The m=2th detected trace (R_2=9, D_2=64, P_2=149dB);

[0119] The m=3rd detected point trace (R_3=9, D_3=128, P_3=114dB);

[0120] The m=4th detected trace (R_4=9, D_4=192, P_4=148dB);

[0121] The m=5th detected point trace (R_5=9, D_5=320, P_5=111dB);

[0122] The m=6th detected trace (R_6=9, D_6=448, P_6=115dB);

[0123] DDMA demodulation and false detection suppression: including obtaining Doppler code pattern, extracting echo energy based on Doppler code pattern, judging potential target points, judging whether potential target points are strong reflection points, and judging whether potential points are false detection points.

[0124] Obtaining the Doppler pattern: Obtaining the Doppler pattern based on the transmit antenna phase offset and the number of slow samples J = 512, that is, [C_1, C_2, C_3] = [PS_1, PS_2, PS_3] * J / 2pi = [0, 64, 192].

[0125] Echo energy extraction based on Doppler pattern: Traverse the trace list and, for each detected trace, extract the corresponding echo energy from the radial distance-radial relative velocity heat map according to the Doppler pattern at the same distance index as the detected trace, and calculate the minimum echo energy.

[0126] For example, the minimum value of the echo energy extracted from the radial distance-radial relative velocity heat map pattern corresponding to the m=1th detected point trace is 147 dB.

[0127] The minimum value of the echo energy extracted from the radial distance-radial relative velocity heat map pattern corresponding to the m=2th detected point trace is 98dB.

[0128] The minimum value of the echo energy extracted from the radial distance-radial relative velocity heat map pattern corresponding to the m=3rd detected point trace is 111 dB.

[0129] The minimum value of the echo energy extracted from the radial distance-radial relative velocity heat map pattern corresponding to the m=4th detected point trace is 98dB.

[0130] The minimum value of the echo energy extracted from the radial distance-radial relative velocity heat map pattern corresponding to the m=5th detected point trace is 105dB.

[0131] The minimum value of the echo energy extracted from the radial distance-radial relative velocity heat map pattern corresponding to the m=6th detected point trace is 114 dB.

[0132] Potential target point determination: The set echo energy minimum threshold is 110dB. If the minimum echo energy in the previous step is greater than the set minimum echo energy threshold, the point is determined to be a potential target point.

[0133] The minimum echo energy value of the m=1th detected point track is 147dB, which is greater than the set echo energy minimum threshold value of 110dB, and is determined to be a potential target point track.

[0134] The minimum echo energy value of the m=2nd detected point track is 98dB, which is less than the set minimum echo energy threshold value of 110dB, and is determined to be a non-potential target point track.

[0135] The minimum echo energy value 111 dB of the m=3rd detected point track is greater than the set echo energy minimum threshold 110 dB, and is determined to be a potential target point track.

[0136] The minimum echo energy value of the m=4th detected point track is 98 dB, which is less than the set minimum echo energy threshold value of 110 dB, and is determined to be a non-potential target point track.

[0137] The minimum echo energy value of the m=5th detected point track is 105 dB, which is less than the set minimum echo energy threshold value of 110 dB, and is determined to be a non-potential target point track.

[0138] The minimum echo energy value of the m=6th detected point track is 114dB, which is greater than the set echo energy minimum threshold value of 110dB, and is determined to be a potential target point track.

[0139] In summary, among the 6 detected traces, 3 are judged to be potential target traces (i.e., trace objects in the first trace set), such as Figure 5 The potential target points are marked as shown in the figure. The potential target points are listed as follows (the range index value, Doppler index value, and target point amplitude of the potential target point are denoted as RP_m, DP_m, and PP_m, respectively):

[0140] The n=1th potential target point (RP_1=9, DP_1=0, PP_1=147dB), that is, m=1;

[0141] The n=2 potential target point trace (RP_2=9, DP_2=128, PP_2=114dB), that is, m=3;

[0142] The n = 3rd potential target trace (RP_3 = 9, DP_3 = 448, PP_3 = 115 dB), that is, m = 6;

[0143] Judgment on whether the potential target trace is a strong reflection point: Set the strong reflection point trace threshold P_set = 140 dB. The radial distance index value threshold R_set = the number of fast-time samples = 256.

[0144] The n = 1st potential target trace satisfies PP_1 > P_set and RP_1 < R_set, and it is determined that the 1st potential target trace is a strong reflection point trace.

[0145] The n = 2nd potential target trace satisfies the condition RP_2 < R_set but does not satisfy the condition PP_2 > P_set, and it is determined that the 2nd potential target trace is a non-strong reflection point trace (i.e., a reference trace).

[0146] The n = 3rd potential target trace satisfies the condition RP_3 < R_set but does not satisfy the condition PP_3 > P_set, and it is determined that the 3rd potential target trace is a non-strong reflection point trace (i.e., a reference trace).

[0147] By comparing the echo energy value and the radial distance index value corresponding to the potential target trace with the preset strong reflection point trace threshold and the radial distance index threshold, the accuracy of determining the strong reflection point trace is improved. Furthermore, according to the set energy difference threshold, the trace with an echo energy significantly lower than that of the strong reflection point trace and having a specific relationship with the strong reflection point trace in the Doppler dimension can be identified as a false detection trace, and deleting the false detection trace improves the accuracy of the effective trace output result.

[0148] Judgment on whether the potential trace is a false detection trace: Set the judgment threshold to 25 dB, and the interval δ = 64.

[0149] For the 1st potential target trace, since it is a strong reflection point trace itself, it does not meet the false detection trace judgment condition, so this potential target trace is retained.

[0150] For the 2nd potential target trace, there is a strong reflection point trace (i.e., the n = 1st potential target trace is a strong reflection point trace), and the difference between the echo energy of the strong reflection point trace and the echo energy of the potential target trace is 147 dB - 114 dB = 33 dB, which is greater than the judgment threshold of 25 dB, and the interval difference between the Doppler index value of the strong reflection point trace and the Doppler index value of the potential target trace is an integer multiple of the set interval, meeting the false detection trace judgment condition, so this potential target trace (i.e., the false detection trace) is deleted.

[0151] For the third potential target point, there is a strong reflection point (i.e., the n=1 potential target point is a strong reflection point) and the difference between the echo energy of the strong reflection point and the echo energy of the potential target point is 147dB-115dB=32dB, which is greater than the judgment threshold of 25dB. In addition, the interval difference between the Doppler index value of the strong reflection point and the Doppler index value of the potential target point is an integer multiple of the set interval, which meets the false detection point judgment condition. Therefore, the false detection point is deleted. Figure 6 The corresponding marks of the false detection points are shown in the figure.

[0152] Target trace output: For traces that meet the requirements of DDMA demodulation and non-phase shifter phase deviation and cause false detection, they are output as target traces for subsequent signal processing. The final output traces are as follows Figure 7 The final output target point trace is shown in the corresponding mark.

[0153] In an optional embodiment, after determining the first point trace set according to the echo signal of the target radar system, the method further includes:

[0154] S1, obtaining the echo energy value of the point trace object in the first point trace set;

[0155] S2, obtaining a distance index value of the point track object when the echo energy value is greater than a third energy threshold;

[0156] S3, when the distance index value is less than the second sample acquisition value, determining that the point object is a strong reflection point;

[0157] S4: Determine the point object in the first point set that has the same distance index value as the strong reflection point as the reference point.

[0158] It should be noted that strong reflective targets often appear more prominent at close ranges because their reflected signals attenuate less during propagation. Therefore, the energy threshold and distance index threshold can be combined to determine whether a point is a strong reflective point.

[0159] In steps S1-S2 above, the echo energy value of the point trace can be obtained through the "distance-velocity" spectrum. The third energy threshold can be a judgment threshold set through experimental data testing. If the energy value is greater than the third energy threshold, the next step of distance index judgment is entered. It should be noted that the system can set different energy thresholds based on different distance ranges, different target types, or different weather conditions. For example, the third energy threshold can be set to 120dB in the range of 0-30m and 110dB in the range of 30-50m. Similarly, multiple radial distance index thresholds can be dynamically adjusted and set, and no specific limitations are given here.

[0160] Further in the above steps S3-S4, for the point trace whose echo energy value is greater than the third energy threshold, its distance index value is obtained. If the distance index value is less than the second sample acquisition value (for example, the number of fast time samples, that is, the number of samples of the radar system in the distance dimension), the above point trace is determined to be a strong reflection point trace; the above reference point trace can be a point trace object in the first point trace set that does not simultaneously meet the requirements of being greater than the third energy threshold and less than the second sample acquisition value, and has the same distance index value as the strong reflection point trace.

[0161] Due to the phase deviation between the actual frequency offset of the phase shifter configuration and the theoretical design value, the echo energy of the strong reflection point partially "leaks" to the related Doppler index value, resulting in multiple peaks. In other words, the reference point associated with the strong reflection point is caused by the strong reflection point and has the same or similar radial distance as the strong reflection point. Therefore, it is necessary to further determine whether the reference point is a false detection point caused by the "leakage" of energy from the strong reflection point (caused by the phase deviation of the hardware device). By comparing the echo energy difference between the reference point and the strong reflection point, as well as the interval between the radial relative velocity index values, the system can effectively distinguish between true targets and false detection points, improve the accuracy of the DDMA demodulation output results, and reduce the probability of false alarms.

[0162] In an optional implementation, when the index difference satisfies the target interval condition, determining the current reference point trace as a false detection point trace further includes:

[0163] When the index difference between the first speed index value and the second speed index value satisfies a condition of an integer multiple of a phase offset difference in a waveform parameter of the target radar system, the current reference point trace is determined to be a false detection point trace.

[0164] Since there is a fixed phase deviation between the actual frequency offset of the phase shifter configuration and the theoretical design value, the echo energy of the strong reflection point "leaks" to the relative position of the related Doppler index value at a fixed position. Therefore, the interval between the false detection point and the strong reflection point satisfies the integer multiple relationship determined by the phase difference and code pattern design.

[0165] In other words, if the radial relative velocity index difference between the strong reflection point and the current reference point meets the aforementioned integer multiple conditions that match the waveform design and phase difference, the reference point is due to energy leakage from the strong reflection point, not a true target echo signal. In this case, the system will determine that the current reference point is a false detection point and remove it, achieving the technical effect of improving the accuracy of the output results within the DDMA demodulation.

[0166] The following Figure 8 The method shown is a complete description of the scheme recorded in this application:

[0167] S802. Obtain the information related to the detected traces. The information related to the detected traces can be obtained from the radial distance - radial relative velocity heat map as shown in Figure 3 the radial distance - radial relative velocity heat map shown in

[0168] For example: The DDMA MIMO radar system includes K transmitting antennas and L receiving antennas. The phase shift steps corresponding to the K transmitting antennas are [PS_1, PS_2,..., PS_K] respectively. The radial distance - radial relative velocity heat map is obtained by performing coherent and non - coherent processing on the radar received signals. Through the adaptive threshold detection algorithm or its variant, M detected traces are obtained. For the m - th detected trace, the information related to the detected trace includes the distance index value, the Doppler index value, and the target trace amplitude, denoted as R_m, D_m, and P_m respectively. The trace list contains the information related to the M detected traces.

[0169] S804. DDMA demodulation and false detection suppression. The specific process is as shown in Figure 9 shown below:

[0170] S902. Obtain the Doppler pattern: Based on the phase shift of the transmitting antenna and the number of slow - time samples J, obtain the Doppler pattern, that is, [C_1, C_2,..., C_K] = [PS_1, PS__2,..., PS_K] * J / 2pi.

[0171] S904. Extract the echo energy according to the Doppler pattern: Traverse the trace list. For each detected trace, according to the Doppler pattern, under the condition of the same distance index value as the detected trace, extract the corresponding echo energy in the radial distance - radial relative velocity heat map according to the Doppler pattern, and calculate the average echo energy or the minimum value of the corresponding echo energy.

[0172] S906. Determine the potential target trace: If the average echo energy in the previous step is greater than the set average echo energy threshold, or the minimum value of the echo energy is greater than the set minimum echo energy threshold, then determine that this trace is a potential target trace.

[0173] S908. Determine whether the potential target trace is a strong reflection point: Set the strong reflection point threshold P_set and the radial distance index value threshold R_set. If for the n - th potential target trace P_n > P_set and R_n < R_set, then determine that the n - th potential target trace is a strong reflection point. It should be noted that the strong reflection point threshold P_set and the radial distance index value threshold R_set can be set according to the system requirements. Each threshold parameter can be set as a single threshold (as described above) or multiple thresholds. This application does not limit this.

[0174] S910, determine whether the potential target point trace is a false detection point trace: if the difference between the echo energy of the strong reflection point trace and the echo energy of the potential target point trace is greater than the judgment threshold, and the interval between the radial relative velocity index value of the potential target point trace and the radial relative velocity index value of the strong reflection point trace satisfies the relationship of an integer multiple of δ, the potential target point trace is determined to be a false detection point trace caused by the phase deviation of the phase shifter, and the point trace information is deleted, that is, the false detection point trace caused by the phase deviation of the phase shifter is deleted inside the DDMA demodulation module.

[0175] Finally, S806 is executed to output the target trace: the trace that meets the DDMA demodulation relationship (ie, the trace is a potential target trace) and is not misdetected due to phase deviation of the phase shifter is output as the target trace for subsequent signal processing.

[0176] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0177] According to another aspect of the embodiment of the present application, a device for determining a detection point trace for implementing the above-mentioned method for determining a detection point trace is also provided. Figure 10 As shown, the device includes:

[0178] A first determining unit 1002 determines a first point track set according to the echo signal of the target radar system, wherein the echo energy value of the point track object in the first point track set is greater than a first energy threshold;

[0179] The second determining unit 1004 is configured to determine an echo energy difference between the strong reflection point and at least one reference point associated with the strong reflection point when the first point set includes the strong reflection point.

[0180] The acquiring unit 1006 acquires an index difference between a first velocity index value of the strong reflection point and a second velocity index value of the current reference point when the echo energy difference between the strong reflection point and the current reference point is greater than a second energy threshold;

[0181] The third determining unit 1008 determines the current reference point trace as a false detection point trace when the index difference satisfies a target interval condition, wherein the target interval condition is determined according to waveform parameters of the target radar system.

[0182] Optionally, the above-mentioned first determination unit 1002 also includes: a fourth determination module, used to determine the distance-velocity spectrum diagram based on the echo signal; determine the point trace object in the distance-velocity spectrum diagram whose echo energy value is greater than the detection threshold value as a candidate point trace object; determine the echo energy parameter value matching the candidate point trace object based on multiple echo energy values ​​collected for the candidate point trace object at multiple collection intervals; determine the candidate point trace object whose echo energy parameter value is greater than the first energy threshold as the point trace object in the first point trace set.

[0183] Optionally, the fourth determination module includes: a first acquisition module, configured to acquire a waveform phase offset parameter value corresponding to each transmitting antenna; and determine a collection interval according to the waveform phase offset parameter value and the first sample collection value.

[0184] Optionally, the above-mentioned fourth determination module includes: a fifth determination module, which is used to perform mean processing on multiple echo energy values ​​collected based on multiple acquisition intervals to obtain an average echo energy value that matches the candidate point trace object, and determine the average echo energy value as the echo energy parameter value; and determine the candidate point trace object whose echo energy parameter value is greater than the first energy threshold as the point trace object in the first point trace set.

[0185] Optionally, the above-mentioned fourth determination module includes: a sixth determination module, which is used to perform extreme value processing on multiple echo energy values ​​collected based on multiple acquisition intervals to obtain the minimum echo energy value that matches the candidate point trace object, and determine the minimum echo energy value as the echo energy parameter value; determine the candidate point trace object whose echo energy parameter value is greater than the first energy threshold as the point trace object in the first point trace set.

[0186] Optionally, the above-mentioned first determination unit 1002 also includes a second acquisition module, which is used to obtain the echo energy value of the point trace object in the first point trace set; obtain the distance index value of the point trace object when the echo energy value is greater than the third energy threshold; determine that the point trace object is a strong reflection point trace when the distance index value is less than the second sample acquisition value; and determine the point trace object in the first point trace set with the same distance index value as the strong reflection point trace as the reference point trace.

[0187] Optionally, the third determination unit 1008 is further configured to determine that the current reference point trace is a false detection point trace when the index difference between the first speed index value and the second speed index value satisfies the condition of an integer multiple of the phase offset difference in the waveform parameters of the target radar system.

[0188] For a specific embodiment, reference may be made to the example shown in the above method for determining the detection point trace, which will not be described in detail in this example.

[0189] Among them, the memory 1102 can be used to store software programs and modules, such as the program instructions / modules corresponding to the method and device for determining the detection point trace in the embodiment of the present invention. The processor 1104 executes various functional applications and data processing by running the software programs and modules stored in the memory 1102, that is, realizes the above-mentioned method for determining the detection point trace. The memory 1102 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1102 may further include a memory remotely located relative to the processor 1104, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned networks include but are not limited to the Internet, corporate intranets, local area networks, mobile communication networks and combinations thereof. Among them, the memory 1102 can be used specifically but not limited to store file information such as target files. As an example, such as Figure 11 As shown, the memory 1102 may include, but is not limited to, the first determination unit 1002, the second determination unit 1004, the acquisition unit 1006, and the third determination unit 1008 in the device for determining the detection trace. Furthermore, the memory 1102 may also include, but is not limited to, other module units in the device for determining the detection trace, which will not be described in detail in this example.

[0190] Optionally, the transmission device 1106 is configured to receive or send data via a network. Specific examples of the network may include a wired network and a wireless network. In one embodiment, the transmission device 1106 includes a network interface controller (NIC), which can be connected to other network devices and a router via a network cable to communicate with the Internet or a local area network. In one embodiment, the transmission device 1106 is a radio frequency (RF) module, which is configured to communicate with the Internet wirelessly.

[0191] In addition, the electronic device further includes: a display 1108 and a connection bus 1110 for connecting various module components in the electronic device.

[0192] According to one aspect of the present application, a computer program product is provided, comprising a computer program / instructions containing program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication component and / or installed from a removable medium. When the computer program is executed by a central processing unit, the various functions provided in the embodiments of the present application are performed.

[0193] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0194] It should be noted that the computer system of the electronic device is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0195] In particular, according to an embodiment of the present application, the processes described in the various method flow charts can be implemented as computer software programs. For example, an embodiment of the present application includes a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for executing the methods shown in the flow charts. In such an embodiment, the computer program can be downloaded and installed from a network via a communication portion, and / or installed from a removable medium. When the computer program is executed by a central processing unit, the various functions defined in the system of the present application are performed.

[0196] According to one aspect of the present application, a computer-readable storage medium is provided, and a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the various optional implementations described above.

[0197] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0198] S1, determining a first point track set according to an echo signal of a target radar system, wherein the echo energy value of the point track objects in the first point track set is greater than a first energy threshold;

[0199] S2, when the first point trace set includes a strong reflection point trace, determining an echo energy difference between the strong reflection point trace and at least one reference point trace associated with the strong reflection point trace;

[0200] S3, when the echo energy difference between the strong reflection point trace and the current reference point trace is greater than the second energy threshold, obtaining the index difference between the first velocity index value of the strong reflection point trace and the second velocity index value of the current reference point trace;

[0201] S4. When the index difference satisfies a target interval condition, the current reference point trace is determined as a false detection point trace, wherein the target interval condition is determined according to waveform parameters of the target radar system.

[0202] Optionally, in this embodiment, a person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing hardware related to the electronic device through a program, and the program may be stored in a computer-readable storage medium, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0203] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0204] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above-mentioned computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which can be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods of each embodiment of the present application.

[0205] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0206] In the several embodiments provided in this application, it should be understood that the disclosed user equipment can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, and can be electrical or other forms.

[0207] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0208] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0209] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for determining a detection point trace, characterized in that: include: Determine a first point trace set according to the echo signal of the target radar system, wherein the echo energy value of the point trace objects in the first point trace set is greater than a first energy threshold; In a case where the first point trace set includes a strong reflection point trace, determining an echo energy difference between the strong reflection point trace and at least one reference point trace associated with the strong reflection point trace; When the echo energy difference between the strong reflection point trace and the current reference point trace is greater than a second energy threshold, obtaining an index difference between a first velocity index value of the strong reflection point trace and a second velocity index value of the current reference point trace; In a case where the index difference satisfies a target interval condition, the current reference point trace is determined as a false detection point trace, wherein the target interval condition is determined according to a waveform parameter of the target radar system.

2. The method according to claim 1, characterized in that The determining of the first point trace set according to the echo signal of the target radar system includes: determining a range-velocity spectrum diagram according to the echo signal; Determine the point trace object whose echo energy value in the range-velocity spectrum is greater than the detection threshold as a candidate point trace object; Determining an echo energy parameter value matching the candidate point track object based on a plurality of echo energy values ​​collected for the candidate point track object at a plurality of collection intervals; The candidate trace object whose echo energy parameter value is greater than the first energy threshold is determined to be the trace object in the first trace set.

3. The method according to claim 2, characterized in that Before determining the echo energy parameter value matching the candidate point trace object from the plurality of echo energy values ​​collected for the candidate point trace object according to the plurality of collection intervals, the method includes: Obtaining a waveform phase offset parameter value corresponding to each transmitting antenna; The acquisition interval is determined according to the waveform phase offset parameter value and the first sample acquisition value.

4. The method according to claim 2, characterized in that The step of determining an echo energy parameter value matching the candidate point trace object based on the plurality of echo energy values ​​collected for the candidate point trace object at a plurality of collection intervals includes: Performing mean processing on the plurality of echo energy values ​​collected based on the plurality of collection intervals to obtain an average echo energy value that matches the candidate point trace object, and determining the average echo energy value as the echo energy parameter value; The candidate trace objects whose echo energy parameter values ​​are greater than the first energy threshold are determined as the trace objects in the first trace set.

5. The method according to claim 2, characterized in that The step of determining an echo energy parameter value matching the candidate point trace object based on the plurality of echo energy values ​​collected for the candidate point trace object at a plurality of collection intervals includes: Performing extreme value processing on the plurality of echo energy values ​​collected based on the plurality of collection intervals to obtain a minimum echo energy value that matches the candidate point trace object, and determining the minimum echo energy value as the echo energy parameter value; The candidate trace objects whose echo energy parameter values ​​are greater than the first energy threshold are determined as the trace objects in the first trace set.

6. The method according to claim 1, characterized in that After determining the first point trace set according to the echo signal of the target radar system, the method further includes: Acquire the echo energy value of the point trace object in the first point trace set; When the echo energy value is greater than a third energy threshold, obtaining a distance index value of the point trace object; When the distance index value is less than the second sample acquisition value, determining that the point trace object is the strong reflection point trace; The point object in the first point set having the same distance index value as the strong reflection point is determined as the reference point.

7. The method according to claim 1, characterized in that The step of determining the current reference point trace as a false detection point trace when the index difference satisfies a target interval condition further includes: When the index difference between the first speed index value and the second speed index value satisfies a condition of an integer multiple of a phase offset difference in a waveform parameter of the target radar system, the current reference point trace is determined to be the false detection point trace.

8. A device for determining a detection point trace, characterized in that: include: A first determining unit is configured to determine a first point trace set according to an echo signal of a target radar system, wherein the echo energy values ​​of the point trace objects in the first point trace set are greater than a first energy threshold; a second determining unit, configured to determine, when the first point trace set includes a strong reflection point trace, an echo energy difference between the strong reflection point trace and at least one reference point trace associated with the strong reflection point trace; an acquiring unit, wherein, when the echo energy difference between the strong reflection point trace and the current reference point trace is greater than a second energy threshold, acquiring an index difference between a first velocity index value of the strong reflection point trace and a second velocity index value of the current reference point trace; The third determining unit is configured to determine the current reference point trace as a false detection point trace if the index difference satisfies a target interval condition, wherein the target interval condition is determined according to a waveform parameter of the target radar system.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program is executed by an electronic device to perform the method according to any one of claims 1 to 7.

10. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 7 through the computer program.

11. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images