Target detection method and device

Abstract

The present application provides a target detection method and device, which are conducive to improving the accuracy of target detection. The target detection method includes: obtaining a signal detection sequence of a radar signal, wherein the signal detection sequence includes an energy value of a first detection point to be detected and multiple energy values ​​for performing target detection on the first detection point, and the multiple energy values ​​correspond to multiple detection points one by one; determining at least one minimum energy value among the multiple energy values; determining a detection threshold of the first detection point based on the at least one minimum energy value; and performing target detection on the first detection point based on the detection threshold and the energy value of the first detection point.

Description

Technical Field

[0001] The present application relates to the field of sensor technology, and more specifically, to a target detection method and device in the field of sensor technology. Background Art

[0002] With the development of society and the advancement of science and technology, smart cars are gradually entering people's daily lives. Sensors play a very important role in the unmanned driving or intelligent driving of smart cars. Radar, as a key sensor in unmanned driving or intelligent driving, has been widely used in precision detection and distance detection in the process of unmanned driving or intelligent driving.

[0003] When using radar for target detection, the judged signal may contain clutter, which refers to signals other than the echo signal of the target object, such as echo signals of other non-target objects, rain, snow, water surface, etc., as well as the system noise of the radar receiver. The presence of clutter will inhibit the detection of the target, but through the appropriate constant false alarm rate (CFAR) detection method, the target object can be detected from the above-mentioned various clutters.

[0004] The basic principle of the CFAR detection method is to set a threshold so that the false alarm probability of detection remains constant. When the target echo signal energy is greater than the threshold, the target can be detected. The traditional CFAR algorithm estimates the noise of the unit to determine whether the unit belongs to the target or clutter. The existing CFAR detection method is proposed for traditional narrow-band radars. Due to the low range resolution of narrow-band radars, the energy of the target echo is usually concentrated in one range resolution unit, and the target can be regarded as a point target.

[0005] With the continuous improvement of radar resolution, in high-resolution radar systems, the targets detected by radar are no longer traditional point targets. The distance resolution brought by the large bandwidth makes the echo of the same target distributed in multiple resolution units, forming a distributed target.

[0006] However, when the existing target detection method is used for high-resolution noise estimation, the unit energy used for noise estimation of the decision unit may include the target and clutter. Therefore, the noise threshold of CFAR detection is large, resulting in the omission of some point targets and low target detection accuracy. Summary of the invention

[0007] The embodiments of the present application provide a target detection method and device, which are conducive to improving the accuracy of target detection.

[0008] In a first aspect, an embodiment of the present application provides a target detection method, the method comprising:

[0009] Acquire a signal detection sequence of the radar signal, wherein the signal detection sequence includes an energy value of a first detection point to be detected and a plurality of energy values ​​for performing target detection on the first detection point, wherein the plurality of energy values ​​correspond one-to-one to the plurality of detection points;

[0010] determining at least one energy value that is the smallest of the plurality of energy values;

[0011] determining a detection threshold of the first detection point according to the minimum at least one energy value;

[0012] Perform target detection on the first detection point according to the detection threshold and the energy value of the first detection point.

[0013] Using the target detection method provided in the embodiment of the present application, the energy value of each detection point may include target energy (i.e., the energy of the target signal) and noise energy (i.e., the energy of the system noise), or may only contain noise energy. Since the noise and the signal are uncorrelated, the energy value of the detection point with only noise is less than the energy value of the detection point containing both signal and noise.

[0014] According to the above-mentioned characteristics of noise and signal, at least one smallest energy value among multiple energy values ​​can be considered to be likely to belong to noise with a greater probability. Using the at least one smallest energy value as the noise estimation of the first detection point can improve the accuracy of the noise estimation, thereby improving the accuracy of the target detection at the first detection point.

[0015] In a possible implementation, the signal detection sequence can be obtained by the following steps: receiving multiple echo signals generated by multiple radar signals emitted in a first time period within a detection range; performing a two-dimensional fast Fourier transform on each of the multiple baseband discrete sampling signals obtained after demodulating the multiple echo signals to obtain an M×N signal matrix, wherein each signal is represented by a complex number, and the energy value of each signal can be calculated by the real part and the imaginary part of the complex number.

[0016] That is to say, the energy value of the signal E = I 2 +R 2 , where R represents the real part of the complex number and I represents the imaginary part of the complex number.

[0017] It should be noted that the signals in the above M×N signal matrix can be understood as signals at detection points in space, that is, performing target detection on detection points can be understood as performing target detection on signals at detection points.

[0018] Optionally, in the signal detection sequence, the positional relationship between the multiple energy values ​​and the energy value of the first detection point may be various, which is not limited in this embodiment of the present application.

[0019] In a possible implementation, the multiple energy values ​​may be K energy values ​​before the energy value of the first detection point, where K is an integer greater than 0.

[0020] It should be noted that the energy value of the first detection point may be adjacent to the last energy value among the K energy values; or, the energy value of the first detection point may not be adjacent to the last energy value among the K energy values, that is, at least one energy value may be included between the energy value of the first detection point and the K energy values.

[0021] In another possible implementation, the multiple energy values ​​may be L energy values ​​after the energy value of the first detection point, where L is an integer greater than 0.

[0022] It should be noted that the energy value of the first detection point may be adjacent to the first energy value among the L energy values; or, the energy value of the first detection point may not be adjacent to the first energy value among the L energy values, that is, the energy value of the first detection point may include at least one energy value between the energy value of the first detection point and the L energy values.

[0023] In yet another possible implementation, the multiple energy values ​​may include M energy values ​​before the energy value of the first detection point and N energy values ​​after the energy value of the first detection point, where M and N are both integers greater than 0.

[0024] It should be noted that the energy value of the first detection point may be adjacent to the last energy value among the M energy values; or, the energy value of the first detection point may not be adjacent to the last energy value among the M energy values, that is, at least one energy value may be included between the energy value of the first detection point and the M energy values.

[0025] It should be noted that the energy value of the first detection point may be adjacent to the first energy value among the N energy values; or, the energy value of the first detection point may not be adjacent to the first energy value among the N energy values, that is, the energy value of the first detection point may include at least one energy value between the energy value of the first detection point and the N energy values.

[0026] It should be noted that, in the above three situations, when the multiple energy values ​​are not adjacent to the energy value of the first detection point, since the detection points corresponding to the energy values ​​adjacent to the energy value of the first detection point are closer to the first detection point, they will be affected by the signal sidelobe at the first detection point. Therefore, the energy values ​​adjacent to the energy value of the first detection point can be used as protection units and are not used for target detection of the first detection point. This can improve the accuracy of target detection.

[0027] Optionally, the values ​​of M and N may be the same or different, which is not limited in the embodiments of the present application.

[0028] It should also be noted that the at least one minimum energy value described in the embodiments of the present application refers to an energy value determined by any one of the following four possible implementation methods.

[0029] In other words, the above-mentioned "at least one minimum energy value" may include the minimum in the true sense, and may also include those "at least one minimum energy value" that are considered to be the minimum in the embodiments of the present application, that is, the approximately minimum.

[0030] In a first possible implementation, determining at least one minimum energy value among the multiple energy values ​​includes: clustering the multiple energy values ​​to obtain multiple categories; determining a target category based on the energy values ​​included in each category in the multiple categories, wherein the average value of the energy values ​​included in the target category is smaller than the average value of the energy values ​​included in categories other than the target category in the multiple categories; and determining the energy value included in the target category to be the at least one minimum energy value.

[0031] In a possible implementation, a density-based clustering method can be used to define the sample space density according to the number of neighbors in the sample point area in the point cloud, and the maximum density connected sample point set can be obtained through the density reachable relationship and aggregated into a classification.

[0032] Optionally, the embodiment of the present application may also cluster the multiple energy values ​​according to other clustering methods, which is not limited in the embodiment of the present application.

[0033] Since the characteristics of noise data and signal data are different, the density-based classification method can be used to classify the data based on the characteristics of the data itself, divide the noise and data into different categories, and use the energy value of the category where the noise is located as the minimum at least one energy value, which can improve the accuracy of noise estimation.

[0034] In a second possible implementation manner, determining at least one minimum energy value among the multiple energy values ​​includes: performing at least one pairwise minimum operation on the multiple energy values ​​to obtain the at least one minimum energy value.

[0035] In a third possible implementation, determining at least one minimum energy value among the multiple energy values ​​includes: dividing the multiple energy values ​​into multiple groups; determining the minimum value among the energy values ​​included in each group in the multiple groups to obtain multiple minimum values ​​corresponding to the multiple groups; performing at least one pairwise minimum operation on the multiple minimum values ​​corresponding to the multiple groups to obtain the at least one minimum energy value.

[0036] It should be noted that in the second and third possible implementations, at least one minimum energy value in a true sense is determined.

[0037] It should also be noted that, in the third possible implementation manner, determining at least one minimum energy value by processing multiple groups in parallel can improve computational efficiency.

[0038] In a possible implementation, determining the detection threshold of the first detection point based on the at least one minimum energy value includes: taking an average value of the at least one minimum energy value to obtain an average value of the at least one minimum energy value; and determining the detection threshold of the first detection point based on the average value.

[0039] In a fourth possible implementation, determining at least one minimum energy value among the multiple energy values ​​includes: dividing the multiple energy values ​​into multiple groups; sampling an energy value from the energy values ​​included in each of the multiple groups to obtain multiple energy values ​​sampled from the multiple groups; performing at least one pairwise maximum value operation on the multiple energy values ​​sampled from the multiple groups to obtain multiple maximum values; performing at least one pairwise minimum value operation on the multiple maximum values ​​to obtain the minimum energy value, and the number of the at least one minimum energy value is one.

[0040] It should be noted that in the fourth possible implementation manner, at least one approximately minimum energy value is determined.

[0041] It should also be noted that, in the fourth possible implementation, by processing the energy values ​​sampled from a plurality of groups to obtain at least one approximately minimum energy value, the amount of calculation can be reduced and the calculation efficiency can be improved.

[0042] Optionally, determining the detection threshold of the first detection point according to the at least one minimum energy value may include: determining the detection threshold according to the at least one minimum energy value and a preset threshold coefficient.

[0043] For example, the detection threshold may be the product of an average value of the at least one minimum energy value and the threshold coefficient.

[0044] For another example, the detection threshold may be the product of the minimum energy value and the threshold coefficient.

[0045] Optionally, performing target detection on the first detection point based on the detection threshold and the energy value of the first detection point may include: when the energy value of the first detection point is less than or equal to the detection threshold, determining that the first detection point belongs to noise; or, when the energy value of the first detection point is greater than the detection threshold, determining that the first detection point belongs to a target object.

[0046] In a possible implementation, the energy value of the first detection point is the i-th energy value in the signal detection sequence, and the multiple energy values ​​include M energy values ​​before the i-th energy value and N energy values ​​after the i-th energy value, M and N are both integers greater than 0, and i is an integer greater than 0.

[0047] In a possible implementation, in the signal detection sequence, there are P energy values ​​between the i-th energy value and the M energy values, and there are Q energy values ​​between the i-th energy value and the N energy values, and both P and Q are integers greater than 0.

[0048] However, when performing target detection on the detection point corresponding to the i+1th energy value, it is necessary to Figure 5 A similar process is used to perform target detection again for the detection point corresponding to the i+1th energy value. In this way, if a target detection is performed for each detection point corresponding to each energy value in the signal detection sequence, a large amount of calculation will be required.

[0049] Therefore, when the energy value of the first detection point is the i-th energy value in the signal detection sequence, the multiple energy values ​​include M energy values ​​before the i-th energy value and N energy values ​​after the i-th energy value, there are P energy values ​​between the i-th energy value and the M energy values, and there are Q energy values ​​between the i-th energy value and the N energy values, the following possible implementation method can be adopted to perform target detection on the detection point corresponding to the i+1-th energy value.

[0050] In a possible implementation, the method also includes: performing target detection on the detection point corresponding to the i+1th energy value in the signal detection sequence based on the at least one minimum energy value, the first energy value and the second energy value, the first energy value being the first energy value among the P energy values, and the second energy value being the first energy value after the N energy values.

[0051] In a possible implementation, target detection is performed on the detection point corresponding to the i+1th energy value in the signal detection sequence based on the at least one minimum energy value, the first energy value and the second energy value, including: taking the minimum value among the first energy value, the second energy value and the first maximum value, replacing the first maximum value, and obtaining at least one target energy value, wherein the first maximum value is the maximum value among the at least one minimum energy value; and performing target detection on the detection point corresponding to the i+1th energy value based on the at least one target energy value.

[0052] It should be noted that by using the above method to perform target detection on the detection point corresponding to the i+1th energy value, there is no need to determine again at least one minimum energy value for detecting the detection point corresponding to the i+1th energy value, which can improve calculation efficiency.

[0053] Optionally, the detection threshold of the detection point corresponding to the i+1th energy value can be determined based on the at least one minimum target energy value; and target detection can be performed on the detection point corresponding to the i+1th energy value based on the detection threshold of the detection point corresponding to the i+1th energy value and the i+1th energy value.

[0054] In a second aspect, an embodiment of the present application also provides a target detection device, comprising: a transceiver unit and a processing unit, the transceiver unit being used to obtain a signal detection sequence of a radar signal, the signal detection sequence comprising an energy value of a first detection point to be detected and multiple energy values ​​for performing target detection on the first detection point, the multiple energy values ​​corresponding one-to-one to multiple detection points; the processing unit being used to determine at least one minimum energy value among the multiple energy values; determining a detection threshold of the first detection point based on the at least one minimum energy value; the processing unit being further used to perform target detection on the first detection point based on the detection threshold and the energy value of the first detection point.

[0055] Optionally, the processing unit is further used to execute the method described in any possible implementation manner of the first aspect above.

[0056] In a third aspect, an embodiment of the present application also provides a target detection device, which includes: a processor and a transceiver, the processor and the transceiver communicate with each other through an internal connection path, the processor is used to control the transceiver to receive a signal detection sequence of a radar signal, the signal detection sequence includes an energy value of a first detection point to be detected and multiple energy values ​​for target detection at the first detection point, and the multiple energy values ​​correspond one-to-one to multiple detection points; the processing unit is used to determine at least one minimum energy value among the multiple energy values; based on the at least one minimum energy value, determine a detection threshold of the first detection point; the processing unit is also used to perform target detection on the first detection point based on the detection threshold and the energy value of the first detection point.

[0057] In a fourth aspect, an embodiment of the present application also provides a target detection system, which includes the device and a radar device in the above-mentioned third aspect or any possible implementation thereof, wherein the radar device is used to transmit a radar signal, receive an echo signal reflected by the radar signal within a detection range, and send the echo signal to the processor.

[0058] Optionally, the processor is specifically used to control the transceiver to receive the echo signal sent by the radar device, and generate the signal detection sequence according to the echo signal.

[0059] In a fifth aspect, an embodiment of the present application further provides a smart car, which includes the device in the third aspect or any possible implementation thereof or the target detection system in the fourth aspect.

[0060] In a sixth aspect, an embodiment of the present application further provides a computer-readable storage medium for storing a computer program, wherein the computer program includes instructions for implementing the method in the above-mentioned first aspect or any possible implementation thereof.

[0061] In a seventh aspect, an embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to implement the method in the above-mentioned first aspect or any possible implementation thereof.

[0062] In the eighth aspect, an embodiment of the present application also provides a chip device, including: a processor and a communication interface, the processor and the communication interface communicate with each other through an internal connection path, the communication interface is used to communicate with external devices or internal devices, and the processor is used to implement the method in the above-mentioned first aspect or any possible implementation method thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 A schematic diagram of an application scenario of an embodiment of the present application;

[0064] Figure 2 A schematic diagram of the architecture of the target detection system according to an embodiment of the present application is provided;

[0065] Figure 3 A schematic diagram of the architecture of another target detection system according to an embodiment of the present application is provided;

[0066] Figure 4 is a schematic flow chart of a target detection method 100 according to an embodiment of the present application;

[0067] Figure 5 A schematic diagram of target detection at the i-th detection point in an embodiment of the present application;

[0068] Figure 6 Another schematic diagram of target detection at the i-th detection point in the embodiment of the present application;

[0069] Figure 7 This is another schematic diagram of performing target detection at the i-th detection point in the embodiment of the present application;

[0070] Figure 8 This is another schematic diagram of performing target detection at the i-th detection point in the embodiment of the present application;

[0071] Fig. 9 This is another schematic diagram of performing target detection at the i-th detection point in the embodiment of the present application;

[0072] Fig.10 This is another schematic diagram of performing target detection at the i-th detection point in the embodiment of the present application;

[0073] Fig.11 This is a schematic diagram of target detection at the i+1th detection point in an embodiment of the present application;

[0074] Fig.12 is a schematic block diagram of a target detection device 200 according to an embodiment of the present application;

[0075] Fig.13 Schematic block diagram of a target detection device 300 according to an embodiment of the present application. DETAILED DESCRIPTION

[0076] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0077] Figure 1 A schematic diagram of an application scenario provided by an embodiment of the present application is shown, and the application scenario may be unmanned driving, automatic driving, intelligent driving, networked driving, etc. of a terminal.

[0078] Optionally, the terminal may be, for example, a motor vehicle (such as an unmanned vehicle, a smart car, an electric car, a digital car, etc.), a drone, a rail car, a bicycle, a traffic light, etc., a terminal that has the need to detect targets through radar.

[0079] Optionally, the terminal may be mobile or fixed, which is not limited in the embodiments of the present application.

[0080] It should be noted that, in the above scenario, the terminal may include a target detection system, and perform target detection through the target detection system.

[0081] Optionally, the target detection system may be an independent device in the terminal; or the target detection system may be integrated in the terminal as a vehicle-mounted system or vehicle-mounted terminal of the terminal.

[0082] Figure 2 The schematic diagram of the target detection system provided in the embodiment of the present application is shown, and the system includes a radar detection device and a target detection device.

[0083] The radar detection device is used to transmit multiple radar signals within a first time period; receive multiple echo signals reflected by the multiple radar signals within a detection range; and send the multiple echo signals to a target detection device.

[0084] The target detection device is used to receive the multiple echo signals, and obtain a signal detection sequence of the multiple radar signals according to the multiple echo signals, wherein the signal detection sequence includes energy values ​​corresponding to multiple detection points detected within the detection range.

[0085] In a possible implementation, the target detection device can obtain the signal detection sequence through the following steps: perform a two-dimensional fast Fourier transformation (FFT) on each of the multiple baseband discrete sampling signals obtained after demodulating the multiple echo signals to obtain an M×N signal matrix, wherein each signal is represented by a complex number, and the energy value of each signal can be calculated by the real part and the imaginary part of the complex number.

[0086] That is to say, the energy value of the signal E = I 2 +R 2 , where R represents the real part of the complex number and I represents the imaginary part of the complex number.

[0087] It should be noted that the signals in the above M×N signal matrix can be understood as signals at detection points in space, that is, performing target detection on detection points can be understood as performing target detection on signals at detection points.

[0088] The target detection device is also used to perform target detection on the detection points corresponding to the energy values ​​in the signal detection sequence.

[0089] Optionally, the radar detection device may communicate with the target detection device.

[0090] In a possible implementation, the radar detection device may communicate with the target detection device via a wired or wireless method.

[0091] For example, the radar detection device has an interface for communicating with the target detection device, and the target detection device also has an interface for communicating with the radar detection device. The radar detection device and the target detection device communicate through the corresponding interfaces.

[0092] It should be noted that the above-mentioned wired method can be to achieve communication through data line connection or through internal bus connection.

[0093] It should be noted that the above wireless method can be realized by communication through a communication network, and the communication network can be a local area network, or a wide area network transferred by a relay device, or include a local area network and a wide area network. When the communication network is a local area network, exemplarily, the communication network can be a short-distance communication network such as a wifi hotspot network, a wifi P2P network, a Bluetooth network, a zigbee network or a near field communication (near field communication, NFC) network. When the communication network is a wide area network, exemplarily, the communication network can be a third-generation mobile communication technology (3rd-generation wireless telephone technology, 3G) network, a fourth-generation mobile communication technology (the 4th generation mobile communication technology, 4G) network, a fifth-generation mobile communication technology (5th-generation mobile communication technology, 5G) network, a future-evolved public land mobile network (public land mobile network, PLMN) or the Internet, etc., and the embodiments of the present application are not limited to this.

[0094] Optionally, the radar detection device and the target detection device may be two independent devices, which may be installed on the terminal respectively; or, the radar detection device and the target detection device may be integrated into one device, which may be installed on the terminal.

[0095] Alternatively, if Figure 3As shown, the target detection device can be integrated into a radar detection device as a functional module in the radar detection device, and the embodiments of the present application are not limited to this.

[0096] Optionally, Figure 3 The radar detection device may also have a transceiver function. For example, the radar detection device may also include a transceiver antenna, and a communication interface may exist between the transceiver antenna and the target detection unit.

[0097] Optionally, the system may further include other devices with other functions, which is not limited in the embodiments of the present application.

[0098] For example, the system may also include a communication device, a display, a sensor, and the like.

[0099] Figure 4 A schematic flow chart of a target detection method 100 provided in an embodiment of the present application is shown. The method 100 is applicable to Figure 1 The application scenario described in .

[0100] It should be noted that whether the radar detection device and the target detection device are integrated into one device or are separate devices (such as Figure 2 ), or the target detection device is integrated in the radar detection device (as shown in Figure 3 As shown), it can be understood that the method 100 is implemented by the target detection device.

[0101] S110, obtaining a signal detection sequence of a radar signal, wherein the signal detection sequence includes an energy value of a first detection point and a plurality of energy values ​​adjacent to the energy value of the first detection point, wherein the plurality of energy values ​​correspond one-to-one to a plurality of detection points.

[0102] Optionally, the signal detection sequence may be acquired in a variety of ways, which is not limited in the embodiments of the present application.

[0103] In one possible implementation, Figure 2 In the scenario described in, the signal detection sequence sent by the radar detection device can be received, that is, the radar detection device generates the signal detection sequence.

[0104] In another possible implementation, Figure 3 In the scenario described in, multiple echo signals can be obtained from the receiving antenna of the radar detection device through the internal interface of the radar detection device, and the signal detection sequence can be generated by itself according to the multiple echo signals.

[0105] It should be noted that the generation process of the signal detection sequence is as follows Figure 2 To avoid repetition, it will not be repeated here.

[0106] Optionally, in the signal detection sequence, the positional relationship between the multiple energy values ​​and the energy value of the first detection point may be various, which is not limited in this embodiment of the present application.

[0107] In a possible implementation, the multiple energy values ​​may be K energy values ​​before the energy value of the first detection point, where K is an integer greater than 0.

[0108] It should be noted that the energy value of the first detection point may be adjacent to the last energy value among the K energy values; or, the energy value of the first detection point may not be adjacent to the last energy value among the K energy values, that is, at least one energy value may be included between the energy value of the first detection point and the K energy values.

[0109] In another possible implementation, the multiple energy values ​​may be L energy values ​​after the energy value of the first detection point, where L is an integer greater than 0.

[0110] It should be noted that the energy value of the first detection point may be adjacent to the first energy value among the L energy values; or, the energy value of the first detection point may not be adjacent to the first energy value among the L energy values, that is, the energy value of the first detection point may include at least one energy value between the energy value of the first detection point and the L energy values.

[0111] In yet another possible implementation, the multiple energy values ​​may include M energy values ​​before the energy value of the first detection point and N energy values ​​after the energy value of the first detection point, where M and N are both integers greater than 0.

[0112] It should be noted that the energy value of the first detection point may be adjacent to the last energy value among the M energy values; or, the energy value of the first detection point may not be adjacent to the last energy value among the M energy values, that is, at least one energy value may be included between the energy value of the first detection point and the M energy values.

[0113] It should be noted that the energy value of the first detection point may be adjacent to the first energy value among the N energy values; or, the energy value of the first detection point may not be adjacent to the first energy value among the N energy values, that is, the energy value of the first detection point may include at least one energy value between the energy value of the first detection point and the N energy values.

[0114] It should be noted that, in the above three situations, when the multiple energy values ​​are not adjacent to the energy value of the first detection point, since the detection points corresponding to the energy values ​​adjacent to the energy value of the first detection point are closer to the first detection point, they will be affected by the signal sidelobe at the first detection point. Therefore, the energy values ​​adjacent to the energy value of the first detection point can be used as protection units and are not used for target detection of the first detection point. This can improve the accuracy of target detection.

[0115] Optionally, the values ​​of M and N may be the same or different, which is not limited in the embodiments of the present application.

[0116] S120: Determine at least one smallest energy value among the multiple energy values.

[0117] It should be noted that the number of the at least one minimum energy value should be smaller than the number of the multiple energy values.

[0118] It should also be noted that the at least one minimum energy value described in the embodiments of the present application refers to an energy value determined by any one of the following four possible implementation methods.

[0119] In other words, the above-mentioned "at least one minimum energy value" may include the minimum in the true sense, and may also include the "at least one minimum energy value" that is considered to be the minimum in the embodiment of the present application, that is, the approximate minimum.

[0120] Since the energy value of each detection point may contain target energy (i.e., the energy of the target signal) and noise energy (i.e., the energy of the system noise), or it may only contain noise energy, and since noise and signal are uncorrelated, the energy value of a detection point with only noise is less than the energy value of a detection point that contains both signal and noise.

[0121] According to the above-mentioned characteristics of noise and signal, at least one smallest energy value among multiple energy values ​​can be considered to be likely to belong to noise with a greater probability. Using the at least one smallest energy value as the noise estimation of the first detection point can improve the accuracy of the noise estimation, thereby improving the accuracy of the target detection at the first detection point.

[0122] In a first possible implementation manner, a minimum value operation may be performed on the multiple energy values ​​in pairs to obtain the at least one minimum energy value.

[0123] In a second possible implementation, the multiple energy values ​​can be divided into multiple groups; the minimum value among the energy values ​​included in each of the multiple groups is determined to obtain multiple minimum values ​​corresponding to the multiple groups; and a minimum value operation is performed on the multiple minimum values ​​corresponding to the multiple groups to obtain at least one minimum energy value.

[0124] It should be noted that what is determined in the first and second possible implementations is at least one minimum energy value in a true sense.

[0125] It should also be noted that, in the second possible implementation manner, determining at least one minimum energy value by processing multiple groups in parallel can improve computational efficiency.

[0126] In a third possible implementation, the multiple energy values ​​can be clustered to obtain multiple categories; a target category is determined based on the energy values ​​included in each of the multiple categories, wherein the average value of the energy values ​​included in the target category is smaller than the average value of the energy values ​​included in categories other than the target category in the multiple categories; and the energy value included in the target category is determined to be the minimum at least one energy value.

[0127] In one possible implementation, a density-based spatial clustering method (DBSCAN) can be used to define the sample space density according to the number of neighbors in the sample point area in the point cloud, and the maximum density connected sample point set is obtained through the density reachable relationship and aggregated into a classification.

[0128] Optionally, the embodiment of the present application may also cluster the multiple energy values ​​according to other clustering methods, which is not limited in the embodiment of the present application.

[0129] Since the characteristics of noise data and signal data are different, the density-based classification method can be used to classify based on the characteristics of the data itself, divide the noise and signal into different categories, and use the energy value of the category where the noise is located as the minimum at least one energy value, which can improve the accuracy of noise estimation.

[0130] Optionally, in any possible implementation of the first to third possible implementations described above, the number of the at least one minimum energy value is greater than 1.

[0131] In a fourth possible implementation, the multiple energy values ​​can be divided into multiple groups; an energy value is sampled from the energy values ​​included in each of the multiple groups to obtain multiple energy values ​​sampled from the multiple groups; a maximum value operation is performed pairwise on the multiple energy values ​​sampled from the multiple groups to obtain multiple maximum values; a minimum value operation is performed pairwise on the multiple maximum values ​​to obtain at least one minimum energy value, wherein the number of at least one minimum energy value is equal to 1.

[0132] It should be noted that in the fourth possible implementation manner, at least one approximately minimum energy value is determined.

[0133] It should also be noted that, in the fourth possible implementation, by processing the energy values ​​at the sampling points in the multiple groups to obtain at least one approximately minimum energy value, the amount of calculation can be reduced and the calculation efficiency can be improved.

[0134] S130: Determine a detection threshold of the first detection point according to the at least one minimum energy value.

[0135] Optionally, the detection threshold may be determined according to the at least one minimum energy value in a variety of ways, which is not limited in the embodiments of the present application.

[0136] In a possible implementation, for any possible implementation of the first to third possible implementations in S120, when the number of the at least one minimum energy value is greater than 1, the detection threshold can be determined based on an average value of the minimum multiple energy values.

[0137] In another possible implementation manner, for the fourth possible implementation manner in S120, when the number of the at least one minimum energy value is 1, the detection threshold may be determined according to the minimum energy value.

[0138] Optionally, determining the detection threshold of the first detection point according to the at least one minimum energy value may include: determining the detection threshold according to the at least one minimum energy value and a preset threshold coefficient.

[0139] For example, the detection threshold may be the product of an average value of the at least one minimum energy value and the threshold coefficient.

[0140] For another example, the detection threshold may be the product of the minimum energy value and the threshold coefficient.

[0141] S140: Perform target detection on the first detection point according to the detection threshold and the energy value of the first detection point.

[0142] Optionally, performing target detection on the first detection point based on the detection threshold and the energy value of the first detection point may include: when the energy value of the first detection point is less than or equal to the detection threshold, determining that the first detection point belongs to noise; or, when the energy value of the first detection point is greater than the detection threshold, determining that the first detection point belongs to a target object.

[0143] It should be noted that after the signal detection sequence is acquired, target detection may be performed on each detection point in the signal detection sequence according to S120 and S130.

[0144] Optionally, the detection window can be slid over each detection point in the signal detection sequence in sequence to achieve target detection for each detection point. The detection window includes a decision unit and multiple reference units. The decision unit includes the detection point currently to be detected, and the multiple reference units include energy values ​​for target detection of the detection points in the decision unit.

[0145] In a possible implementation, without considering the protection unit, Figure 5 A schematic diagram of target detection for a detection point corresponding to the i-th energy value in a signal detection sequence is shown, the i-th energy value is placed in a decision unit, the M reference units located before the decision unit respectively place the M energy values ​​before the i-th energy value, the N reference units located after the decision unit respectively place the N energy values ​​after the i-th energy value, the minimum K energy values ​​are determined from the M+N energy values ​​stored in the M+N reference units, the detection threshold is determined based on the K energy values ​​and the threshold coefficient, and based on the detection threshold and the i-th energy value in the decision unit, target detection is performed on the detection point corresponding to the i-th energy value, to obtain a detection result.

[0146] Optionally, the first to fourth possible implementations described in S120 may be used to implement Figure 3 The process of determining K energy values ​​from M+N energy values.

[0147] For example, Figure 6 FIG. 4 is a schematic diagram showing a first possible implementation method of S120 for determining K energy values ​​from M+N energy values. Figure 6 As shown, the K energy values ​​are obtained by comparing the energy values ​​in the M reference units (once or more) and taking the minimum values, and by comparing the energy values ​​in the N reference units (once or more) and taking the minimum values, where K is an integer greater than 1.

[0148] For example, Figure 7Another schematic diagram of determining K energy values ​​from M+N energy values ​​through a second possible implementation in S120 is shown. Figure 5 As shown, by grouping the energy values ​​in the M reference units and the N reference units respectively, performing (once or multiple times) pairwise comparisons on each group to obtain the minimum value, the K energy values ​​are obtained, where K is an integer greater than 1.

[0149] For example, Figure 8 FIG. 4 is a schematic diagram showing a method of determining K energy values ​​from M+N energy values ​​through a third possible implementation in S120. Figure 8 As shown, by clustering the energy values ​​in the M reference units and the N reference units, the energy values ​​included in a classification with the smallest average energy value are determined as the K energy values, where K is an integer greater than 1.

[0150] It should be noted that the sample space density set during clustering can be determined according to the number of K energy values ​​ultimately required.

[0151] For example, Fig. 9 FIG. 4 is a schematic diagram showing a fourth possible implementation method of S120 for determining K energy values ​​from M+N energy values. Fig. 9 As shown, the energy values ​​in M ​​reference units and N reference units are grouped respectively, an energy value is randomly selected in each group, and the randomly selected M+N energy values ​​are compared (once or multiple times) in pairs to obtain the maximum value, to obtain multiple maximum values, and the minimum value of the multiple maximum values ​​is determined as the K energy values, where K is equal to 1.

[0152] It should be noted that Figure 7 and Fig. 9 The number of groups and the number of energy values ​​included in each group can be determined according to the number of K energy values ​​ultimately required.

[0153] Optionally, the number of units included in the detection window can be set according to the computing capabilities of different systems, which is not limited in the embodiments of the present application.

[0154] It should be noted that when Figures 5 to 9 When the number of energy values ​​before the i-th energy value in the signal detection sequence is less than M, or the number of energy values ​​after the i-th energy value is less than N, the content in the reference unit with missing energy values ​​can be supplemented according to the existing method.

[0155] It should also be noted that Figures 5 to 9 When performing pairwise comparisons, one pairwise comparison or multiple pairwise comparisons may be performed. The specific number of comparisons is to obtain K energy values ​​as a termination condition, which is not limited in the embodiments of the present application.

[0156] In another possible implementation, taking the protection unit into consideration, Fig.10 A schematic diagram of target detection at a detection point corresponding to the i-th energy value is shown, the i-th energy value is placed in a decision unit, the P adjacent protection units before the decision unit are placed in the P adjacent energy values ​​before the i-th energy value, the M adjacent reference units before the P protection units are placed in the M adjacent energy values ​​before the P energy values, the Q adjacent protection units after the decision unit are placed in the Q adjacent energy values ​​after the i-th energy value, and the N adjacent reference units after the Q protection units are placed in the N adjacent energy values ​​after the Q energy values. The energy values ​​in the protection units are not used for target detection at the i-th detection point.

[0157] It should be noted that you can refer to Figure 5 The implementation method described in the embodiment is to determine the minimum K energy values ​​from the M+N energy values ​​stored in the M+N reference units, determine the detection threshold based on the K energy values ​​and the threshold coefficient, and perform target detection on the detection point corresponding to the i-th energy value based on the detection threshold and the i-th energy value in the decision unit, so as to obtain the detection result. To avoid repetition, it will not be described here.

[0158] In summary, through the above Figures 5 to 10 The process described in can realize target detection for the detection point corresponding to the i-th energy value in the signal detection sequence.

[0159] However, if Fig.11 As shown, considering the protection unit, when the detection window slides one unit to the right from performing target detection on the detection point corresponding to the i-th energy value, when performing target detection on the detection point corresponding to the i+1-th energy value, compared to the energy value included in the reference unit used for performing target detection on the detection point corresponding to the i-th energy value, the sliding of the detection window will result in two newly added values ​​in the reference unit for performing target detection on the detection point corresponding to the i+1-th energy value, namely, the newly added energy value in the first protection unit before sliding (the iP-th energy value) and the first energy value after the detection window before sliding (the i+Q+N+1-th energy value).

[0160] It should be noted that the detection window can slide one or more units to the right each time. Accordingly, the energy value included in the reference unit for two consecutive target detections will also change accordingly. For details, please refer to Figure 10-11 The change of sliding one unit each time is not limited in the embodiment of the present application.

[0161] However, when performing target detection on the detection point corresponding to the i+1th energy value, it is necessary to Figure 5 A similar process is used to perform target detection again for the detection point corresponding to the i+1th energy value. In this way, if a target detection is performed for each detection point corresponding to each energy value in the signal detection sequence, a large amount of calculation will be required.

[0162] Therefore, when the energy value of the first detection point is the i-th energy value in the signal detection sequence, the multiple energy values ​​include M energy values ​​before the i-th energy value and N energy values ​​after the i-th energy value, there are P energy values ​​between the i-th energy value and the M energy values, and there are Q energy values ​​between the i-th energy value and the N energy values, the following possible implementation method can be adopted to perform target detection on the detection point corresponding to the i+1-th energy value, where P and Q are both integers greater than 0.

[0163] In one possible implementation, target detection can be performed on the detection point corresponding to the i+1th energy value based on the newly added value when target detection is performed on the detection point corresponding to the i+1th energy value (i.e., the newly added value of this detection relative to the last detection) and the K energy values ​​obtained when target detection is performed on the detection point corresponding to the i-th energy value (i.e., the K energy values ​​obtained in the last detection).

[0164] That is to say, target detection can be performed on the detection point corresponding to the i+1th energy value in the signal detection sequence based on the at least one minimum energy value, the first energy value and the second energy value, the first energy value being the first energy value among the P energy values, and the second energy value being the first energy value after the N energy values.

[0165] It should be noted that by using the above method to perform target detection on the detection point corresponding to the i+1th energy value, there is no need to determine again at least one minimum energy value for detecting the detection point corresponding to the i+1th energy value, which can improve calculation efficiency.

[0166] Optionally, the minimum value among the first energy value, the second energy value and the first maximum value can be taken to replace the first maximum value to obtain at least one target energy value, wherein the first maximum value is the maximum value among the at least one minimum energy value; and according to the at least one target energy value, target detection is performed on the detection point corresponding to the i+1th energy value.

[0167] Optionally, the detection threshold of the detection point corresponding to the i+1th energy value can be determined based on the at least one minimum target energy value; and target detection can be performed on the detection point corresponding to the i+1th energy value based on the detection threshold of the detection point corresponding to the i+1th energy value and the i+1th energy value.

[0168] Combined with the above Figures 1 to 11 The target detection method provided in the embodiment of the present application is described in detail. Fig.13 The target detection device provided in the embodiment of the present application is introduced.

[0169] Fig.12 A schematic block diagram of a target detection device 200 provided in an embodiment of the present application is shown. The device 200 includes:

[0170] The transceiver unit 210 is used to receive a signal detection sequence of a radar signal, wherein the signal detection sequence includes an energy value of a first detection point to be detected and multiple energy values ​​for target detection at the first detection point, wherein the multiple energy values ​​correspond one-to-one to multiple detection points.

[0171] The processing unit 220 is used to determine at least one minimum energy value among the multiple energy values; and determine the detection threshold of the first detection point according to the at least one minimum energy value.

[0172] The processing unit 210 is further configured to perform target detection on the first detection point according to the detection threshold and the energy value of the first detection point.

[0173] Optionally, the processing unit 220 is specifically used to: cluster the multiple energy values ​​to obtain multiple categories; determine a target category based on the energy values ​​included in each category in the multiple categories, wherein the average value of the energy values ​​included in the target category is smaller than the average value of the energy values ​​included in categories other than the target category in the multiple categories; and determine the energy value included in the target category as the minimum at least one energy value.

[0174] Optionally, the processing unit 220 is specifically configured to: perform at least one pairwise minimum operation on the multiple energy values ​​to obtain the at least one minimum energy value.

[0175] Optionally, the processing unit 220 is specifically used to: divide the multiple energy values ​​into multiple groups; determine the minimum value among the energy values ​​included in each group in the multiple groups to obtain multiple minimum values ​​corresponding to the multiple groups; perform at least one pairwise minimum operation on the multiple minimum values ​​corresponding to the multiple groups to obtain at least one minimum energy value.

[0176] Optionally, the processing unit 220 is specifically configured to: perform an averaging operation on the at least one minimum energy value to obtain an average value of the at least one minimum energy value; and determine a detection threshold of the first detection point according to the average value.

[0177] Optionally, the processing unit 220 is specifically used to: divide the multiple energy values ​​into multiple groups; sample an energy value from the energy values ​​included in each of the multiple groups to obtain multiple energy values ​​sampled from the multiple groups; perform at least one pairwise maximum value operation on the multiple energy values ​​sampled from the multiple groups to obtain multiple maximum values; perform at least one pairwise minimum value operation on the multiple maximum values ​​to obtain the minimum energy value, and the number of at least one minimum energy value is one.

[0178] Optionally, the energy value of the first detection point is the i-th energy value in the signal detection sequence, and the multiple energy values ​​include M energy values ​​before the i-th energy value and N energy values ​​after the i-th energy value, M and N are both integers greater than 0, and i is an integer greater than 0.

[0179] Optionally, in the signal detection sequence, there are P energy values ​​between the i-th energy value and the M energy values, and there are Q energy values ​​between the i-th energy value and the N energy values, and both P and Q are integers greater than 0.

[0180] Optionally, the processing unit 220 is also used to: perform target detection on the detection point corresponding to the i+1th energy value in the signal detection sequence according to the at least one minimum energy value, the first energy value and the second energy value, the first energy value being the first energy value among the P energy values, and the second energy value being the first energy value after the N energy values.

[0181] Optionally, the processing unit 220 is specifically configured to: take a minimum value among the first energy value, the second energy value and a first maximum value, replace the first maximum value, and obtain at least one target energy value, wherein the first maximum value is the maximum value among the at least one minimum energy value;

[0182] According to the at least one target energy value, target detection is performed on the detection point corresponding to the i+1th energy value. It should be understood that the device 200 here is embodied in the form of a functional unit. The term "unit" here may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a proprietary processor or a group processor, etc.) and a memory for executing one or more software or firmware programs, a merging logic circuit and / or other suitable components that support the described functions. In an optional example, those skilled in the art can understand that the device 200 can be specifically a target detection device in the embodiment of the above-mentioned method 100, and the device 200 can be used to execute the various processes and / or steps corresponding to the target detection device in the above-mentioned method 100. To avoid repetition, it will not be repeated here.

[0183] Fig.13 The target detection device 300 provided in the embodiment of the present application is shown, and the device 300 may include Fig.12 The device 200 described in the embodiment, or the device 300 may be Fig.12 The device 200 described in the embodiment of the present invention can adopt the hardware architecture shown in FIG13. The device 300 can include a processor 310 and a transceiver 320, and the processor 310 and the transceiver 320 communicate with each other through an internal connection path. Fig.12 The related functions implemented by the processing unit 220 in the embodiment can be implemented by the processor 310, and the related functions implemented by the transceiver unit 210 can be implemented by the processor 310 controlling the transceiver 320.

[0184] The processor 310 may include one or more processors, for example, one or more central processing units (CPUs). When the processor is a CPU, the CPU may be a single-core CPU or a multi-core CPU.

[0185] The transceiver 320 is used to send and receive signals. The transceiver may include a transmitter and a receiver, wherein the transmitter is used to send radar signals and the receiver is used to receive radar signals.

[0186] Optionally, the device 300 may further include a memory 330, and the processor 310, the transceiver 320 and the memory 330 communicate with each other through an internal connection path.

[0187] The memory 330 includes but is not limited to random access memory (RAM), read-only memory (ROM), erasable programmable readonly memory (EPROM), and compact disc read-only memory (CD-ROM). The memory 330 is used to store relevant instructions and data.

[0188] The memory 330 is used to store program codes and data of the device, and may be a separate device or integrated in the processor 310 .

[0189] Specifically, the processor 310 is used to control the transceiver to transmit a radar signal and receive an echo signal of the radar signal; the processor 310 is also used to obtain a signal detection sequence according to the echo signal, and perform target detection according to the signal detection sequence. For details, please refer to the description in the method embodiment, which will not be repeated here.

[0190] Understandably, Fig.13 Only a simplified design of the device 300 is shown. In practical applications, the device 300 may also include other necessary components, including but not limited to any number of transceivers, processors, controllers, memories, etc., and all management devices that can implement the present application are within the protection scope of the present application.

[0191] In a possible design, the device 300 can be replaced by a chip device for implementing the relevant functions of the processor in the device. The chip device can be a field programmable gate array, a dedicated integrated chip, a system chip, a central processing unit, a network processor, a digital signal processing circuit, a microcontroller, and a programmable controller or other integrated chips for implementing the relevant functions. The chip can optionally include one or more memories for storing program codes, and when the code is executed, the processor implements the corresponding function.

[0192] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0193] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0194] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0195] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0196] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0197] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0198] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a 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 the 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 a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0199] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A target detection method, characterized in that: include: Acquire a signal detection sequence of the radar signal, wherein the signal detection sequence includes an energy value of a first detection point to be detected and a plurality of energy values ​​for performing target detection on the first detection point, wherein the plurality of energy values ​​correspond one-to-one to the plurality of detection points; determining at least one energy value that is the smallest of the plurality of energy values; determining a detection threshold of the first detection point according to the minimum at least one energy value; Performing target detection on the first detection point according to the detection threshold and the energy value of the first detection point; Wherein, determining at least one minimum energy value among the multiple energy values ​​comprises: Clustering the multiple energy values ​​to obtain multiple classifications; Determine a target category according to the energy values ​​included in each category of the multiple categories, wherein an average value of the energy values ​​included in the target category is smaller than an average value of the energy values ​​included in categories other than the target category of the multiple categories; determining the energy value included in the target classification as the minimum at least one energy value; When the energy value of the first detection point is the i-th energy value in the signal detection sequence, the multiple energy values ​​include M energy values ​​before the i-th energy value and N energy values ​​after the i-th energy value, there are P energy values ​​between the i-th energy value and the M energy values, and there are Q energy values ​​between the i-th energy value and the N energy values, wherein M and N are both integers greater than 0, i is an integer greater than 0, and P and Q are both integers greater than 0; According to the at least one minimum energy value, the first energy value and the second energy value, target detection is performed on the detection point corresponding to the i+1th energy value in the signal detection sequence, the first energy value being the first energy value among the P energy values, and the second energy value being the first energy value after the N energy values.

2. The method according to claim 1, characterized in that The determining, according to the at least one minimum energy value, a detection threshold of the first detection point includes: Performing an averaging operation on the at least one minimum energy value to obtain an average value of the at least one minimum energy value; A detection threshold of the first detection point is determined according to the average value.

3. The method according to claim 1, characterized in that The performing target detection on the detection point corresponding to the (i+1)th energy value in the signal detection sequence according to the at least one minimum energy value, the first energy value and the second energy value comprises: Taking the minimum value among the first energy value, the second energy value and the first maximum value, replacing the first maximum value, and obtaining at least one target energy value, wherein the first maximum value is the maximum value among the at least one minimum energy value; According to the at least one target energy value, target detection is performed on the detection point corresponding to the (i+1)th energy value.

4. A target detection device, characterized in that: include: a transceiver unit, configured to receive a signal detection sequence of a radar signal, wherein the signal detection sequence includes an energy value of a first detection point to be detected and a plurality of energy values ​​for performing target detection on the first detection point, wherein the plurality of energy values ​​correspond one-to-one to the plurality of detection points; A processing unit, configured to determine at least one minimum energy value among the multiple energy values; and determine a detection threshold of the first detection point according to the at least one minimum energy value; The processing unit is further used to perform target detection on the first detection point according to the detection threshold and the energy value of the first detection point; Wherein, the processing unit is specifically used for: Clustering the multiple energy values ​​to obtain multiple classifications; Determine a target category according to the energy values ​​included in each category of the multiple categories, wherein an average value of the energy values ​​included in the target category is smaller than an average value of the energy values ​​included in categories other than the target category of the multiple categories; determining the energy value included in the target classification as the minimum at least one energy value; When the energy value of the first detection point is the i-th energy value in the signal detection sequence, the multiple energy values ​​include M energy values ​​before the i-th energy value and N energy values ​​after the i-th energy value, there are P energy values ​​between the i-th energy value and the M energy values, and there are Q energy values ​​between the i-th energy value and the N energy values, wherein M and N are both integers greater than 0, i is an integer greater than 0, and P and Q are both integers greater than 0; The processing unit is also used for: According to the at least one minimum energy value, the first energy value and the second energy value, target detection is performed on the detection point corresponding to the i+1th energy value in the signal detection sequence, the first energy value being the first energy value among the P energy values, and the second energy value being the first energy value after the N energy values.

5. The device according to claim 4, characterized in that The processing unit is specifically used for: Performing an averaging operation on the at least one minimum energy value to obtain an average value of the at least one minimum energy value; A detection threshold of the first detection point is determined according to the average value.

6. The device according to claim 4, characterized in that The processing unit is specifically used for: Taking the minimum value among the first energy value, the second energy value and the first maximum value, replacing the first maximum value, and obtaining at least one target energy value, wherein the first maximum value is the maximum value among the at least one minimum energy value; According to the at least one target energy value, target detection is performed on the detection point corresponding to the (i+1)th energy value.

7. A target detection device, comprising a processor and a memory, wherein the processor and the memory are coupled, characterized in that: The processor is configured to execute the method according to any one of claims 1 to 3.

8. A chip device, comprising: A processor and a communication interface, wherein the processor and the communication interface communicate with each other via an internal connection path, and the communication interface is used to communicate with external devices or internal devices, and is characterized in that the processor is used to implement the method described in any one of claims 1 to 3 above.

9. A computer-readable storage medium for storing a computer program, characterized in that: The computer program comprises instructions for implementing the method of any one of claims 1 to 3 above.

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