A radar echo signal processing method, device, equipment and storage medium

Abstract

The application discloses a radar echo signal processing method and device, equipment and storage medium, including: obtaining the point cloud data corresponding to the radar echo signal, and determining the target point to be detected and the corresponding control point from the point cloud data; based on the first included angle between the first line segment formed by the target point to be detected and the radar signal emission origin and the second line segment formed by the target point to be detected and the control point, the tailing detection is carried out on the target point to be detected, and the radar echo signal is filtered according to the tailing detection result. It can be seen that the application takes the included angle between the line segment formed by the target point to be detected and the radar signal emission origin and the line segment formed by the target point to be detected and the control point as the key feature of judging the point cloud tailing point, and then carries out tailing detection based on the included angle, can effectively filter out the serious tailing point in the point cloud with high point frequency, so as to obtain the radar echo signal with less interference to accurately position the target.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a radar echo signal processing method, device, equipment and storage medium. Background Art

[0002] Radar stands for "radio detection and positioning." Its basic task is to detect targets of interest and determine their state parameters, such as range, direction, and speed. It primarily consists of an antenna, transmitter, receiver (including a signal processor), and display. The radar transmitter generates sufficient electromagnetic energy, which is transmitted to the antenna via a transceiver switch. The antenna radiates this electromagnetic energy into the atmosphere, concentrating it in a narrow direction to form a beam that propagates forward. Upon encountering a target within the beam, the electromagnetic wave is reflected in various directions. A portion of this electromagnetic energy is reflected back toward the radar and captured by the radar antenna. The energy captured by the antenna is then sent to the receiver via a transceiver switch, forming the radar's echo signal. Due to various external factors, the echo signal is subject to various noises during this process. Point cloud tailing has long been a technical pain point in the industry, and finding the optimal solution to this problem is one of the issues the industry needs to address.

[0003] The variance method is widely used in existing technologies to address streaking. This involves calculating the variance of several adjacent points in a point cloud, setting an appropriate threshold, and filtering out any points that do not meet the threshold. However, this method is not ideal for point clouds with high point frequencies or when streaking is severe, and has certain limitations.

[0004] Therefore, how to provide a solution for effectively processing the point cloud tailing phenomenon in radar echo signals is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention aims to provide a radar echo signal processing method, apparatus, device, and storage medium that can effectively filter out severe tailing points in a point cloud with a high frequency, thereby obtaining radar echo signals with less interference for accurate target positioning. The specific solution is as follows:

[0006] A first aspect of the present application provides a radar echo signal processing method, comprising:

[0007] Acquire point cloud data corresponding to the radar echo signal, and determine the target point to be detected and the corresponding control point from the point cloud data;

[0008] Tail detection is performed on the target point to be detected based on a first angle between a first line segment formed by the target point to be detected and the radar signal emission origin and a second line segment formed by the target point to be detected and the reference point, and the radar echo signal is filtered according to the tail detection result.

[0009] Optionally, before determining the target point to be detected and the corresponding control point from the point cloud data, the method further includes:

[0010] Determining a preset distribution area based on the distribution state of the point cloud data, and screening the preset point cloud data within the preset distribution area to obtain target point cloud data; wherein the target point cloud data is the point cloud data corresponding to the radar echo signal of a small target detection object at a close distance;

[0011] Accordingly, determining the target point to be detected and the corresponding control point from the point cloud data includes:

[0012] The target point to be detected and the corresponding control point are determined from the point cloud data except the target point cloud data.

[0013] Optionally, screening the preset point cloud data within the preset distribution area to obtain target point cloud data includes:

[0014] The first distances between the point clouds corresponding to the preset point cloud data in the preset distribution area and the radar signal emission origin are respectively determined, and the preset point cloud data corresponding to the minimum value in the first distance is determined as the target point cloud data.

[0015] Optionally, determining the target point to be detected and the corresponding control point from the point cloud data other than the target point cloud data includes:

[0016] A flag is set for the point cloud corresponding to the target point cloud data, so as to determine the target point to be detected and the corresponding control point from the point cloud data other than the target point cloud data according to the flag.

[0017] Optionally, the control point is separated from the target point to be detected by a preset number of adjacent points;

[0018] Accordingly, performing tail detection on the target point to be detected based on a first angle between a first line segment formed by the target point to be detected and the radar signal emission origin and a second line segment formed by the target point to be detected and the reference point includes:

[0019] A second angle corresponding to the radar signal transmission origin is obtained using the angular resolution between two adjacent points, and a second distance and a third distance between the reference point and the first line segment are determined based on the second angle and a third line segment; wherein the third line segment is a line segment formed by the reference point and the radar signal transmission origin, the second distance is a perpendicular distance between the reference point and the first line segment, and the third distance is a distance between the radar signal transmission origin and a perpendicular point corresponding to the second distance;

[0020] The first angle is determined according to the second line segment, the second distance and the third distance, and it is determined whether the first angle is less than a preset threshold. If so, the target point to be detected is determined to be a trailing point.

[0021] Optionally, the radar echo signal processing method further includes:

[0022] The radar echo signal is processed based on the field programmable logic gate array chip.

[0023] Optionally, determining the first angle according to the second line segment, the second distance, and the third distance includes:

[0024] A difference is calculated between the length of the second line segment and the third distance, and a ratio of the second distance to the difference is determined as the first angle.

[0025] A second aspect of the present application provides a radar echo signal processing device, comprising:

[0026] An acquisition module is used to acquire point cloud data corresponding to the radar echo signal and determine the target point to be detected and the corresponding control point from the point cloud data;

[0027] The detection module is used to perform tail detection on the target point to be detected based on a first angle between a first line segment formed by the target point to be detected and the radar signal emission origin and a second line segment formed by the target point to be detected and the reference point, and to filter the radar echo signal according to the tail detection result.

[0028] A third aspect of the present application provides an electronic device, comprising a processor and a memory; wherein the memory is used to store a computer program, and the computer program is loaded and executed by the processor to implement the aforementioned radar echo signal processing method.

[0029] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are loaded and executed by a processor, the aforementioned radar echo signal processing method is implemented.

[0030] In the present application, point cloud data corresponding to the radar echo signal is first acquired, and a target point to be detected and a corresponding control point are determined from the point cloud data; then, based on a first included angle between a first line segment formed by the target point to be detected and a radar signal emission origin and a second line segment formed by the target point to be detected and the control point, tailing detection is performed on the target point to be detected, and filtering processing is performed on the radar echo signal according to the tailing detection result. It can be seen that the present application takes the included angle between the line segment formed by the target point to be detected and the radar signal emission origin and the line segment formed by the target point to be detected and the control point as a key feature for judging a point cloud tailing point, and then performs tailing detection based on the included angle, which can effectively filter out serious tailing points in point cloud with high point frequency, so as to obtain radar echo signals with less interference for accurate positioning of the target. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0032] Figure 1 A result graph of a variance method for processing tailing provided by the present application;

[0033] Figure 2 A radar echo signal processing method schematic diagram provided by the present application;

[0034] Figure 3 A point cloud data decomposition diagram provided by the present application;

[0035] Figure 4 A tailing detection implementation process data decomposition diagram provided by the present application;

[0036] Figure 5 A specific radar echo signal processing method schematic diagram provided by the present application;

[0037] Figure 6 A small target point cloud example diagram provided by the present application without filtering tailing;

[0038] Figure 7 A target point cloud data determination flowchart provided by the present application;

[0039] Figure 8 A result graph before processing the echo signal by the radar echo signal processing method provided by the present application;

[0040] Figure 9This is a result diagram of the radar echo signal processed by the radar echo signal processing method provided by this application;

[0041] Figure 10 A schematic diagram of the structure of a radar echo signal processing device provided in this application;

[0042] Figure 11 This is a structural diagram of a radar echo signal processing electronic device provided in this application. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0044] In the prior art, the variance method is used to filter out the tailing points in the radar echo signal. The processing result is as follows: Figure 1 As shown, it can be seen that this solution is not suitable for point clouds with relatively high point frequencies or situations where tailing points are relatively serious, and has great limitations. In response to the above technical defects, the present application provides a radar echo signal processing solution, which uses the angle between the line segment formed by the target point to be detected and the radar signal emission origin and the line segment formed by the target point to be detected and the reference point as the key feature for judging the tailing points of the point cloud, and then performs tailing detection based on the angle. It can effectively filter out serious tailing points in point clouds with relatively high point frequencies, thereby obtaining radar echo signals with less interference to accurately locate the target.

[0045] Figure 2 This is a flow chart of a radar echo signal processing method provided in an embodiment of the present application. Figure 2 As shown, the radar echo signal processing method includes:

[0046] S11: Acquire point cloud data corresponding to the radar echo signal, and determine the target point to be detected and the corresponding control point from the point cloud data.

[0047] By observing the point cloud, it is found that the tail in the point cloud has a characteristic: the tail point cloud extends backward from the edge of the target, and the angle between it and the ray passing through the polar coordinate origin with the radar machine as the origin (radar signal emission origin) is relatively small, such as Figure 3As shown, the OQ ray forms an angle α with the dotted trailing line. At close range, this angle is smaller than the angle formed between most real targets and the origin ray. Therefore, by determining the angle between the line segment between two point clouds and the origin ray, invalid trailing point clouds can be filtered out. Therefore, this embodiment first acquires point cloud data corresponding to the radar echo signal and then determines the target point to be detected and the corresponding reference point from this point cloud data. The reference point is primarily used to assist in determining whether the target point is a trailing point. For example, the reference point and the target point can be separated by a preset number of adjacent points.

[0048] S12: Perform tail detection on the target point to be detected based on a first angle between a first line segment formed by the target point to be detected and the radar signal emission origin and a second line segment formed by the target point to be detected and the reference point, and filter the radar echo signal according to the tail detection result.

[0049] In this embodiment, after the target point and the reference point are determined, tail detection is performed on the target point to be detected based on the first angle between the first line segment formed by the target point to be detected and the radar signal emission origin and the second line segment formed by the target point to be detected and the reference point, and the radar echo signal is filtered according to the tail detection result. Figure 4 As shown, p1 to p9 are all point clouds that are trailing backwards, and the solid arc is the real point cloud. According to the specific project needs, you can choose several points across the front and back to take points as reference segments. In this embodiment, the intervals between 9 adjacent points are selected as the line segment MN, which forms an angle α with the ray OM through the origin. The angle α needs to be calculated to determine whether it is less than the set angle threshold. If it is less than, it is determined as a tailing signal.

[0050] Specifically, the angular resolution between two adjacent points is used to obtain the second angle corresponding to the radar signal emission origin, and the second distance and third distance between the reference point and the first line segment are determined based on the second angle and the third line segment; wherein the third line segment is the line segment formed by the reference point and the radar signal emission origin, the second distance is the perpendicular distance between the reference point and the first line segment, and the third distance is the distance between the radar signal emission origin and the perpendicular point corresponding to the second distance. The first angle is determined based on the second line segment, the second distance, and the third distance, and it is determined whether the first angle is less than a preset threshold. If so, the target point to be detected is determined to be a trailing point. The preset threshold is determined based on specific business needs and is not limited in the embodiments of the present application. Generally speaking, in scenarios where trailing is particularly severe, the comparison threshold needs to be set relatively large.

[0051] As shown in reference 4, assuming that p1 is the target point to be determined, then find 8 points forward to obtain the reference point p9. The two points form a straight line segment and form an angle with OM. It is known that the distance of p1 is L1, that is, OM = L1, and the distance of p9 is L9, that is, ON = L9. Since the angular resolution is known, it is easy to get the angle between two adjacent points as the angular resolution of the radar point cloud. For example, for a 20K point cloud with a rotation speed of 10Hz, the angular resolution is 0.18°, so the angle between the two points in this case is 0.18°. This can be deduced Figure 4 Here, p1 and p9 are eight adjacent points, and the central angle ∠MON formed with the origin is the angular resolution multiplied by 8. Knowing ON = L9 and angle ∠MON = 0.18°*8, the lengths of DN and DO can be calculated, i.e., DN = sin(∠MON)*L9 and DO = cos(∠MON)*L9. This also allows the length of DM to be calculated, DM = OM-DO. From the lengths of DM and DN, the included angle ∠OMN can be calculated using the inverse trigonometric function arctan(), i.e., ∠OMN = arctan(DN / DM). Comparing the included angle ∠OMN with the set threshold determines whether there is a tailing signal.

[0052] Furthermore, to improve processing efficiency, this embodiment processes radar echo signals based on a field programmable gate array (FPGA). However, FPGAs have difficulty processing trigonometric functions and floating-point operations. Therefore, when calculating the first angle, the difference between the length of the second line segment and the third distance can be calculated, and the ratio of the second distance to the difference can be determined as the first angle. Figure 4 The only required trigonometric functions are sin(∠MON), cos(∠MON), and arctan(DN / DM). As shown above, since the angle ∠MON is very small, sin(∠MON) can be approximately equal to its radian value, that is, sin(∠MON) = 0.0251, and cos(∠MON) can be approximately equal to 1. Given that the arctan() function is monotonic within the angle range of 0° to 90°, the calculation for determining the angle ∠OMN can be transformed into the ratio of DN to DM. Therefore, determining the ratio of QN to QM (QN / QM) is equivalent to determining the angle ∠MON. This optimization method significantly reduces the amount of FPGA computation required, saving significant resources.

[0053] It can be seen that the embodiment of the present application first obtains the point cloud data corresponding to the radar echo signal, and determines the target point to be detected and the corresponding control point from the point cloud data; then, based on the first angle between the first line segment formed by the target point to be detected and the radar signal emission origin and the second line segment formed by the target point to be detected and the control point, tail detection is performed on the target point to be detected, and the radar echo signal is filtered according to the tail detection result. The embodiment of the present application uses the angle between the line segment formed by the target point to be detected and the radar signal emission origin and the line segment formed by the target point to be detected and the control point as the key feature for judging the tail point of the point cloud, and then performs tail detection based on the angle. It can effectively filter out serious tail points in the point cloud with a high point frequency, thereby obtaining a radar echo signal with less interference to accurately locate the target.

[0054] Figure 5 This is a flow chart of a specific radar echo signal processing method provided in the embodiment of the present application. Figure 5 As shown, the radar echo signal processing method includes:

[0055] S21: Obtain point cloud data corresponding to the radar echo signal.

[0056] S22: Determine a preset distribution area based on the distribution status of the point cloud data, and filter the preset point cloud data within the preset distribution area to obtain target point cloud data; wherein, the target point cloud data is the point cloud data corresponding to the radar echo signal of the close-range small target detection object.

[0057] In scenarios where tailing is particularly serious, the comparison threshold needs to be set relatively large. When the threshold is relaxed, tailing signal filtering can achieve a good filtering effect. However, for some point cloud signals of small targets at close range, such as Figure 6 The point clouds of targets such as the stool legs shown will be filtered out or only one or two points will remain after filtering. Therefore, before filtering the tails, it is necessary to retain the effective signals of these small targets at close range, prevent them from being filtered, and only filter out their tails to prevent the effective targets from being filtered out. To this end, this embodiment first obtains the point cloud data corresponding to the radar echo signal, and then determines the preset distribution area based on the distribution state of the point cloud data, and filters the preset point cloud data within the preset distribution area to obtain the target point cloud data. Among them, the target point cloud data is the point cloud data corresponding to the radar echo signal of the small target detection object at close range.

[0058] Through observation, the characteristics of this type of small signal presented by the point cloud are: the point cloud formed by the target is similar to a thin cone, Figure 6What is reflected is that the effective target is the tip of the "cone", and the tail is dragged farther away from the edges of both ends, so we can find some minimum points within a certain point range to retain. That is, the first distance between the point cloud corresponding to the preset point cloud data in the preset distribution area and the origin of the radar signal transmission is determined respectively, and the preset point cloud data corresponding to the minimum value in the first distance is determined as the target point cloud data. The specific process of using FPGA to achieve the above effect is shown in Figure 7. First, 2n+1 point cloud distance data are cached, and then it is determined whether the distance of the n+1th point is the minimum compared with the distance of the 1 to n points on the left, and whether it is the minimum compared with the distance of the n+2 to 2n+1 points on the right. When both conditions are met, it is determined to be the minimum.

[0059] S23: Determine the target point to be detected and the corresponding control point from the point cloud data except the target point cloud data.

[0060] In this embodiment, the target point to be detected and the corresponding reference point are determined from the point cloud data other than the target point cloud data. Specifically, a flag bit can be set for the point cloud corresponding to the target point cloud data so that the target point to be detected and the corresponding reference point can be determined from the point cloud data other than the target point cloud data based on the flag bit. In FPGA program processing, n points before and after the point to be determined can be cached. The number n can be set according to the specific project. A comparison is made within the range of these n points to find the minimum point. This point is the signal point cloud of a valid small target. A flag bit can be set for the point that meets the minimum condition so that it is considered a valid point in the angle determination filter module and is not processed.

[0061] For example, when a point is identified as a minimum value, the extreme value valid flag is raised, and then the angle determination and filtering module is entered. If the previous extreme value flag is raised, the point is not filtered by the angle algorithm. For other points with flags lowered, the ∠α value is determined to be within the threshold. If not, it is filtered. In this way, through small target signal protection and strict angle determination filtering, more than 90% of tailing signals can be effectively filtered out without incorrectly filtering out point clouds with small target signals.

[0062] S24: performing tail detection on the target point to be detected based on a first angle between a first line segment formed by the target point to be detected and the radar signal emission origin and a second line segment formed by the target point to be detected and the reference point, and filtering the radar echo signal according to the tail detection result.

[0063] Regarding the specific process of the above-mentioned step S24, reference may be made to the corresponding content disclosed in the above-mentioned embodiment, which will not be repeated here.

[0064] This embodiment uses the point cloud processing with a relatively high radar point frequency as an example to illustrate the effect. For a transmission and reception point frequency of 60,000 points per second, if the laser emission spot is not adjusted well in the early stage and the spot is not concentrated enough, it will produce very serious tailing. It is difficult to effectively remove the tailing in this case using the variance method. The method of this embodiment can effectively remove most of the point cloud in this case, and effectively protect the small target signal without mistakenly filtering out valid small object targets. Figure 8 is the effect diagram before using this solution. Figure 9 This is the effect diagram after processing the point cloud with a relatively high radar point frequency using the above method.

[0065] It can be seen that the embodiment of the present application first determines a preset distribution area based on the distribution status of the point cloud data before making an angle determination, and filters the preset point cloud data within the preset distribution area to obtain the target point cloud data, and then determines the target point to be detected and the corresponding control point from the point cloud data other than the target point cloud data. Both sparse and dense tails can be filtered out and a relatively ideal effect can be achieved, ensuring that only a few points of the signal of a small target, that is, the effective point cloud of the target, will not be mistakenly filtered out. While filtering out the tails, the integrity of the real and effective signal must be guaranteed to the greatest extent possible so that the existence of the object can be identified.

[0066] See also Figure 10 As shown, the embodiment of the present application also discloses a radar echo signal processing device, including:

[0067] An acquisition module 11 is used to acquire point cloud data corresponding to the radar echo signal and determine the target point to be detected and the corresponding control point from the point cloud data;

[0068] The detection module 12 is used to perform tail detection on the target point to be detected based on the first angle between the first line segment formed by the target point to be detected and the radar signal transmission origin and the second line segment formed by the target point to be detected and the reference point, and filter the radar echo signal according to the tail detection result.

[0069] It can be seen that the embodiment of the present application first obtains the point cloud data corresponding to the radar echo signal, and determines the target point to be detected and the corresponding control point from the point cloud data; then, based on the first angle between the first line segment formed by the target point to be detected and the radar signal emission origin and the second line segment formed by the target point to be detected and the control point, tail detection is performed on the target point to be detected, and the radar echo signal is filtered according to the tail detection result. The embodiment of the present application uses the angle between the line segment formed by the target point to be detected and the radar signal emission origin and the line segment formed by the target point to be detected and the control point as the key feature for judging the tail point of the point cloud, and then performs tail detection based on the angle. It can effectively filter out serious tail points in the point cloud with a high point frequency, thereby obtaining a radar echo signal with less interference to accurately locate the target.

[0070] In some specific embodiments, the radar echo signal processing device further includes:

[0071] A distribution state determination module, configured to determine a preset distribution area according to the distribution state of the point cloud data;

[0072] A screening module, configured to screen the preset point cloud data within the preset distribution area to obtain target point cloud data; wherein the target point cloud data is the point cloud data corresponding to the radar echo signal of a small target detection object at a close distance;

[0073] The processing module is used to process the radar echo signal based on a field programmable logic gate array chip.

[0074] In some specific embodiments, the screening module specifically includes:

[0075] A distance determination unit, configured to respectively determine a first distance between a point cloud corresponding to the preset point cloud data in the preset distribution area and an origin of radar signal emission;

[0076] A minimum value determining unit is configured to determine the preset point cloud data corresponding to the minimum value in the first distance as the target point cloud data.

[0077] In some specific embodiments, the acquisition module 11 specifically includes:

[0078] An acquisition unit, configured to acquire point cloud data corresponding to the radar echo signal;

[0079] a determining unit, configured to determine the target point to be detected and the corresponding control point from the point cloud data other than the target point cloud data;

[0080] Correspondingly, in some specific embodiments, the determining unit is specifically configured to set a flag bit for the point cloud corresponding to the target point cloud data, so as to determine the to-be-detected target point and the corresponding reference point from the point cloud data other than the target point cloud data according to the flag bit.

[0081] In some specific embodiments, when the reference point is separated from the to-be-detected target point by a preset number of adjacent points, the detection module 12 specifically comprises:

[0082] a calculating unit configured to obtain a second included angle corresponding to the radar signal emission origin by using the angular resolution between two adjacent points, and determine a second distance and a third distance between the reference point and the first line segment according to the second included angle and a third line segment, wherein the third line segment is a line segment formed by the reference point and the radar signal emission origin, the second distance is a vertical distance between the reference point and the first line segment, and the third distance is a distance from the radar signal emission origin to a vertical point corresponding to the second distance;

[0083] an included angle determining unit configured to determine the first included angle according to the second line segment, the second distance and the third distance;

[0084] a judging unit configured to judge whether the first included angle is less than a preset threshold value, and if yes, determine that the to-be-detected target point is a tailing point.

[0085] In some specific embodiments, the included angle determining unit is specifically configured to obtain a difference value by subtracting the third distance from the length of the second line segment, and determine the first included angle as a ratio of the second distance to the difference value.

[0086] Further, the embodiments of the present application also provide an electronic device. Figure 11 FIG. 1 is a structural diagram of an electronic device 20 according to an exemplary embodiment, and the contents in the figure should not be considered as any limitation on the use range of the present application.

[0087] Figure 11 FIG. 1 is a structural diagram of an electronic device 20 according to an exemplary embodiment, and the contents in the figure should not be considered as any limitation on the use range of the present application. The electronic device 20 specifically can comprise at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25 and a communication bus 26. The memory 22 is configured to store a computer program, and the processor 21 is configured to load and execute the computer program to implement the related steps in the radar echo signal processing method disclosed in any of the preceding embodiments. In addition, the electronic device 20 in the present embodiment can be a computer.

[0088] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device. The communication protocol it follows is any communication protocol that can be applied to the technical solution of this application and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world. Its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0089] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or CD, etc. The resources stored thereon may include an operating system 221, a computer program 222 and data 223, etc. The storage method can be temporary storage or permanent storage.

[0090] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, enabling the processor 21 to operate and process the massive amount of data 223 in the memory 22. It can be Windows Server, NetWare, Unix, Linux, etc. In addition to including computer programs capable of implementing the radar echo signal processing method disclosed in any of the aforementioned embodiments and executed by the electronic device 20, the computer program 222 may further include computer programs capable of performing other specific tasks. The data 223 may include, for example, echo signals collected by the electronic device 20.

[0091] Furthermore, an embodiment of the present application also discloses a storage medium, in which a computer program is stored. When the computer program is loaded and executed by a processor, the radar echo signal processing method steps disclosed in any of the aforementioned embodiments are implemented.

[0092] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions of the methods.

[0093] Finally, it needs to be pointed out that, in this document, relational terms such as first and second and the like can only be intended to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or even include elements inherent to such process, method, article, or apparatus. Without more limitations, an element defined by an utterance "comprising a..." does not exclude the existence of additional identical elements in the process, method, article, or apparatus including the one defined by the utterance "comprising a...".

[0094] The radar echo signal processing method, device, equipment and storage medium provided by the present application are described in detail above, and the principles and implementation manners of the present application are described by applying specific examples in this document. The above description of the embodiments is only for helping to understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed, and the above description of the content of the specification should not be understood as a limitation on the present application.

Claims

1. A radar echo signal processing method, characterized in that: include: Acquire point cloud data corresponding to the radar echo signal, and determine the target point to be detected and the corresponding control point from the point cloud data; performing tail detection on the target point to be detected based on a first angle between a first line segment formed by the target point to be detected and the radar signal emission origin and a second line segment formed by the target point to be detected and the reference point, and performing filtering processing on the radar echo signal according to the tail detection result; The control point and the target point to be detected are separated by a preset number of adjacent points; Accordingly, performing tail detection on the target point to be detected based on a first angle between a first line segment formed by the target point to be detected and the radar signal emission origin and a second line segment formed by the target point to be detected and the reference point includes: A second angle corresponding to the radar signal transmission origin is obtained using the angular resolution between two adjacent points, and a second distance and a third distance between the reference point and the first line segment are determined based on the second angle and a third line segment; wherein the third line segment is a line segment formed by the reference point and the radar signal transmission origin, the second distance is a perpendicular distance between the reference point and the first line segment, and the third distance is a distance between the radar signal transmission origin and a perpendicular point corresponding to the second distance; The first angle is determined according to the second line segment, the second distance and the third distance, and it is determined whether the first angle is less than a preset threshold. If so, the target point to be detected is determined to be a trailing point.

2. The radar echo signal processing method according to claim 1, characterized in that: Before determining the target point to be detected and the corresponding control point from the point cloud data, the method further includes: Determining a preset distribution area based on the distribution state of the point cloud data, and screening the preset point cloud data within the preset distribution area to obtain target point cloud data; wherein the target point cloud data is the point cloud data corresponding to the radar echo signal of a small target detection object at a close distance; Accordingly, determining the target point to be detected and the corresponding control point from the point cloud data includes: The target point to be detected and the corresponding control point are determined from the point cloud data except the target point cloud data.

3. The radar echo signal processing method according to claim 2, characterized in that: The screening of the preset point cloud data within the preset distribution area to obtain target point cloud data includes: The first distances between the point clouds corresponding to the preset point cloud data in the preset distribution area and the radar signal emission origin are respectively determined, and the preset point cloud data corresponding to the minimum value in the first distance is determined as the target point cloud data.

4. The radar echo signal processing method according to claim 3, characterized in that: The step of determining the target point to be detected and the corresponding control point from the point cloud data other than the target point cloud data includes: A flag is set for the point cloud corresponding to the target point cloud data, so as to determine the target point to be detected and the corresponding control point from the point cloud data other than the target point cloud data according to the flag.

5. The radar echo signal processing method according to claim 1, characterized in that: Also includes: The radar echo signal is processed based on the field programmable logic gate array chip.

6. The radar echo signal processing method according to claim 5, characterized in that: The determining the first angle according to the second line segment, the second distance, and the third distance includes: A difference is calculated between the length of the second line segment and the third distance, and a ratio of the second distance to the difference is determined as the first angle.

7. A radar echo signal processing device, characterized in that: include: An acquisition module is used to acquire point cloud data corresponding to the radar echo signal and determine the target point to be detected and the corresponding control point from the point cloud data; a detection module, configured to perform tail detection on the target point to be detected based on a first angle between a first line segment formed by the target point to be detected and the radar signal emission origin and a second line segment formed by the target point to be detected and the reference point, and to filter the radar echo signal according to the tail detection result; The control point and the target point to be detected are separated by a preset number of adjacent points; Accordingly, performing tail detection on the target point to be detected based on a first angle between a first line segment formed by the target point to be detected and the radar signal emission origin and a second line segment formed by the target point to be detected and the reference point includes: A second angle corresponding to the radar signal transmission origin is obtained using the angular resolution between two adjacent points, and a second distance and a third distance between the reference point and the first line segment are determined based on the second angle and a third line segment; wherein the third line segment is a line segment formed by the reference point and the radar signal transmission origin, the second distance is a perpendicular distance between the reference point and the first line segment, and the third distance is a distance between the radar signal transmission origin and a perpendicular point corresponding to the second distance; The first angle is determined according to the second line segment, the second distance and the third distance, and it is determined whether the first angle is less than a preset threshold. If so, the target point to be detected is determined to be a trailing point.

8. An electronic device, characterized in that: The electronic device includes a processor and a memory; wherein the memory is used to store a computer program, and the computer program is loaded and executed by the processor to implement the radar echo signal processing method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that Used to store computer-executable instructions, which, when loaded and executed by a processor, implement the radar echo signal processing method according to any one of claims 1 to 6.

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