A radar trace aggregation method

Abstract

The present invention relates to a radar point trace condensation method. The radar point trace condensation method comprises S1, acquiring radar data, generating a point trace list, the point trace list containing points generated by the radar data, and each point setting multiple attribute values; S2, performing a primary condensation on the point trace list; S3, performing a secondary condensation on the point trace block list. The present invention proposes a radar point trace condensation method that can solve the problem of radar point trace splitting.

Description

Technical Field

[0001] The present invention relates to the technical field of millimeter radar wave application, and in particular to a radar point trace condensation method. Background Art

[0002] Millimeter-wave radar will split because the target shape is larger than the radar resolution, so it is necessary to perform a point-trace aggregation algorithm on the same points in the measurement results. The point-trace aggregation algorithm merges the information of the same measurement point in the radar measurement results, reduces the redundant information before radar processing, and can effectively improve the radar measurement accuracy. Most existing point-trace aggregation algorithms use the method of generating new points by agglomerating points, which cannot completely avoid the problem of splitting. Summary of the invention

[0003] In view of the above problems in the prior art, the present invention proposes a radar point trace condensation method to solve the problem of radar point trace splitting.

[0004] Specifically, the present invention proposes a method for radar point trace condensation, comprising the steps of:

[0005] S1, acquiring radar data and generating a point trace list, wherein the point trace list includes points generated by the radar data, and each point is set with multiple attribute values;

[0006] S2, performing a condensation on the point trace list, comprising the steps of:

[0007] S21, selecting one of the points in the point trace list as a principal point, constructing an associated point group, wherein the associated point group includes the principal point, and the attribute value of the principal point is assigned to the associated point group;

[0008] S22, traversing the point trace list, comparing the attribute values ​​of the associated point group with other points in the point trace list, and if the associated point group and the point can be condensed, setting the point as an associated point, updating the attribute value of the associated point group according to the attribute value of the associated point, and merging the associated point into the associated point group;

[0009] S23, deleting the points in the point trace list corresponding to the associated point group;

[0010] S24, repeating steps S22 to S23 until the point trace list is empty;

[0011] S25, generating a trace block list, the trace block list including trace blocks generated by the associated point groups, each trace block including points in the corresponding associated point group, and assigning attribute values ​​of the associated point group to attribute values ​​of the trace block;

[0012] S3, performing secondary condensation on the point trace block list, including the steps of:

[0013] S31, selecting one of the dot trace blocks in the dot trace block list as a main dot trace block, and constructing an associated dot trace block group, wherein the associated dot trace block group includes the main dot trace block;

[0014] S32, traversing the dot trace block list, comparing the attribute values ​​of the associated dot trace block group with other dot trace blocks in the dot trace block list, if the associated dot trace block group and the dot trace block can be condensed, updating the attribute value of the associated dot trace block group according to the attribute value of the dot trace block, and merging the points in the dot trace block into the associated dot trace block group;

[0015] S33, deleting the dot trace block corresponding to the associated dot trace block group in the dot trace block list;

[0016] S34, repeating steps S32 to S33 until the point trace block list is empty;

[0017] S35, converting the associated dot trace block group into a dot trace block, each of the dot trace blocks includes the points in the corresponding associated dot trace block group, assigning the attribute value of the associated dot trace block group to the attribute value of the dot trace block, so that the dot trace block list includes the dot trace block;

[0018] S36, repeating steps S31 to S35 until the number of the point trace blocks no longer decreases.

[0019] According to an embodiment of the present invention, in step S1, at least six attribute values ​​are set for each point, namely, minimum distance, maximum distance, minimum speed, maximum speed, minimum angle, and maximum angle.

[0020] According to one embodiment of the present invention, in step S22, the comparison of the attribute values ​​includes setting a first minimum distance threshold, a first maximum distance threshold, a first minimum speed threshold, a first maximum speed threshold, a first minimum angle threshold, and a first maximum angle threshold;

[0021] If the difference between the minimum distance of the point and the minimum distance of the associated point group is less than the first minimum distance threshold, or the minimum distance of the point is within the range of the minimum distance and the maximum distance of the associated point group, then the minimum distance of the point meets the requirement of cohesion;

[0022] If the difference between the maximum distance of the point and the maximum distance of the associated point group is less than the first maximum distance threshold, or the maximum distance of the point is within the range of the minimum distance and the maximum distance of the associated point group, then the maximum distance of the point meets the requirement of cohesion;

[0023] If the difference between the minimum speed of the point and the minimum speed of the associated point group is less than the first minimum speed threshold, or the minimum speed of the point is within the range of the minimum speed and the maximum speed of the associated point group, then the minimum speed of the point meets the requirement of cohesion;

[0024] If the difference between the maximum speed of the point and the maximum speed of the associated point group is less than the first maximum distance threshold, or the maximum speed of the point is within the range of the minimum speed and the maximum speed of the associated point group, then the maximum speed of the point meets the requirement of cohesion;

[0025] If the difference between the minimum angle of the point and the minimum angle of the associated point group is less than the first minimum angle threshold, or the minimum angle of the point is within the range of the minimum angle and the maximum angle of the associated point group, then the minimum angle of the point meets the requirement of cohesion;

[0026] If the difference between the maximum angle of the point and the maximum angle of the associated point group is less than the first maximum angle threshold, or the maximum angle of the point is within the range of the minimum angle and the maximum angle of the associated point group, then the maximum angle of the point meets the cohesion requirement;

[0027] If all the attribute values ​​of the points meet the requirements of cohesion, the associated point group and the points can be cohesive.

[0028] According to one embodiment of the present invention, the attribute value of each point also includes setting a minimum x-axis distance, a maximum x-axis distance, a minimum y-axis distance, and a maximum y-axis distance.

[0029] According to an embodiment of the present invention, the comparison of the attribute values ​​further includes setting a first minimum x-axis distance threshold, a first maximum x-axis distance threshold, a first minimum y-axis distance threshold, and a first maximum y-axis distance threshold;

[0030] If the difference between the minimum x-axis distance of the point and the minimum x-axis distance of the associated point group is less than the first minimum x-axis distance threshold, or the minimum x-axis distance of the point is within the range of the minimum x-axis distance and the maximum x-axis distance of the associated point group, then the minimum x-axis distance of the point meets the cohesion requirement;

[0031] If the difference between the maximum x-axis distance of the point and the maximum x-axis distance of the associated point group is less than the first maximum x-axis distance threshold, or the maximum x-axis distance of the point is within the range of the minimum x-axis distance and the maximum x-axis distance of the associated point group, then the maximum x-axis distance of the point meets the cohesion requirement;

[0032] If the difference between the minimum y-axis distance of the point and the minimum y-axis distance of the associated point group is less than the first minimum y-axis distance threshold, or the minimum y-axis distance of the point is within the range of the minimum y-axis distance and the maximum y-axis distance of the associated point group, then the minimum y-axis distance of the point meets the cohesion requirement;

[0033] If the difference between the maximum y-axis distance of the point and the maximum y-axis distance of the associated point group is less than the first maximum y-axis distance threshold, or the maximum y-axis distance of the point is within the range of the minimum y-axis distance and the maximum y-axis distance of the associated point group, then the maximum y-axis distance of the point meets the cohesion requirement;

[0034] If all the attribute values ​​of the points meet the requirements of cohesion, the associated point group and the points can be cohesive.

[0035] According to one embodiment of the present invention, the attribute value update includes:

[0036] If the minimum distance of the point is smaller than the minimum distance of the associated point group, the minimum distance of the point is used to replace the minimum distance of the associated point group;

[0037] If the maximum distance of the point is greater than the maximum distance of the associated point group, the maximum distance of the associated point group is replaced by the maximum distance of the point;

[0038] If the minimum speed of the point is less than the minimum speed of the associated point group, the minimum speed of the associated point group is replaced by the minimum speed of the point;

[0039] If the maximum speed of the point is greater than the maximum speed of the associated point group, the maximum speed of the associated point group is replaced by the maximum speed of the point;

[0040] If the minimum angle of the point is smaller than the minimum angle of the associated point group, the minimum angle of the point is used to replace the minimum angle of the associated point group;

[0041] If the maximum angle of the point is greater than the maximum angle of the associated point group, the maximum angle of the associated point group is replaced by the maximum angle of the point.

[0042] According to one embodiment of the present invention, the attribute value update includes:

[0043] If the minimum x-axis distance of the point is smaller than the minimum x-axis distance of the associated point group, replacing the minimum x-axis distance of the associated point group with the minimum x-axis distance of the point;

[0044] If the maximum x-axis distance of the point is greater than the maximum x-axis distance of the associated point group, the maximum x-axis distance of the point is used to replace the maximum x-axis distance of the associated point group;

[0045] If the minimum y-axis distance of the point is smaller than the minimum y-axis distance of the associated point group, the minimum y-axis distance of the point is used to replace the minimum y-axis distance of the associated point group;

[0046] If the maximum y-axis distance of the point is greater than the maximum y-axis distance of the associated point group, the maximum y-axis distance of the point is replaced by the maximum y-axis distance of the associated point group.

[0047] According to one embodiment of the present invention, in step S32, the comparison of the attribute values ​​includes setting a second minimum distance threshold, a second maximum distance threshold, a second minimum speed threshold, a second maximum speed threshold, a second minimum angle threshold, and a second maximum angle threshold;

[0048] If the difference between the minimum distance of the trace block and the minimum distance of the associated trace block group is less than the second minimum distance threshold, or the minimum distance of the trace block is within the range of the minimum distance and the maximum distance of the associated trace block group, then the minimum distance of the trace block meets the requirement of cohesion;

[0049] If the difference between the maximum distance of the trace block and the maximum distance of the associated trace block group is less than the second maximum distance threshold, or the maximum distance of the trace block is within the range of the minimum distance and the maximum distance of the associated trace block group, then the maximum distance of the trace block meets the requirement of cohesion;

[0050] If the difference between the minimum speed of the dot block and the minimum speed of the associated dot block group is less than the second minimum speed threshold, or the minimum speed of the dot block is within the range of the minimum speed and the maximum speed of the associated dot block group, then the minimum speed of the dot block meets the requirement of cohesion;

[0051] If the difference between the maximum speed of the trace block and the maximum speed of the associated trace block group is less than the second maximum distance threshold, or the maximum speed of the trace block is within the range of the minimum speed and the maximum speed of the associated trace block group, then the maximum speed of the trace block meets the requirement of cohesion;

[0052] If the difference between the minimum angle of the dot block and the minimum angle of the associated dot block group is less than the second minimum angle threshold, or the minimum angle of the dot block is within the range of the minimum angle and the maximum angle of the associated dot block group, then the minimum angle of the dot block meets the requirement of cohesion;

[0053] If the difference between the maximum angle of the dot block and the maximum angle of the associated dot block group is less than the second maximum angle threshold, or the maximum angle of the dot block is within the range of the minimum angle and the maximum angle of the associated dot block group, then the maximum angle of the dot block meets the requirement of cohesion;

[0054] If all the attribute values ​​of the dot trace block meet the requirements of cohesion, the associated dot trace block group and the dot trace block can be cohesive.

[0055] According to one embodiment of the present invention, in step S32, the attribute value update includes:

[0056] If the minimum distance of the trace block is less than the minimum distance of the associated trace block group, the minimum distance of the associated trace block group is replaced by the minimum distance of the trace block;

[0057] If the maximum distance of the trace block is greater than the maximum distance of the associated trace block group, the maximum distance of the associated trace block group is replaced by the maximum distance of the trace block;

[0058] If the minimum speed of the dot trace block is less than the minimum speed of the associated dot trace block group, the minimum speed of the associated dot trace block group is replaced by the minimum speed of the dot trace block;

[0059] If the maximum speed of the dot trace block is greater than the maximum speed of the associated dot trace block group, the maximum speed of the associated dot trace block group is replaced by the maximum speed of the dot trace block;

[0060] If the minimum angle of the dot trace block is smaller than the minimum angle of the associated dot trace block group, the minimum angle of the associated dot trace block group is replaced by the minimum angle of the dot trace block;

[0061] If the maximum angle of the dot block is greater than the maximum angle of the associated dot block group, the maximum angle of the associated dot block group is replaced by the maximum angle of the dot block.

[0062] According to one embodiment of the present invention, before executing step S24, the attribute values ​​of the newly generated association point group are compared one by one with those of any existing association point group. If the latest association point group and any existing association point group can be condensed, all points in the existing association point group are merged into the latest association point group, and the attribute values ​​of the latest association point group are updated with the attribute values ​​of the existing association point group, and the existing association point group is deleted.

[0063] A radar point trace condensation method provided by the present invention adopts secondary condensation to solve the problem of radar point trace splitting.

[0064] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings are included to provide further explanation of the present invention, and they are incorporated into and constitute a part of this application. The accompanying drawings illustrate embodiments of the present invention and together with this specification serve to explain the principles of the present invention. In the accompanying drawings:

[0066] Figure 1 A flowchart of a radar trace aggregation method according to an embodiment of the present invention is shown.

[0067] Figure 2 A schematic diagram showing the application of a radar point trace aggregation method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0068] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0069] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0070] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0071] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0072] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0073] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0074] In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.

[0075] Figure 1 A flowchart of a radar point trace condensation method according to an embodiment of the present invention is shown. As shown in the figure, a radar point trace condensation method includes the following steps:

[0076] S1, obtain radar data and generate a point trace list. The point trace list contains points generated by radar data, and each point is set with multiple attribute values. When acquiring data, the radar receiving system acquires data in order from near to far according to the distance of the target, so the points in the point trace list can be arranged in order from large to small according to the distance.

[0077] S2, condense the point list once, including the following steps:

[0078] S21, selecting a point in the point trace list as a principal point, constructing an associated point group, the associated point group including the principal point, and assigning the attribute value of the principal point to the associated point group;

[0079] S22, traverse the point trace list, compare the attribute values ​​of the associated point group with other points in the point trace list, if the associated point group and the point can be condensed, set the point as an associated point, update the attribute value of the associated point group according to the attribute value of the associated point, and merge the associated point into the associated point group. It is easy to understand that the associated point group is a concept of a set. The associated point group contains the main point and all points that can be condensed with the main point. If there is no associated point, the associated point group only contains one main point.

[0080] S23, deleting the points corresponding to the associated point group in the point trace list, so as to filter out the main points and points that have been associated in the point trace list.

[0081] S24, repeating steps S22 to S23 until the point trace list is empty;

[0082] S25, generating a dot trace block list, the dot trace block list includes dot trace blocks generated by the associated point groups, each dot trace block includes points in the corresponding associated point group, and assigning the attribute value of the associated point group to the attribute value of the dot trace block;

[0083] S3, performing secondary condensation on the point trace block list, including the following steps:

[0084] S31, selecting a dot trace block in the dot trace block list as a main dot trace block, and constructing an associated dot trace block group, wherein the associated dot trace block group includes the main dot trace block;

[0085] S32, traverse the dot trace block list, compare the attribute values ​​of the associated dot trace block group and other dot trace blocks in the dot trace block list, if the associated dot trace block group and the dot trace block can be condensed, update the attribute value of the associated dot trace block group according to the attribute value of the dot trace block, and merge the points in the dot trace block into the associated dot trace block group. It is easy to understand that the associated dot trace block group is a concept of a set. The associated dot trace block group contains the main dot trace block and all the dot trace blocks that can be condensed with the main dot trace block. If there is no associated dot trace block, the associated dot trace block group only contains one main dot trace block.

[0086] S33, deleting the dot trace block corresponding to the associated dot trace block group in the dot trace block list, so as to filter out the main dot trace block and dot trace block that have been associated in the dot trace block list.

[0087] S34, repeating steps S32 to S33 until the point trace block list is empty;

[0088] S35, converting the associated dot trace block group into a dot trace block, each dot trace block includes the points in the corresponding associated dot trace block group, assigning the attribute value of the associated dot trace block group to the attribute value of the dot trace block, so that the dot trace block list includes the dot trace block;

[0089] S36, repeating steps S31 to S35 until the number of trace blocks no longer decreases. Repeatedly condensing the trace blocks in the trace list, and judging that the number of current trace blocks is not less than the number of trace blocks after the previous secondary condensation, it means that the radar trace condensation is completed.

[0090] Preferably, in step S1, at least six attribute values ​​are set for each point, and the six attribute values ​​are respectively minimum distance, maximum distance, minimum speed, maximum speed, minimum angle, and maximum angle.

[0091] Preferably, in step S22, the comparison of attribute values ​​in one condensation includes setting a first minimum distance threshold, a first maximum distance threshold, a first minimum speed threshold, a first maximum speed threshold, a first minimum angle threshold, and a first maximum angle threshold;

[0092] If the difference between the minimum distance of a point and the minimum distance of the associated point group is less than the first minimum distance threshold, or the minimum distance of a point is within the range of the minimum distance and the maximum distance of the associated point group, then the minimum distance of the point meets the requirements of cohesion;

[0093] If the difference between the maximum distance of a point and the maximum distance of the associated point group is less than the first maximum distance threshold, or the maximum distance of a point is within the range of the minimum distance and the maximum distance of the associated point group, then the maximum distance of the point meets the requirements of cohesion;

[0094] If the difference between the minimum speed of the point and the minimum speed of the associated point group is less than the first minimum speed threshold, or the minimum speed of the point is within the range of the minimum speed and maximum speed of the associated point group, then the minimum speed of the point meets the requirements of cohesion;

[0095] If the difference between the maximum speed of the point and the maximum speed of the associated point group is less than the first maximum distance threshold, or the maximum speed of the point is within the range of the minimum speed and the maximum speed of the associated point group, then the maximum speed of the point meets the requirements of cohesion;

[0096] If the difference between the minimum angle of the point and the minimum angle of the associated point group is less than the first minimum angle threshold, or the minimum angle of the point is within the range of the minimum angle and the maximum angle of the associated point group, then the minimum angle of the point meets the requirements of cohesion;

[0097] If the difference between the maximum angle of the point and the maximum angle of the associated point group is less than the first maximum angle threshold, or the maximum angle of the point is within the range of the minimum angle and the maximum angle of the associated point group, then the maximum angle of the point meets the requirements of cohesion;

[0098] If all the attribute values ​​of the points meet the requirements of cohesion, it means that the associated point group and the point are associated with each other, and the associated point group and the point can be cohesive.

[0099] Preferably, the attribute value of each point also includes setting a minimum x-axis distance, a maximum x-axis distance, a minimum y-axis distance and a maximum y-axis distance.

[0100] Preferably, the comparison of the attribute values ​​further includes setting a first minimum x-axis distance threshold, a first maximum x-axis distance threshold, a first minimum y-axis distance threshold, and a first maximum y-axis distance threshold;

[0101] If the difference between the minimum x-axis distance of the point and the minimum x-axis distance of the associated point group is less than the first minimum x-axis distance threshold, or the minimum x-axis distance of the point is within the range of the minimum x-axis distance and the maximum x-axis distance of the associated point group, then the minimum x-axis distance of the point meets the cohesion requirement;

[0102] If the difference between the maximum x-axis distance of the point and the maximum x-axis distance of the associated point group is less than the first maximum x-axis distance threshold, or the maximum x-axis distance of the point is within the range of the minimum x-axis distance and the maximum x-axis distance of the associated point group, then the maximum x-axis distance of the point meets the cohesion requirement;

[0103] If the difference between the minimum y-axis distance of the point and the minimum y-axis distance of the associated point group is less than the first minimum y-axis distance threshold, or the minimum y-axis distance of the point is within the range of the minimum y-axis distance and the maximum y-axis distance of the associated point group, then the minimum y-axis distance of the point meets the cohesion requirement;

[0104] If the difference between the maximum y-axis distance of the point and the maximum y-axis distance of the associated point group is less than the first maximum distance threshold, or the maximum y-axis distance of the point is within the range of the minimum y-axis distance and the maximum y-axis distance of the associated point group, then the maximum y-axis distance of the point meets the cohesion requirement;

[0105] If all the attribute values ​​of the points meet the requirements of cohesion, then the associated point groups and points can be cohesive.

[0106] Preferably, in one condensation, updating the attribute value of the principal point includes:

[0107] If the minimum distance of a point is less than the minimum distance of the associated point group, the minimum distance of the point is used to replace the minimum distance of the associated point group;

[0108] If the maximum distance of a point is greater than the maximum distance of the associated point group, the maximum distance of the point is used to replace the maximum distance of the associated point group;

[0109] If the minimum speed of a point is less than the minimum speed of the associated point group, the minimum speed of the point is used to replace the minimum speed of the associated point group;

[0110] If the maximum speed of a point is greater than the maximum speed of the associated point group, the maximum speed of the point is used to replace the maximum speed of the associated point group;

[0111] If the minimum angle of a point is smaller than the minimum angle of the associated point group, the minimum angle of the point is used to replace the minimum angle of the associated point group;

[0112] If the maximum angle of the point is greater than the maximum angle of the associated point group, the maximum angle of the point is used to replace the maximum angle of the associated point group.

[0113] Preferably, in one condensation, the attribute value update of the principal point includes:

[0114] If the minimum x-axis distance of a point is less than the minimum x-axis distance of the associated point group, the minimum x-axis distance of the point is used to replace the minimum x-axis distance of the associated point group;

[0115] If the maximum x-axis distance of a point is greater than the maximum x-axis distance of the associated point group, the maximum x-axis distance of the point is used to replace the maximum x-axis distance of the associated point group;

[0116] If the minimum y-axis distance of a point is less than the minimum y-axis distance of the associated point group, the minimum y-axis distance of the point is used to replace the minimum y-axis distance of the associated point group;

[0117] If the maximum y-axis distance of the point is greater than the maximum y-axis distance of the associated point group, the maximum y-axis distance of the point is used to replace the maximum y-axis distance of the associated point group.

[0118] Preferably, in step S32, in the secondary condensation, the comparison of the attribute values ​​includes setting a second minimum distance threshold, a second maximum distance threshold, a second minimum speed threshold, a second maximum speed threshold, a second minimum angle threshold, and a second maximum angle threshold;

[0119] If the difference between the minimum distance of the dot block and the minimum distance of the associated dot block group is less than the second minimum distance threshold, or the minimum distance of the dot block is within the range of the minimum distance and the maximum distance of the associated dot block group, then the minimum distance of the dot block meets the requirement of cohesion;

[0120] If the difference between the maximum distance of the dot block and the maximum distance of the associated dot block group is less than the second maximum distance threshold, or the maximum distance of the dot block is within the range of the minimum distance and the maximum distance of the associated dot block group, then the maximum distance of the dot block meets the requirement of cohesion;

[0121] If the difference between the minimum speed of the dot block and the minimum speed of the associated dot block group is less than the second minimum speed threshold, or the minimum speed of the dot block is within the range of the minimum speed and the maximum speed of the associated dot block group, then the minimum speed of the dot block meets the requirements of cohesion;

[0122] If the difference between the maximum speed of the dot block and the maximum speed of the associated dot block group is less than the second maximum distance threshold, or the maximum speed of the dot block is within the range of the minimum speed and the maximum speed of the associated dot block group, then the maximum speed of the dot block meets the requirement of cohesion;

[0123] If the difference between the minimum angle of the dot block and the minimum angle of the associated dot block group is less than the second minimum angle threshold, or the minimum angle of the dot block is within the range of the minimum angle and the maximum angle of the associated dot block group, then the minimum angle of the dot block meets the requirement of cohesion;

[0124] If the difference between the maximum angle of the dot block and the maximum angle of the associated dot block group is less than the second maximum angle threshold, or the maximum angle of the dot block is within the range of the minimum angle and the maximum angle of the associated dot block group, then the maximum angle of the dot block meets the requirement of cohesion;

[0125] If all the attribute values ​​of the dot trace block meet the requirements of cohesion, it means that the associated dot trace block group and the dot trace block are associated with each other, and the associated dot trace block group and the dot trace block can be cohesive.

[0126] Preferably, in step S32, updating the attribute value includes:

[0127] If the minimum distance of the dot block is less than the minimum distance of the associated dot block group, the minimum distance of the dot block group is replaced by the minimum distance of the associated dot block group;

[0128] If the maximum distance of the dot block is greater than the maximum distance of the associated dot block group, the maximum distance of the associated dot block group is replaced by the maximum distance of the dot block;

[0129] If the minimum speed of the dot block is less than the minimum speed of the associated dot block group, the minimum speed of the dot block is used to replace the minimum speed of the associated dot block group;

[0130] If the maximum speed of the dot trace block is greater than the maximum speed of the associated dot trace block group, the maximum speed of the dot trace block group is replaced by the maximum speed of the associated dot trace block group;

[0131] If the minimum angle of the dot block is smaller than the minimum angle of the associated dot block group, the minimum angle of the dot block is used to replace the minimum angle of the associated dot block group;

[0132] If the maximum angle of the dot block is greater than the maximum angle of the associated dot block group, the maximum angle of the dot block is used to replace the maximum angle of the associated dot block group.

[0133] Preferably, setting the attribute value of the associated dot trace block group includes assigning the distance of the associated dot trace block to the minimum distance and the maximum distance, assigning the speed of the dot trace block to the minimum speed and the maximum speed, and assigning the angle of the dot trace block to the minimum angle and the maximum angle. It is easy to understand that setting the attribute value of the associated dot trace block group also includes assigning the x-axis distance of the associated dot trace block to the minimum x-axis distance and the maximum x-axis distance, and assigning the y-axis distance of the dot trace block to the minimum y-axis distance and the maximum y-axis distance.

[0134] Figure 2 FIG. 2 is a schematic diagram showing an application of a radar point trace aggregation method according to an embodiment of the present invention. Figure 2 , briefly explaining the radar point trace aggregation method with a secondary aggregation step provided by the present invention. Figure 2 The condensation process of 12 points generated by radar data, from point 1 to point 12, from state A to state L, is shown, including the following steps:

[0135] S1, obtain radar data, generate a point trace list, the point trace list contains 12 points generated by the radar data, set the attribute value of each point, refer to state A;

[0136] S2, condense the point list, including the following steps:

[0137] S21, select point 1 in the point trace list as the main point, build an associated point group, the associated point group includes the main point, and the attribute value of the main point is assigned to the associated point group.

[0138] S22, traverse the point trace list, and compare the attribute values ​​of the main point 1 with other points in the point trace list. If the judgment result is that points 2 to 6 can be condensed, then points 2 to 6 are set as associated points, and the attribute value of point 1 is updated in sequence according to the attribute value of the associated point; state B shows that the attribute value of the associated point group is updated with the attribute value of point 2, and the associated point group includes the main point 1 and point 2; state C shows that the attribute value of the associated point group is updated with the attribute value of point 3, and the associated point group includes the main point 1, point 2 and point 3; state D shows that the attribute value of the associated point group is updated with the attribute value of point 4, and the associated point group includes the main point 1, point 2 to point 4; state E shows that the attribute value of the associated point group is updated with the attribute value of point 5, and the associated point group includes the main point 1, point 2 to point 5; state F shows that the attribute value of the associated point group is updated with the attribute value of point 6, and the associated point group includes the main point 1, point 2 to point 6.

[0139] S23, deleting points 1 to 6 corresponding to the associated point group from the point trace list;

[0140] S24, repeating steps S2 to S4, taking point 7 as the main point to traverse the point trace list, and comparing the attribute values ​​of the main point 7 with other points in the point trace list. If the judgment result is that points 8 to 12 can be condensed, then points 8 to 12 are set as associated points, and the attribute value of point 7 is updated in sequence according to the attribute value of the associated point; state G shows that the attribute value of the associated point group is updated with the attribute value of point 8, and the associated point group includes the main point 7 and point 8; state H shows that the attribute value of the associated point group is updated with the attribute value of point 9, and the associated point group includes the main point 7, point 8 and point 9; state I shows that the attribute value of the associated point group is updated with the attribute value of point 10, and the associated point group includes the main point 7, points 8 to point 10; state J shows that the attribute value of the associated point group is updated with the attribute value of point 11, and the associated point group includes the main point 7, points 8 to point 11; state K shows that the attribute value of the associated point group is updated with the attribute value of point 12, and the associated point group includes the main point 7, points 8 to point 12. Delete points 7 to 12 corresponding to the associated point group from the point trace list. The point trace list is empty and proceed to the next step.

[0141] S25, generate a dot trace block list, the dot trace block list contains dot trace blocks generated by the associated point groups. Referring to state K, two associated point groups generate corresponding first dot trace blocks 201 and second dot trace blocks 202, the first dot trace block 201 contains points 1 to 6, and the second dot trace block 202 contains points 7 to 12. Add the first dot trace block 201 and the second dot trace block 202 to the dot trace block list. At this point, a condensation is completed.

[0142] S3, performing secondary condensation on the point trace block list, including the following steps:

[0143] S31, selecting the first dot trace block 201 in the dot trace block list as the main dot trace block, and constructing an associated dot trace block group, wherein the associated dot trace block group includes the main dot trace block.

[0144] S32, traverse the dot block list, compare the attribute values ​​of the associated dot block group and the second dot block 202, determine whether the two can be condensed, then update the attribute values ​​of the associated dot block group according to the attribute values ​​of the second dot block 202, and merge the points in the second dot block 202 into the associated dot block group.

[0145] S33, delete the first dot trace block 201 and the second dot trace block 202 corresponding to the associated dot trace block group.

[0146] S34, repeating steps S32 to S33 until the point trace block list is empty.

[0147] S35, converting the associated dot trace block group into a dot trace block, each dot trace block includes the points in the corresponding associated dot trace block group, assigning the attribute value of the associated dot trace block group to the attribute value of the dot trace block, so that the dot trace block list includes the dot trace block. In this embodiment, only one dot trace block is generated, including points 1 to 12.

[0148] S36, repeating steps S31 to S35 until the number of point trace blocks no longer decreases. At this point, the secondary condensation is completed.

[0149] It is easy to understand that when there are more point trace blocks, it is necessary to go through step S35 and step S36 to complete multiple secondary condensation of all the point trace blocks.

[0150] Preferably, before executing step S24, the newly generated associated point group is compared one by one with the attribute values ​​of any existing associated point group. If the latest associated point group and any existing associated point group can be condensed, all points in the existing associated point group are merged into the latest associated point group, and the attribute values ​​of the latest associated point group are updated with the attribute values ​​of the existing associated point group, and the existing associated point group is deleted. Among them, the attribute value comparison method can refer to the attribute value comparison method of the dot block in the above embodiment, and the attribute value update method can refer to the attribute value update method of the dot block in the above embodiment, which will not be repeated here. This step can optimize the secondary condensation process and avoid the increase in the number of dot blocks in the dot block list.

[0151] The radar point trace condensation method provided by the present invention can effectively solve the problem of point trace splitting and has the following advantages:

[0152] 1. In one condensation, the attributes of each point in the point trace list are retained, so that all points that can be condensed are condensed together to avoid splitting;

[0153] 2. Secondary condensation is adopted to make the dot blocks in the dot block list continuously condense until they can no longer condense, thus avoiding the splitting phenomenon again.

[0154] It will be apparent to those skilled in the art that various modifications and variations may be made to the above exemplary embodiments of the present invention without departing from the spirit and scope of the present invention. Therefore, it is intended that the present invention covers modifications and variations of the present invention that fall within the scope of the appended claims and their equivalent technical solutions.

Claims

1. A method for radar trace condensation, comprising the steps of: S1, acquiring radar data and generating a point trace list, wherein the point trace list includes points generated by the radar data, and each point is set with multiple attribute values; S2, performing a condensation on the point trace list, comprising the steps of: S21, selecting one of the points in the point trace list as a principal point, constructing an associated point group, wherein the associated point group includes the principal point, and the attribute value of the principal point is assigned to the associated point group; S22, traversing the point trace list, comparing the attribute values ​​of the associated point group with other points in the point trace list, and if the associated point group and the point can be condensed, setting the point as an associated point, updating the attribute value of the associated point group according to the attribute value of the associated point, and merging the associated point into the associated point group; S23, deleting the points in the point trace list corresponding to the associated point group; S24, repeating steps S22 to S23 until the point trace list is empty; S25, generating a trace block list, the trace block list including trace blocks generated by the associated point groups, each trace block including points in the corresponding associated point group, and assigning attribute values ​​of the associated point group to attribute values ​​of the trace block; S3, performing secondary condensation on the point trace block list, including the steps of: S31, selecting one of the dot trace blocks in the dot trace block list as a main dot trace block, and constructing an associated dot trace block group, wherein the associated dot trace block group includes the main dot trace block; S32, traversing the dot trace block list, comparing the attribute values ​​of the associated dot trace block group with other dot trace blocks in the dot trace block list, if the associated dot trace block group and the dot trace block can be condensed, updating the attribute value of the associated dot trace block group according to the attribute value of the dot trace block, and merging the points in the dot trace block into the associated dot trace block group; S33, deleting the dot trace block corresponding to the associated dot trace block group in the dot trace block list; S34, repeating steps S32 to S33 until the point trace block list is empty; S35, converting the associated dot trace block group into a dot trace block, each of the dot trace blocks includes the points in the corresponding associated dot trace block group, assigning the attribute value of the associated dot trace block group to the attribute value of the dot trace block, so that the dot trace block list includes the dot trace block; S36, repeating steps S31 to S35 until the number of the point trace blocks no longer decreases.

2. The radar point trace condensation method as claimed in claim 1, characterized in that: In step S1, at least six attribute values ​​are set for each point, namely, minimum distance, maximum distance, minimum speed, maximum speed, minimum angle, and maximum angle.

3. The radar point trace condensation method as claimed in claim 2, characterized in that: In step S22, the comparison of the attribute values ​​includes setting a first minimum distance threshold, a first maximum distance threshold, a first minimum speed threshold, a first maximum speed threshold, a first minimum angle threshold, and a first maximum angle threshold; If the difference between the minimum distance of the point and the minimum distance of the associated point group is less than the first minimum distance threshold, or the minimum distance of the point is within the range of the minimum distance and the maximum distance of the associated point group, then the minimum distance of the point meets the requirement of cohesion; If the difference between the maximum distance of the point and the maximum distance of the associated point group is less than the first maximum distance threshold, or the maximum distance of the point is within the range of the minimum distance and the maximum distance of the associated point group, then the maximum distance of the point meets the requirement of cohesion; If the difference between the minimum speed of the point and the minimum speed of the associated point group is less than the first minimum speed threshold, or the minimum speed of the point is within the range of the minimum speed and the maximum speed of the associated point group, then the minimum speed of the point meets the requirement of cohesion; If the difference between the maximum speed of the point and the maximum speed of the associated point group is less than the first maximum distance threshold, or the maximum speed of the point is within the range of the minimum speed and the maximum speed of the associated point group, then the maximum speed of the point meets the requirement of cohesion; If the difference between the minimum angle of the point and the minimum angle of the associated point group is less than the first minimum angle threshold, or the minimum angle of the point is within the range of the minimum angle and the maximum angle of the associated point group, then the minimum angle of the point meets the requirement of cohesion; If the difference between the maximum angle of the point and the maximum angle of the associated point group is less than the first maximum angle threshold, or the maximum angle of the point is within the range of the minimum angle and the maximum angle of the associated point group, then the maximum angle of the point meets the cohesion requirement; If all the attribute values ​​of the points meet the requirements of cohesion, the associated point group and the points can be cohesive.

4. The radar point trace condensation method as claimed in claim 3, characterized in that: The attribute values ​​for each point also include setting the minimum x-axis distance, maximum x-axis distance, minimum y-axis distance, and maximum y-axis distance.

5. The radar point trace condensation method as claimed in claim 4, characterized in that: The comparison of the attribute values ​​further includes setting a first minimum x-axis distance threshold, a first maximum x-axis distance threshold, a first minimum y-axis distance threshold, and a first maximum y-axis distance threshold; If the difference between the minimum x-axis distance of the point and the minimum x-axis distance of the associated point group is less than the first minimum x-axis distance threshold, or the minimum x-axis distance of the point is within the range of the minimum x-axis distance and the maximum x-axis distance of the associated point group, then the minimum x-axis distance of the point meets the cohesion requirement; If the difference between the maximum x-axis distance of the point and the maximum x-axis distance of the associated point group is less than the first maximum x-axis distance threshold, or the maximum x-axis distance of the point is within the range of the minimum x-axis distance and the maximum x-axis distance of the associated point group, then the maximum x-axis distance of the point meets the cohesion requirement; If the difference between the minimum y-axis distance of the point and the minimum y-axis distance of the associated point group is less than the first minimum y-axis distance threshold, or the minimum y-axis distance of the point is within the range of the minimum y-axis distance and the maximum y-axis distance of the associated point group, then the minimum y-axis distance of the point meets the cohesion requirement; If the difference between the maximum y-axis distance of the point and the maximum y-axis distance of the associated point group is less than the first maximum y-axis distance threshold, or the maximum y-axis distance of the point is within the range of the minimum y-axis distance and the maximum y-axis distance of the associated point group, then the maximum y-axis distance of the point meets the cohesion requirement; If all the attribute values ​​of the points meet the requirements of cohesion, the associated point group and the points can be cohesive.

6. The radar point trace condensation method as claimed in claim 3, characterized in that: The attribute value update includes: If the minimum distance of the point is smaller than the minimum distance of the associated point group, the minimum distance of the point is used to replace the minimum distance of the associated point group; If the maximum distance of the point is greater than the maximum distance of the associated point group, the maximum distance of the associated point group is replaced by the maximum distance of the point; If the minimum speed of the point is less than the minimum speed of the associated point group, the minimum speed of the associated point group is replaced by the minimum speed of the point; If the maximum speed of the point is greater than the maximum speed of the associated point group, the maximum speed of the associated point group is replaced by the maximum speed of the point; If the minimum angle of the point is smaller than the minimum angle of the associated point group, the minimum angle of the point is used to replace the minimum angle of the associated point group; If the maximum angle of the point is greater than the maximum angle of the associated point group, the maximum angle of the associated point group is replaced by the maximum angle of the point.

7. The radar point trace condensation method as claimed in claim 5, characterized in that: The attribute value update includes: If the minimum x-axis distance of the point is smaller than the minimum x-axis distance of the associated point group, replacing the minimum x-axis distance of the associated point group with the minimum x-axis distance of the point; If the maximum x-axis distance of the point is greater than the maximum x-axis distance of the associated point group, the maximum x-axis distance of the point is used to replace the maximum x-axis distance of the associated point group; If the minimum y-axis distance of the point is smaller than the minimum y-axis distance of the associated point group, the minimum y-axis distance of the point is used to replace the minimum y-axis distance of the associated point group; If the maximum y-axis distance of the point is greater than the maximum y-axis distance of the associated point group, the maximum y-axis distance of the point is replaced by the maximum y-axis distance of the associated point group.

8. The radar point trace condensation method as claimed in claim 6, characterized in that: In step S32, the comparison of the attribute values ​​includes setting a second minimum distance threshold, a second maximum distance threshold, a second minimum speed threshold, a second maximum speed threshold, a second minimum angle threshold, and a second maximum angle threshold; If the difference between the minimum distance of the trace block and the minimum distance of the associated trace block group is less than the second minimum distance threshold, or the minimum distance of the trace block is within the range of the minimum distance and the maximum distance of the associated trace block group, then the minimum distance of the trace block meets the requirement of cohesion; If the difference between the maximum distance of the trace block and the maximum distance of the associated trace block group is less than the second maximum distance threshold, or the maximum distance of the trace block is within the range of the minimum distance and the maximum distance of the associated trace block group, then the maximum distance of the trace block meets the requirement of cohesion; If the difference between the minimum speed of the dot block and the minimum speed of the associated dot block group is less than the second minimum speed threshold, or the minimum speed of the dot block is within the range of the minimum speed and the maximum speed of the associated dot block group, then the minimum speed of the dot block meets the requirement of cohesion; If the difference between the maximum speed of the trace block and the maximum speed of the associated trace block group is less than the second maximum distance threshold, or the maximum speed of the trace block is within the range of the minimum speed and the maximum speed of the associated trace block group, then the maximum speed of the trace block meets the requirement of cohesion; If the difference between the minimum angle of the dot block and the minimum angle of the associated dot block group is less than the second minimum angle threshold, or the minimum angle of the dot block is within the range of the minimum angle and the maximum angle of the associated dot block group, then the minimum angle of the dot block meets the requirement of cohesion; If the difference between the maximum angle of the dot block and the maximum angle of the associated dot block group is less than the second maximum angle threshold, or the maximum angle of the dot block is within the range of the minimum angle and the maximum angle of the associated dot block group, then the maximum angle of the dot block meets the requirement of cohesion; If all the attribute values ​​of the dot trace block meet the requirements of cohesion, the associated dot trace block group and the dot trace block can be cohesive.

9. The radar point trace condensation method as claimed in claim 8, characterized in that: In step S32, the attribute value update includes: If the minimum distance of the trace block is less than the minimum distance of the associated trace block group, the minimum distance of the associated trace block group is replaced by the minimum distance of the trace block; If the maximum distance of the trace block is greater than the maximum distance of the associated trace block group, the maximum distance of the associated trace block group is replaced by the maximum distance of the trace block; If the minimum speed of the dot trace block is less than the minimum speed of the associated dot trace block group, the minimum speed of the associated dot trace block group is replaced by the minimum speed of the dot trace block; If the maximum speed of the dot trace block is greater than the maximum speed of the associated dot trace block group, the maximum speed of the associated dot trace block group is replaced by the maximum speed of the dot trace block; If the minimum angle of the dot trace block is smaller than the minimum angle of the associated dot trace block group, the minimum angle of the associated dot trace block group is replaced by the minimum angle of the dot trace block; If the maximum angle of the dot block is greater than the maximum angle of the associated dot block group, the maximum angle of the associated dot block group is replaced by the maximum angle of the dot block.

10. The radar point trace condensation method according to claim 1, characterized in that: Before executing step S24, the attribute values ​​of the newly generated associated point group are compared one by one with those of any existing associated point group. If the latest associated point group and any existing associated point group can be condensed, all points in the existing associated point group are merged into the latest associated point group, and the attribute values ​​of the latest associated point group are updated with the attribute values ​​of the existing associated point group, and the existing associated point group is deleted.

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