Target height detection method, device, electronic device and storage medium

Abstract

The present application relates to a method, device, electronic device and storage medium for detecting target height, the method comprising: obtaining a multi-frame signal sequence corresponding to a target to be measured collected by a millimeter wave radar, each frame signal sequence including multiple complex data, each complex data corresponding to a distance unit; dividing the angle detection range into multiple deflection angle combinations according to the position information of the millimeter wave radar and the characteristic information of the target to be measured, and determining the distance detection range under each deflection angle combination; according to the distance detection range under each deflection angle combination, taking the distance unit matching the distance detection range as a candidate distance unit, and taking the complex data corresponding to the candidate distance unit as a detection point; determining the height value output by each detection point, and taking the maximum height value as the target height value of the target to be measured. Through the present application, the problem of low detection accuracy of target height in the related technology is solved, and the technical effect of improving the detection accuracy of target height is achieved.

Description

Technical Field

[0001] The present application relates to the field of target detection technology, and in particular to a method, device, electronic device and storage medium for detecting target height. Background Art

[0002] With the continuous development and application of smart cities, smart homes and smart buildings, how to ensure the safety of users is of vital importance. For example, in terms of personnel safety detection, the height detection of personnel targets is particularly important.

[0003] Due to various reasons, the elderly are prone to accidents such as falls and sudden illnesses, and lose the ability to seek help after an accident. If such abnormal conditions are not discovered and treated in time, serious consequences will occur. Elderly care institutions (nursing homes, hospitals, etc.) conduct regular ward rounds through caregivers and nurses to check for abnormal conditions. However, the number and energy of nursing staff are limited after all. How to detect abnormal conditions in the first place while reducing personnel input and provide accurate and efficient help and rescue for the elderly is a difficult problem that elderly care institutions need to face.

[0004] At present, the related technologies often analyze the energy of the reflected signal in the distance dimension and the angle dimension based on the Constant False-Alarm Rate (CFAR) detection technology. If the energy of the reflected signal exceeds the threshold value obtained by the dynamic calculation of the CFAR algorithm, it is considered that there is a detection point at the spatial coordinates (determined uniquely by the corresponding distance and angle). Then, the spatial coordinates of the detection point are used in combination with the spatial coordinates of the radar itself to estimate the height of the target. However, in this type of technical solution, due to the characteristics of radar detection technologies such as CFAR, detection points with relatively weak energy are easily shielded by strong reflection detection points with similar positions, which will seriously affect the height detection accuracy of the target. At the same time, when the number of antenna units of the radar is small, the height detection accuracy will also be affected by the angle detection accuracy, further reducing the height detection accuracy of the target.

[0005] Currently, no effective solution has been proposed for the problem of low detection accuracy of target height in related technologies. Summary of the invention

[0006] The embodiments of the present application provide a method, device, electronic device and storage medium for detecting target height, so as to at least solve the problem of low detection accuracy of target height in the related art.

[0007] In a first aspect, an embodiment of the present application provides a method for detecting target height, the method comprising: obtaining a multi-frame signal sequence corresponding to a target to be measured collected by a millimeter-wave radar, wherein each frame signal sequence in the multi-frame signal sequence includes multiple complex data, and each complex data in the multiple complex data corresponds to a distance unit; according to the position information of the millimeter-wave radar and the characteristic information of the target to be measured, dividing the angle detection range of the millimeter-wave radar into multiple deflection angle combinations, and determining the distance detection range of the millimeter-wave radar under each of the deflection angle combinations; according to the distance detection range of the millimeter-wave radar under each of the deflection angle combinations, taking a distance unit matching any one of the distance detection ranges as a candidate distance unit, and taking the complex data corresponding to the candidate distance unit in the multiple complex data as a detection point; according to the position information of the millimeter-wave radar, determining the height value output by each detection point, and taking the maximum value of the height value output by each detection point as the target height value of the target to be measured.

[0008] In some embodiments, according to the distance detection range of the millimeter-wave radar under each deflection angle combination, taking a distance unit matching any distance detection range as a candidate distance unit, and taking complex data corresponding to the candidate distance unit in multiple complex data as a detection point includes: taking a distance unit matching at least one distance detection range as a candidate distance unit, taking complex data corresponding to the candidate distance unit in multiple complex data as candidate complex data, respectively taking the deflection angle combination corresponding to each distance detection range matching the candidate distance unit as a candidate deflection angle combination and binding it to the candidate complex data, and adding the candidate complex data to a preset candidate list; filtering the candidate complex data in the candidate list so that each candidate complex data in the filtered candidate list is bound to a candidate deflection angle combination, and taking each candidate complex data in the filtered candidate list and the candidate deflection angle combination bound to each candidate complex data as a detection point.

[0009] In some of the embodiments, the candidate complex data in the candidate list are screened so that each candidate complex data in the screened candidate list is bound to a candidate deflection angle combination, and each candidate complex data in the screened candidate list and the candidate deflection angle combination bound to each candidate complex data are used as detection points, including: obtaining multiple binding combinations according to each candidate complex data in the candidate list and the candidate deflection angle combination bound to each candidate complex data, wherein one binding combination corresponds to a binding relationship between one candidate complex data and one candidate deflection angle combination; determining the energy spectrum intensity and energy value of each binding combination; calculating the average energy value and peak energy value of the candidate complex data according to the energy spectrum intensity; among the multiple binding combinations, screening out a binding combination with an energy value greater than the average energy value and the peak energy value as a candidate combination; and when the candidate combination is greater than or equal to one, taking the candidate combination with the lowest output height value among the candidate combinations as the detection point corresponding to the candidate complex data.

[0010] In some of the embodiments, determining the height value output by each detection point according to the position information of the millimeter-wave radar, and taking the maximum value of the height value output by each detection point as the target height value of the target to be measured includes: determining the number of adjacent detection points of each detection point among multiple detection points; taking the detection points whose number of adjacent detection points is less than a preset threshold as isolated detection points, and eliminating the isolated detection points from the multiple detection points; determining the height value output by each detection point among the multiple detection points after eliminating the isolated detection points according to the position information of the millimeter-wave radar, and taking the maximum value of the height values ​​output by each detection point among the multiple detection points after eliminating the isolated detection points as the target height value of the target to be measured.

[0011] In some of the embodiments, the angle detection range of the millimeter-wave radar is divided into multiple deflection angle combinations according to the position information of the millimeter-wave radar and the characteristic information of the target to be measured, and the distance detection range of the millimeter-wave radar in each deflection angle combination is determined, including: dividing the angle detection range of the millimeter-wave radar according to the number of angle searches of the millimeter-wave radar in horizontal deflection angles and the number of angle searches in vertical deflection angles to obtain multiple deflection angle combinations consisting of horizontal deflection angle units and vertical deflection angle units; determining the maximum detection distance and the minimum detection distance of the millimeter-wave radar in each deflection angle combination according to the position information of the millimeter-wave radar and the characteristic information of the target to be measured, wherein the characteristic information includes the position information of the target to be measured and the preset size information of the target to be measured; determining the distance detection range of the millimeter-wave radar in each deflection angle combination according to the maximum detection distance and the minimum detection distance of the millimeter-wave radar in each deflection angle combination.

[0012] In some embodiments, obtaining a multi-frame signal sequence corresponding to the target to be measured collected by the millimeter-wave radar includes: obtaining a multi-frame signal sequence to be filtered corresponding to the target to be measured collected by each antenna channel of the millimeter-wave radar; filtering the multi-frame signal sequence to be filtered corresponding to the target to be measured collected by each antenna channel, filtering out stationary clutter within a preset frequency range in the signal sequence to be filtered, and obtaining a multi-frame signal sequence corresponding to the target to be measured collected by each antenna channel of the millimeter-wave radar.

[0013] In some embodiments, obtaining a multi-frame signal sequence to be filtered corresponding to the target to be measured collected by each antenna channel of the millimeter-wave radar includes: obtaining a multi-frame echo signal received by each antenna channel of the millimeter-wave radar; under each antenna channel, performing A / D sampling on each pulse signal in each frame of the echo signal to obtain a sampling data sequence corresponding to each pulse signal; performing FFT operation based on the distance dimension on each sampling data sequence to obtain an FFT sequence corresponding to each sampling data sequence, wherein each FFT data in the FFT sequence corresponds to a reflection signal within a distance unit; according to the FFT sequence corresponding to each pulse signal, averaging multiple FFT data corresponding to each distance unit to obtain a signal sequence to be filtered corresponding to each frame of the echo signal, and obtaining a multi-frame signal sequence to be filtered corresponding to the target to be measured under each antenna channel.

[0014] In a second aspect, an embodiment of the present application provides a device for detecting target height, the device comprising: an acquisition module, used to acquire a multi-frame signal sequence corresponding to a target to be measured collected by a millimeter-wave radar, wherein each frame signal sequence in the multi-frame signal sequence includes multiple complex data, and each complex data in the multiple complex data corresponds to a distance unit; a determination module, used to divide the angle detection range of the millimeter-wave radar into multiple deflection angle combinations according to the position information of the millimeter-wave radar and the characteristic information of the target to be measured, and determine the distance detection range of the millimeter-wave radar under each of the deflection angle combinations; a screening module, used to take a distance unit matching any distance detection range as a candidate distance unit according to the distance detection range of the millimeter-wave radar under each of the deflection angle combinations, and take the complex data corresponding to the candidate distance unit in the multiple complex data as a detection point; an output module, used to determine the height value output by each detection point according to the position information of the millimeter-wave radar, and take the maximum value of the height value output by each detection point as the target height value of the target to be measured.

[0015] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the target height detection method as described in the first aspect above.

[0016] In a fourth aspect, an embodiment of the present application further provides a storage medium, wherein a computer program is stored in the storage medium, wherein when the computer program is executed by a processor, the method for detecting the target height as described in the first aspect above is implemented.

[0017] Compared with the related art, the target height detection method, device, electronic device and storage medium provided in the embodiment of the present application obtain a multi-frame signal sequence corresponding to the target to be measured collected by the millimeter wave radar, wherein each frame signal sequence in the multi-frame signal sequence includes multiple complex data, and each complex data in the multiple complex data corresponds to a distance unit; according to the position information of the millimeter wave radar and the characteristic information of the target to be measured, the angle detection range of the millimeter wave radar is divided into multiple deflection angle combinations, and the distance detection range of the millimeter wave radar under each deflection angle combination is determined; according to the distance detection range of the millimeter wave radar under each deflection angle combination, the distance unit matching any distance detection range is used as a candidate distance unit, and the complex data corresponding to the candidate distance unit in the multiple complex data is used as a detection point; according to the position information of the millimeter wave radar, the height value output by each detection point is determined, and the maximum value of the height value output by each detection point is used as the target height value of the target to be measured. The problem of low detection accuracy of the target height in the related art is solved, and the technical effect of improving the detection accuracy of the target height is achieved.

[0018] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 is a flow chart of a method for detecting target height according to an embodiment of the present application;

[0021] Figure 2 is a schematic diagram of a rectangular coordinate system and a spherical coordinate system according to an embodiment of the present application;

[0022] Figure 3 is a structural block diagram of a target height detection device according to an embodiment of the present application;

[0023] Figure 4is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the contents disclosed in the present application, some changes such as design, manufacturing or production based on the technical contents disclosed in the present application are only conventional technical means, and should not be understood as insufficient contents disclosed in the present application.

[0025] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0026] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to greater than or equal to two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist at the same time, and B exists alone. The terms "first", "second", "third" and the like involved in the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0027] This embodiment provides a method for detecting target height. Figure 1 is a flow chart of a method for detecting target height according to an embodiment of the present application, such as Figure 1 As shown, the method includes:

[0028] Step S101, obtaining a multi-frame signal sequence corresponding to the target to be measured and collected by the millimeter wave radar, wherein each frame signal sequence in the multi-frame signal sequence includes a plurality of complex data, and each complex data in the plurality of complex data corresponds to a distance unit.

[0029] In this embodiment, millimeter waves include electromagnetic waves with a wavelength in the millimeter range. The millimeter wave radar can be a radar system that emits electromagnetic waves with a wavelength greater than 0.1 mm and less than 0.2 mm and a frequency between 20 GHz and 300 GHz. Currently, common millimeter wave radars mainly use transmission frequency bands such as 24 GHz, 60 GHz or 77 GHz.

[0030] In this embodiment, a frequency modulated continuous wave radar (Frequency Modulated Continuous Wave Radar, referred to as FMCW) in a millimeter wave radar may be used to acquire the signal sequence.

[0031] In this embodiment, the measured distance difference corresponding to two adjacent distance units is: Among them, Δr is the measured distance difference, c is the speed of light, and B is the bandwidth of the wireless signal transmitted by the millimeter wave radar.

[0032] In the above embodiment, the FMCW radar can be installed above a preset monitoring scene, with the antenna of the FMCW radar facing downward. The monitoring scene can be a bathroom, bedroom, or other location in the residence of the target to be measured. The target to be measured is a person who does not perform large-scale movements or fast activities. Human targets such as stepping on the spot or lowering their heads to play with mobile phones can all be regarded as targets to be measured.

[0033] Step S102, dividing the angle detection range of the millimeter wave radar into a plurality of deflection angle combinations according to the position information of the millimeter wave radar and the characteristic information of the target to be detected, and determining the distance detection range of the millimeter wave radar under each deflection angle combination.

[0034] In this embodiment, the position information of the millimeter wave radar is mainly the installation height H of the millimeter wave radar. r The characteristic information of the target to be measured includes the position information of the target to be measured, that is, the approximate coordinates (x0, z0) of the target to be measured on the horizontal plane, and the preset size information of the target to be measured. The target to be measured can be modeled as a cuboid of 2t0×2r0×h0.

[0035] In this embodiment, the angle detection range and distance detection range of the area to be detected can be calculated based on the feature information of the target to be detected and the position information of the millimeter wave radar. When the angle search complexity is limited, the angle detection range is divided into multiple deflection angle combinations to quantify the angle search space, providing a basis for the subsequent screening process.

[0036] In this embodiment, the cosine transform can be used to divide the angle detection range of the millimeter wave radar, thereby reducing the distance difference between adjacent angle search quantization units and the radar antenna plane. Through the joint analysis of the three dimensions of distance, horizontal deflection angle and vertical deflection angle, the mutual shielding effect between the various parts of the target to be measured is reduced, thereby improving the detection accuracy of the target height.

[0037] Step S103, according to the distance detection range of the millimeter wave radar under each deflection angle combination, a distance unit matching any distance detection range is used as a candidate distance unit, and complex data corresponding to the candidate distance unit in multiple complex data is used as a detection point.

[0038] In this embodiment, based on the distance detection range of the millimeter-wave radar at each deflection angle combination, at each deflection angle combination, the complex data corresponding to the distance units that are not within the distance detection range at the corresponding deflection angle combination can be eliminated, thereby ensuring that the detection accuracy of each detection point is good, thereby improving the detection accuracy of the target height.

[0039] Step S104, determining the height value output by each detection point according to the position information of the millimeter wave radar, and taking the maximum value of the height value output by each detection point as the target height value of the target to be measured.

[0040] Related technologies often analyze the energy of the reflected signal in the distance dimension and the angle dimension based on the Constant False-Alarm Rate (CFAR) detection technology. If the energy of the reflected signal exceeds the threshold dynamically calculated by the CFAR algorithm, it is considered that there is a detection point at the spatial coordinates (uniquely determined by the corresponding distance and angle). The spatial coordinates of the detection point are then used in combination with the spatial coordinates of the radar itself to estimate the height of the target.

[0041] However, when such technical solutions are applied to close-range detection scenarios, the electromagnetic waves reflected by the target will accumulate energy at multiple distance and angle detection positions of the radar, as the size of the target is often larger than the radar's resolution in terms of distance and angle. Due to the characteristics of radar detection technologies such as CFAR, detection points with relatively weak energy are easily obscured by strong reflection detection points located nearby.

[0042] At the same time, since all materials will reflect the electromagnetic waves emitted by the radar, and the reflectivity will vary greatly when reflecting on surfaces of different materials and shapes, when the above technical solution is moved to a business scenario where the height of the target is measured, the measurement accuracy of the target height will often be affected due to the presence of stronger reflectors around the target (such as household appliances, walls, and the ground, etc.).

[0043] In this embodiment, an FMCW radar with three transmitting antenna channels and four receiving antenna channels can be used to measure the height of the target to be measured. The FMCW radar intermediate frequency signal acquired by the ADM is used to measure the height of the target to be measured. The distance detection range of the FMCW radar under each deflection angle combination is determined according to the position information of the FMCW radar and the characteristic information of the target to be measured. Under each deflection angle combination, the complex data corresponding to the distance unit that is not within the distance detection range under the deflection angle combination is eliminated. Through the joint analysis of the three dimensions of distance, horizontal deflection angle and vertical deflection angle, the mutual shielding effect between the various parts of the target to be measured is reduced, thereby improving the detection accuracy of the target height.

[0044] Table 1

[0045]

[0046]

[0047] Table 1 shows the height values ​​of the target to be measured detected by the target height detection method provided in the embodiment of the present application at different positions and postures below the FMCW radar when the FMCW radar with three transmitting antenna channels and four receiving antenna channels is vertically suspended on a ceiling 2.8 m above the ground and the antenna channels are arranged downward facing the floor.

[0048] As shown in Table 1, when the target to be measured deviates far from the normal line of the FMCW radar, the error of the angle measurement algorithm of the FMCW radar will increase at a large deflection angle, and the antenna (pattern design) of the FMCW radar is not ideal, which will cause the reflected energy of the target to be measured received by the FMCW radar at a large deflection angle to be significantly reduced, which will reduce the height measurement accuracy of the target to be measured. For the standing posture, since the deflection angle formed by the head of the target to be measured that determines the height and the FMCW radar is larger, the measurement error is larger when the target to be measured is in a standing posture than when it is in a sitting or lying posture.

[0049] As shown in Table 1, the target height detection method provided in the embodiment of the present application can achieve a height measurement with an error of about 10 cm for the target to be measured under the FMCW radar; for example, when the target to be measured is directly below the FMCW radar (coordinates X=0, Z=0 in the table), the error of the height measurement is within 5 cm.

[0050] Through the above steps S101 to S104, a multi-frame signal sequence corresponding to the target to be measured collected by the millimeter-wave radar is obtained, wherein each frame signal sequence in the multi-frame signal sequence includes multiple complex data, and each complex data in the multiple complex data corresponds to a distance unit; according to the position information of the millimeter-wave radar and the characteristic information of the target to be measured, the angle detection range of the millimeter-wave radar is divided into multiple deflection angle combinations, and the distance detection range of the millimeter-wave radar under each deflection angle combination is determined; according to the distance detection range of the millimeter-wave radar under each deflection angle combination, the distance unit matching any distance detection range is used as a candidate distance unit, and the complex data corresponding to the candidate distance unit in the multiple complex data is used as a detection point; according to the position information of the millimeter-wave radar, the height value output by each detection point is determined, and the maximum value of the height value output by each detection point is used as the target height value of the target to be measured. Through this application, the problem of low detection accuracy of target height in the related technology is solved, and the technical effect of improving the detection accuracy of target height is achieved.

[0051] In some embodiments, obtaining a multi-frame signal sequence corresponding to the target to be detected collected by the millimeter wave radar is achieved by the following steps:

[0052] Step 1: Obtain a multi-frame signal sequence to be filtered corresponding to the target to be measured, which is collected by each antenna channel of the millimeter wave radar.

[0053] Step 2: Filter the multi-frame signal sequences to be filtered corresponding to the target to be measured collected by each antenna channel, filter out the stationary clutter within a preset frequency range in the signal sequences to be filtered, and obtain the multi-frame signal sequences corresponding to the target to be measured collected by each antenna channel of the millimeter wave radar.

[0054] In this embodiment, obtaining a multi-frame signal sequence to be filtered corresponding to the target to be measured collected by each antenna channel of the millimeter wave radar is achieved by the following steps:

[0055] Step 1: Obtain a multi-frame echo signal received by each antenna channel of the millimeter wave radar.

[0056] In this embodiment, the millimeter wave radar transmits electromagnetic waves through a transmitting antenna channel and collects echo signals through a receiving antenna channel.

[0057] Step 2: Under each antenna channel, perform A / D sampling on each pulse signal in each frame of echo signal to obtain a sampling data sequence corresponding to each pulse signal.

[0058] In this embodiment, in each antenna channel, the output of the analog to digital converter (ADC) corresponding to each pulse signal (such as the FMCW pulse signal) may be sampled, wherein the number of samples for each pulse signal is N. s The above sampling data sequence includes N s Sampling data.

[0059] Step 3, performing FFT operation based on the distance dimension on each sampling data sequence respectively to obtain an FFT sequence corresponding to each sampling data sequence, wherein each FFT data in the FFT sequence corresponds to a reflection signal within a distance unit.

[0060] In this embodiment, the length of each pulse signal may be N. s The sampling data sequence is subjected to a Fast Fourier Transform (FFT) operation based on the distance dimension. After the FFT operation, each FFT data in the obtained FFT sequence corresponds to a reflection signal within a distance unit, and the measured distance difference corresponding to two adjacent distance units is: Among them, Δr is the measured distance difference, c is the speed of light, and B is the bandwidth of the wireless signal transmitted by the millimeter wave radar.

[0061] Step 4, according to the FFT sequence corresponding to each pulse signal, average the multiple FFT data corresponding to each distance unit to obtain the signal sequence to be filtered corresponding to each frame of echo signal, and obtain multiple frames of signal sequence to be filtered corresponding to the target to be measured under each antenna channel.

[0062] In this embodiment, a frame of echo signals collected by an antenna channel of the millimeter wave radar includes N p Pulse signals, corresponding to N p FFT sequences, so each distance unit corresponds to N p FFT data can be used to calculate the N corresponding to each distance unit. p Taking the average of the FFT data is equivalent to performing FFT calculations again in the "slow time" dimension between the FFT data corresponding to the same distance unit and different pulse signals on the basis of the FFT sequence (also called Doppler-FFT), and then only retaining the data with a quantized Doppler frequency of 0 Hz.

[0063] In this embodiment, each frame of echo signal collected by each antenna channel of the millimeter wave radar can be calculated to obtain a frame of signal sequence to be filtered, that is, the corresponding number of a frame of echo signal collected by the millimeter wave radar is N. cThe complex data sequence corresponds to the number N s The complex data to be filtered, where N c is the number of antenna channels.

[0064] In this embodiment, a data queue may also be preset to cache N frames of data collected by the millimeter wave radar.

[0065] In this embodiment, since the target to be measured has physiological activities such as breathing and heartbeat, as well as involuntary muscle shaking, there will be slight vibrations even when the target to be measured deliberately keeps the body still or is sleeping. This feature can be used to reassemble the signal sequence to be filtered between N consecutive frames into a longer observation data sequence, a total of N c The length of the observation data sequence is N frames, that is, the filtering operation is performed on the N frames of the signal sequence to be filtered, and a total of N c The filter operation is performed to filter out the frequencies within the preset frequency range [-D g ,+D g ]Hz stationary clutter signal component.

[0066] Each observation data sequence of length N frames can be subtracted from its own mean. When the frequency is F f , this step is equivalent to filtering operation.

[0067] In some of the embodiments, according to the position information of the millimeter wave radar and the characteristic information of the target to be detected, the angle detection range of the millimeter wave radar is divided into a plurality of deflection angle combinations, and the distance detection range of the millimeter wave radar under each deflection angle combination is determined by the following steps:

[0068] Step 1: divide the angle detection range of the millimeter wave radar according to the number of angle searches of the millimeter wave radar in the horizontal deflection angle and the number of angle searches in the vertical deflection angle to obtain a plurality of deflection angle combinations consisting of horizontal deflection angle units and vertical deflection angle units.

[0069] Step 2, determining the maximum detection distance and the minimum detection distance of the millimeter wave radar at each deflection angle combination according to the position information of the millimeter wave radar and the characteristic information of the target to be measured, wherein the characteristic information includes the position information of the target to be measured and the preset size information of the target to be measured.

[0070] Step 3: Determine the distance detection range of the millimeter wave radar at each deflection angle combination according to the maximum detection distance and the minimum detection distance of the millimeter wave radar at each deflection angle combination.

[0071] In this embodiment, in the multi-frame signal sequence corresponding to the target to be measured collected by the millimeter wave radar, each frame signal sequence includes multiple complex data, and each complex data corresponds to a distance unit. Therefore, a distance unit set can be obtained, and the numerical information of each distance unit and the number of distance units in the distance unit set are determined by the bandwidth B of the wireless signal transmitted by the millimeter wave radar and the sampling number N of each pulse signal. s Decision, namely:

[0072]

[0073] Wherein, the distance unit number i=1,2,…,N s .

[0074] Figure 2 is a schematic diagram of a rectangular coordinate system and a spherical coordinate system according to an embodiment of the present application, such as Figure 2 As shown, in some embodiments, given an FMCW radar with multiple receiving antenna channels, a rectangular coordinate system can be established with a fixed point on the FMCW radar antenna plane (for example, the center of the first receiving antenna corresponding to a certain receiving antenna channel) as the origin O, the horizontal direction of the first receiving antenna as the X-axis, the vertical direction of the first receiving antenna as the Z-axis, and the normal direction of the first receiving antenna (passing through the origin O and perpendicular to the plane XOZ) as the Y-axis; a spherical coordinate system is established with the length of the line between the origin O and the coordinate point as the distance r, the angle between the line and the horizontal plane XOY of the first receiving antenna as the vertical deflection angle μ, and the angle between the line and the vertical plane YOZ of the first receiving antenna as the horizontal deflection angle v.

[0075] like Figure 2 As shown, G is the target to be measured, the length of the line OG between the origin O and the target to be measured is taken as the distance r, the angle ∠GOB between the line OG and the horizontal plane XOY of the first receiving antenna is taken as the vertical deflection angle μ, and the angle ∠GOH between the line OG and the vertical plane YOZ of the first receiving antenna is taken as the horizontal deflection angle v.

[0076] In this embodiment, given the second coordinates (x, y, z) of a target to be measured in a rectangular coordinate system, the first coordinates (r, μ, v) of the target to be measured in a spherical coordinate system can be obtained by the following formula:

[0077]

[0078] Similarly, given the first coordinates (r, μ, ν) of a target to be measured in the spherical coordinate system, the second coordinates (x, y, z) of the target to be measured in the rectangular coordinate system can be obtained by the following formula:

[0079]

[0080] In this embodiment, the height detection of the target to be measured is equivalent to obtaining the Y-axis coordinate of the coordinate point corresponding to the target to be measured in the rectangular coordinate system of the millimeter wave radar, using the formula: It can be obtained that y is approximately proportional to the cosine value of the vertical deflection angle μ (or horizontal deflection angle v), and is strictly proportional when v = 0 (or μ = 0). Therefore, when the angle search complexity of the millimeter wave radar is limited, that is, the number of angle searches on the vertical deflection angle N is μ and the number of angle searches N in horizontal declination v When is a finite value, the interval formed by the monotonic cosine values ​​of the minimum and maximum values ​​of μ and v can be evenly divided, and then the angle detection range of the millimeter-wave radar can be divided by taking the inverse transformation to obtain multiple deflection angle combinations.

[0081] First, define the monotone cosine function:

[0082]

[0083] Define its inverse function, the inverse monotone cosine function:

[0084]

[0085] Given the minimum vertical deflection value μ min , maximum vertical deflection value μ max When using Quantized vertical deflection unit μ j :

[0086] μ j =f -1 (f(μ min )+(j-1)Δ μ ), where serial number j = 1, 2, ..., N μ .

[0087] Similarly, given the minimum horizontal deflection angle ν min , maximum horizontal deflection angle ν max When using Quantized horizontal deflection unit v k :

[0088] v k =f -1 (f(ν min )+(k-1)Δ ν ), where the sequence number k = 1, 2, ..., N v .

[0089] In the related art, when using radar to measure angles, the radar's angle detection range is usually -θ max to +θmax Linearly divide into N θ The corresponding angle quantization units are obtained. Limited by the computational complexity, N θ It cannot take an arbitrarily large value, and the typical value is 17 or 33. Therefore, when the target's deflection angle θ relative to the radar is large, the distances between adjacent search angle quantization units and the radar antenna plane (directly corresponding to the height when top-mounted) are very different.

[0090] In this embodiment, through the above steps, the angle detection range of the millimeter wave radar can be divided to obtain a plurality of deflection angle combinations (μ j ,v k ), the cosine transform is used to divide the angle detection range to reduce the distance difference between adjacent deflection units to the radar antenna plane, and the long-time Doppler analysis is used to filter out background clutter based on multi-frame signal sequences. The mutual shielding effect between various parts of the target is reduced by the joint analysis of the three-dimensional energy spectrum of distance, vertical and horizontal deflection angles, thereby improving the detection accuracy of the target height.

[0091] After dividing the angle detection range of the millimeter wave radar, multiple deflection angle combinations (μ j ,v k ) After that, based on the position information of the millimeter-wave radar and the characteristic information of the target to be measured, that is, the installation height H of the millimeter-wave radar r , the approximate coordinates (x0, z0) of the target to be measured in the rectangular coordinate system, and the preset size information of the target to be measured. The target to be measured can be modeled as a cuboid of 2r0×2r0×h0, and the maximum detection distance r of the millimeter-wave radar in the ray direction corresponding to each deflection angle combination is determined max (μ j ,v k ) and the minimum detection distance r min (μ j ,v k ):

[0092] r min (μ j ,ν k )=max{0,r min,x (μ j ,ν k ),r min,y (μ j ,ν k ),r min,z (μ j ,ν k )};

[0093] r max (μ j,ν k )=min{r max,x (μ j ,ν k ),r max,y (μ j ,ν k ),r max,z (μ j ,ν k )};

[0094] in,

[0095]

[0096]

[0097]

[0098]

[0099]

[0100]

[0101] In the above formula, the sign function is defined as

[0102]

[0103] In some of the embodiments, according to the distance detection range of the millimeter wave radar at each deflection angle combination, a distance unit matching any distance detection range is used as a candidate distance unit, and complex data corresponding to the candidate distance unit in multiple complex data is used as a detection point to achieve the following steps:

[0104] Step 1: take a distance unit that matches at least one distance detection range as a candidate distance unit, take complex data corresponding to the candidate distance unit in multiple complex data as candidate complex data, respectively take the deflection angle combination corresponding to each distance detection range that matches the candidate distance unit as a candidate deflection angle combination and bind it to the candidate complex data, and add the candidate complex data to a preset candidate list.

[0105] Step 2, screening the candidate complex data in the candidate list so that each candidate complex data in the screened candidate list is bound to a candidate deflection angle combination, and each candidate complex data in the screened candidate list and the candidate deflection angle combination bound to each candidate complex data are used as detection points.

[0106] In this embodiment, the maximum detection distance r of the millimeter wave radar in the ray direction corresponding to each deflection angle combination is obtained. max (μ j ,vk ) and the minimum detection distance r min (μ j ,v k ), the distance detection range of the millimeter-wave radar under each deflection angle combination can be determined, and whether the distance unit meets the distance detection range under any deflection angle combination can be determined based on the following formula:

[0107] S={(r i ,μ j ,ν k )|r max (μ j ,ν k )-r min (μ j ,ν k )≥Δr and r max (μ j ,ν k )≤r i ≤r min (μ j ,ν k )};

[0108] in, If in a certain pair of deflection angle combinations (μ j ,v k ), a distance unit r i The corresponding r max (μ j ,ν k )-r min (μ j ,ν k )≥Δr, the distance unit r i As a candidate distance unit, the complex data corresponding to the candidate distance unit is taken as candidate complex data, and the complex data corresponding to the distance unit r is taken as candidate complex data. i The corresponding deflection angle combination (μ j ,v k ) is bound to the candidate complex data to obtain a binding combination (r i ,μ j ,v k ) and add it to the preset candidate list S.

[0109] In this embodiment, the candidate complex data in the candidate list are screened so that each candidate complex data in the screened candidate list is bound to a candidate deflection angle combination, and each candidate complex data in the screened candidate list and the candidate deflection angle combination bound to each candidate complex data are used as detection points to achieve the following steps:

[0110] Step 1, obtaining multiple binding combinations according to each candidate complex data in the candidate list and the candidate deflection angle combination bound to each candidate complex data, wherein one binding combination corresponds to a binding relationship between one candidate complex data and one candidate deflection angle combination.

[0111] Step 2: Determine the energy spectrum intensity and energy value of each binding combination.

[0112] Step 3: Calculate the average energy value and peak energy value of the candidate complex data according to the energy spectrum intensity.

[0113] Step 4: Among multiple binding combinations, select binding combinations with energy values ​​greater than the average energy value and the peak energy value as candidate combinations.

[0114] Step 5: When the number of candidate combinations is greater than or equal to one, the candidate combination with the lowest output height value among the candidate combinations is used as the detection point corresponding to the candidate complex data.

[0115] In the above embodiment, for the same candidate distance unit r i , you may get multiple binding combinations (r i ,μ j ,v k ), for example, for r1, there are binding combinations (r1, μ1, v2) and binding combinations (r1, μ2, v2), then it is necessary to find at most one detection point through the above steps to ensure that the detection accuracy of each detection point is excellent.

[0116] In this embodiment, the Capon spectrum estimation algorithm may be used to calculate the energy spectrum intensity of each binding combination.

[0117] After filtering out the stationary clutter components in the signal sequence to be filtered, each distance unit r i The corresponding N frames of data can form N c ×N matrix:

[0118]

[0119] Among them, the element x in the matrix l [n] represents the distance unit r in the nth frame data i The corresponding complex value data of the lth antenna channel, frame number n = 1, 2, ..., N, antenna channel number l = 1, 2, ..., N c .

[0120] For each deflection angle combination (μ j ,v k ), find the corresponding energy spectrum intensity:

[0121]

[0122] Among them, the length is N c The column vector α(μ j ,v k ) is the deflection angle combination (μ j ,v k ) corresponding to the steering vector, given by (μ j ,v k ) and the antenna layout of millimeter-wave radar; N c ×N c The matrix R x is the covariance matrix of x, The operator (·) H represents the conjugate transpose, (·) -1 Represents matrix inversion.

[0123] After obtaining the energy spectrum intensity of each binding combination, the average energy value threshold η corresponding to each candidate complex data can be calculated A and the peak energy value threshold η B :

[0124]

[0125]

[0126] Among them, the preset threshold parameter β A >1, typical value is β A =2, the preset threshold parameter β B ≤1, typical value is β B =0.9.

[0127] You can use the distance unit r with index i i Among the corresponding multiple binding combinations, the energy value is greater than η A and η B The binding combinations are taken as candidate combinations.

[0128] In the above embodiment, if the distance unit r i If the corresponding candidate combination is greater than or equal to one, the candidate combination with the lowest output height value among the candidate combinations is used as the detection point corresponding to the candidate complex data, that is:

[0129] If the distance unit r i If there is no candidate combination, then determine i No detection points were found.

[0130] In some of the embodiments, according to the position information of the millimeter wave radar, the height value output by each detection point is determined, and the maximum value of the height value output by each detection point is used as the target height value of the target to be measured by the following steps:

[0131] Step 1: determine the number of adjacent detection points of each detection point among multiple detection points.

[0132] Step 2: Detection points whose number of adjacent detection points is less than a preset threshold are regarded as isolated detection points, and the isolated detection points are removed from multiple detection points.

[0133] Step 3: According to the position information of the millimeter wave radar, determine the height value output by each detection point in the multiple detection points after removing the isolated detection point, and use the maximum value of the height values ​​output by each detection point in the multiple detection points after removing the isolated detection point as the target height value of the target to be measured.

[0134] In this embodiment, a detection point set D can be obtained through the above steps. For the distance unit r with sequence number i, i , if there exists a set of j, k such that (r i ,μ j ,v k )∈D, then execute the following steps:

[0135] A. Initialize the counting variable m = 1, and initialize the sequence numbers i′ = i, i″ = i;

[0136] B. The value of the sequence number i' is reduced by 1, that is, i'=i'-1; if there exists a set of j', k' such that Then the value of the counting variable m is increased by 1, that is, m=m+1, and then step B is executed once in a loop; otherwise, step C is continued;

[0137] C. The value of the sequence number i″ is increased by 1, that is, i"=i"+1; if there exists a set of j′, k′ such that Then the value of the counting variable m is increased by 1, that is, m=m+1, and then step C is executed once in a loop; otherwise, step D is continued;

[0138] D. If m ≥ M, then the detection point (r i ,μ j ,v k ) is retained in Otherwise, the detection point (r i ,μ j ,v k )from wherein the preset adjacent point number threshold M is an integer greater than or equal to 1, and a typical value is M=3.

[0139] In this embodiment, it can be determined whether the number of preceding adjacent detection points and the number of following adjacent detection points of the detection point are greater than a preset adjacent point number threshold M. If the number of preceding adjacent detection points and the number of following adjacent detection points of the detection point are both less than M, the detection point is determined to be an isolated detection point and is removed from the detection point set. Eliminate from.

[0140] After removing isolated detection points, the detection point set can be determined The height value output by each detection point in the remaining detection points in the The maximum value of the height values ​​output by each detection point in the remaining detection points is used as the target height value of the target to be measured. By eliminating isolated detection points, the interference of isolated detection points on target height detection can be avoided, and the detection accuracy of target height can be further improved.

[0141] This embodiment provides a device for detecting target height. Figure 3 is a structural block diagram of a target height detection device according to an embodiment of the present application, such as Figure 3 As shown, the device includes: an acquisition module 31, which is used to acquire a multi-frame signal sequence corresponding to the target to be measured collected by the millimeter-wave radar, wherein each frame signal sequence in the multi-frame signal sequence includes multiple complex data, and each complex data in the multiple complex data corresponds to a distance unit; a determination module 32, which is used to divide the angle detection range of the millimeter-wave radar into multiple deflection angle combinations according to the position information of the millimeter-wave radar and the characteristic information of the target to be measured, and determine the distance detection range of the millimeter-wave radar under each deflection angle combination; a screening module 33, which is used to use the distance unit matching any distance detection range as a candidate distance unit according to the distance detection range of the millimeter-wave radar under each deflection angle combination, and use the complex data corresponding to the candidate distance unit in the multiple complex data as a detection point; an output module 34, which is used to determine the height value output by each detection point according to the position information of the millimeter-wave radar, and use the maximum value of the height value output by each detection point as the target height value of the target to be measured.

[0142] In some of the embodiments, the screening module 33 is further configured to use a distance unit that matches at least one distance detection range as a candidate distance unit, use complex data corresponding to the candidate distance unit in multiple complex data as candidate complex data, respectively bind the deflection angle combination corresponding to each distance detection range that matches the candidate distance unit as a candidate deflection angle combination to the candidate complex data, and add the candidate complex data to a preset candidate list; screen the candidate complex data in the candidate list so that each candidate complex data in the screened candidate list is bound to a candidate deflection angle combination, and use each candidate complex data in the screened candidate list and the candidate deflection angle combination bound to each candidate complex data as a detection point.

[0143] In some of the embodiments, the screening module 33 is further configured to obtain multiple binding combinations based on each candidate complex data in the candidate list and the candidate deflection combination bound to each candidate complex data, wherein one binding combination corresponds to a binding relationship between one candidate complex data and one candidate deflection combination; determine the energy spectrum intensity and energy value of each binding combination; calculate the average energy value and peak energy value of the candidate complex data based on the energy spectrum intensity; among the multiple binding combinations, screen out the binding combinations with energy values ​​greater than the average energy value and the peak energy value as candidate combinations; when the candidate combinations are greater than or equal to one, use the candidate combination with the lowest output height value among the candidate combinations as the detection point corresponding to the candidate complex data.

[0144] In some of the embodiments, the output module 34 is further configured to determine the number of adjacent detection points of each detection point in a plurality of detection points; to take a detection point whose number of adjacent detection points is less than a preset threshold as an isolated detection point, and to remove the isolated detection point from the plurality of detection points; to determine, based on the position information of the millimeter-wave radar, a height value output by each detection point in the plurality of detection points after removing the isolated detection point, and to take the maximum value of the height values ​​output by each detection point in the plurality of detection points after removing the isolated detection point as the target height value of the target to be measured.

[0145] In some of the embodiments, the determination module 32 is further configured to divide the angle detection range of the millimeter-wave radar according to the number of angle searches of the millimeter-wave radar at horizontal angles and the number of angle searches at vertical angles, to obtain a plurality of angle combinations consisting of horizontal angle units and vertical angle units; determine the maximum detection distance and the minimum detection distance of the millimeter-wave radar at each angle combination according to the position information of the millimeter-wave radar and the characteristic information of the target to be measured, wherein the characteristic information includes the position information of the target to be measured and the preset size information of the target to be measured; determine the distance detection range of the millimeter-wave radar at each angle combination according to the maximum detection distance and the minimum detection distance of the millimeter-wave radar at each angle combination.

[0146] In some of the embodiments, the acquisition module 31 is further configured to acquire a multi-frame signal sequence to be filtered corresponding to the target to be measured collected by each antenna channel of the millimeter-wave radar; the multi-frame signal sequence to be filtered corresponding to the target to be measured collected by each antenna channel is filtered to filter out the stationary clutter within a preset frequency range in the signal sequence to be filtered, so as to obtain a multi-frame signal sequence corresponding to the target to be measured collected by each antenna channel of the millimeter-wave radar.

[0147] In some of the embodiments, the acquisition module 31 is also configured to acquire multiple frames of echo signals received by each antenna channel of the millimeter-wave radar; under each antenna channel, A / D sampling is performed on each pulse signal in each frame of the echo signal to obtain a sampling data sequence corresponding to each pulse signal; FFT operation based on the distance dimension is performed on each sampling data sequence to obtain an FFT sequence corresponding to each sampling data sequence, wherein each FFT data in the FFT sequence corresponds to a reflected signal within a distance unit; according to the FFT sequence corresponding to each pulse signal, the multiple FFT data corresponding to each distance unit are averaged to obtain a signal sequence to be filtered corresponding to each frame of the echo signal, and a multiple frame signal sequence to be filtered corresponding to the target to be measured under each antenna channel is obtained.

[0148] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0149] This embodiment also provides an electronic device, Figure 4 is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present application, such as Figure 4 As shown, the electronic device includes a memory 404 and a processor 402. The memory 404 stores a computer program, and the processor 402 is configured to run the computer program to execute the steps in any of the above method embodiments.

[0150] Specifically, the processor 402 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0151] Wherein, the memory 404 may include a large capacity memory for data or instructions. For example and not limitation, the memory 404 may include a hard disk drive (HDD), a floppy disk drive, a solid state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a magnetic tape or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 404 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 404 may be inside or outside the detection device of the target height. In a specific embodiment, the memory 404 is a non-volatile memory. In a specific embodiment, the memory 404 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (Programmable Read-Only Memory, PROM for short), an erasable PROM (ErasableProgrammable Read-Only Memory, EPROM for short), an electrically erasable PROM (Electrically ErasableProgrammable Read-Only Memory, EEPROM for short), an electrically alterable ROM (ElectricallyAlterable Read-Only Memory, EAROM for short) or a flash memory (FLASH) or a combination of two or more of these. Under appropriate circumstances, the RAM can be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM can be a fast page mode dynamic random access memory (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0152] The memory 404 may be used to store or cache various data files required for processing and / or communication, as well as possible computer program instructions executed by the processor 402 .

[0153] The processor 402 implements any one of the target height detection methods in the above embodiments by reading and executing computer program instructions stored in the memory 404 .

[0154] Optionally, the electronic device may further include a transmission device 406 and an input / output device 408 , wherein the transmission device 406 is connected to the processor 402 , and the input / output device 408 is connected to the processor 402 .

[0155] Optionally, in this embodiment, the processor 402 may be configured to perform the following steps through a computer program:

[0156] S1, obtaining a multi-frame signal sequence corresponding to the target to be measured and collected by the millimeter wave radar, wherein each frame signal sequence in the multi-frame signal sequence includes a plurality of complex data, and each complex data in the plurality of complex data corresponds to a distance unit.

[0157] S2, dividing the angle detection range of the millimeter-wave radar into a plurality of deflection angle combinations according to the position information of the millimeter-wave radar and the characteristic information of the target to be detected, and determining the distance detection range of the millimeter-wave radar under each deflection angle combination.

[0158] S3, according to the distance detection range of the millimeter wave radar under each deflection angle combination, taking a distance unit matching any distance detection range as a candidate distance unit, and taking the complex data corresponding to the candidate distance unit in the multiple complex data as a detection point.

[0159] S4, determining the height value output by each detection point according to the position information of the millimeter wave radar, and taking the maximum value of the height value output by each detection point as the target height value of the target to be measured.

[0160] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0161] In addition, in combination with the target height detection method in the above embodiment, the present application embodiment can provide a storage medium for implementation. The storage medium stores a computer program; when the computer program is executed by a processor, any target height detection method in the above embodiment is implemented.

[0162] Those skilled in the art should understand that the technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0163] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for detecting target height, characterized in that: The method comprises: Acquire a multi-frame signal sequence corresponding to the target to be measured and collected by the millimeter wave radar, wherein each frame signal sequence in the multi-frame signal sequence includes a plurality of complex data, and each complex data in the plurality of complex data corresponds to a distance unit; According to the position information of the millimeter-wave radar and the characteristic information of the target to be measured, the angle detection range of the millimeter-wave radar is divided into a plurality of deflection angle combinations, and the distance detection range of the millimeter-wave radar under each deflection angle combination is determined, wherein the deflection angle combination is composed of a horizontal deflection angle unit and a vertical deflection angle unit, and the horizontal deflection angle unit and the vertical deflection angle unit are obtained by dividing the angle detection range of the millimeter-wave radar according to the number of angle searches of the millimeter-wave radar at the horizontal deflection angle and the number of angle searches at the vertical deflection angle; According to the distance detection range of the millimeter wave radar under each of the deflection angle combinations, a distance unit matching any distance detection range is used as a candidate distance unit, and complex data corresponding to the candidate distance unit among the multiple complex data is used as a detection point; According to the position information of the millimeter wave radar, the height value output by each detection point is determined, and the maximum value of the height value output by each detection point is used as the target height value of the target to be measured.

2. The method for detecting target height according to claim 1, characterized in that: According to the distance detection range of the millimeter wave radar under each of the deflection angle combinations, taking a distance unit matching any distance detection range as a candidate distance unit, and taking complex data corresponding to the candidate distance unit among a plurality of complex data as a detection point comprises: Taking a distance unit matching at least one distance detection range as a candidate distance unit, taking complex data corresponding to the candidate distance unit among a plurality of complex data as candidate complex data, respectively taking a deflection angle combination corresponding to each distance detection range matching the candidate distance unit as a candidate deflection angle combination and binding it to the candidate complex data, and adding the candidate complex data to a preset candidate list; The candidate complex data in the candidate list are screened so that each candidate complex data in the screened candidate list is bound to a candidate deflection angle combination, and each candidate complex data in the screened candidate list and the candidate deflection angle combination bound to each candidate complex data are used as detection points.

3. The method for detecting target height according to claim 2, characterized in that: The candidate complex data in the candidate list are screened so that each candidate complex data in the screened candidate list is bound to a candidate deflection angle combination, and each candidate complex data in the screened candidate list and the candidate deflection angle combination bound to each candidate complex data are used as detection points, including: According to each candidate complex data in the candidate list and the candidate deflection angle combination bound to each candidate complex data, a plurality of binding combinations are obtained, wherein one binding combination corresponds to a binding relationship between one candidate complex data and one candidate deflection angle combination; Determine the energy spectrum intensity and energy value of each binding combination; According to the energy spectrum intensity, the average energy value and the peak energy value of the candidate complex data are calculated; Among the multiple binding combinations, a binding combination having an energy value greater than the average energy value and the peak energy value is screened and obtained as a candidate combination; In the case that the number of the candidate combinations is greater than or equal to one, the candidate combination with the lowest output height value among the candidate combinations is used as the detection point corresponding to the candidate complex data.

4. The method for detecting target height according to claim 1, characterized in that: Determining the height value output by each detection point according to the position information of the millimeter wave radar, and taking the maximum value of the height values ​​output by each detection point as the target height value of the target to be measured includes: Determine the number of adjacent detection points of each detection point among the plurality of detection points; A detection point whose number of adjacent detection points is less than a preset threshold is regarded as an isolated detection point, and the isolated detection point is removed from the multiple detection points; According to the position information of the millimeter wave radar, the height value output by each detection point in the multiple detection points after the isolated detection point is eliminated is determined, and the maximum value of the height values ​​output by each detection point in the multiple detection points after the isolated detection point is eliminated is used as the target height value of the target to be measured.

5. The method for detecting target height according to claim 1, characterized in that: According to the position information of the millimeter wave radar and the characteristic information of the target to be measured, the angle detection range of the millimeter wave radar is divided into a plurality of deflection angle combinations, and the distance detection range of the millimeter wave radar under each deflection angle combination is determined to include: According to the number of angle searches of the millimeter-wave radar at horizontal deflection angles and the number of angle searches at vertical deflection angles, the angle detection range of the millimeter-wave radar is divided to obtain a plurality of deflection angle combinations consisting of horizontal deflection angle units and vertical deflection angle units; Determine the maximum detection distance and the minimum detection distance of the millimeter-wave radar at each deflection angle combination according to the position information of the millimeter-wave radar and the characteristic information of the target to be measured, wherein the characteristic information includes the position information of the target to be measured and the preset size information of the target to be measured; According to the maximum detection distance and the minimum detection distance of the millimeter-wave radar at each deflection angle combination, the distance detection range of the millimeter-wave radar at each deflection angle combination is determined.

6. The method for detecting target height according to any one of claims 1 or 5, characterized in that: The multi-frame signal sequence corresponding to the target to be measured collected by the millimeter wave radar includes: Acquire a plurality of frames of to-be-filtered signal sequences corresponding to the target to be measured, collected by each antenna channel of the millimeter-wave radar; The multi-frame signal sequences to be filtered corresponding to the target to be measured collected by each antenna channel are all filtered to filter out the stationary clutter within a preset frequency range in the signal sequences to be filtered, so as to obtain the multi-frame signal sequences corresponding to the target to be measured collected by each antenna channel of the millimeter wave radar.

7. The method for detecting target height according to claim 6, characterized in that: Acquiring a plurality of frames of to-be-filtered signal sequences corresponding to the target to be measured and collected by each antenna channel of the millimeter-wave radar includes: Acquire a plurality of frames of echo signals received by each antenna channel of the millimeter wave radar; Under each antenna channel, A / D sampling is performed on each pulse signal in each frame of echo signal to obtain a sampling data sequence corresponding to each pulse signal; Performing FFT operations based on the distance dimension on each sampling data sequence respectively to obtain an FFT sequence corresponding to each sampling data sequence, wherein each FFT data in the FFT sequence corresponds to a reflection signal within a distance unit; According to the FFT sequence corresponding to each pulse signal, the multiple FFT data corresponding to each distance unit are averaged to obtain the signal sequence to be filtered corresponding to each frame of echo signal, and obtain multiple frames of signal sequence to be filtered corresponding to the target to be measured under each antenna channel.

8. A target height detection device, characterized in that: The device comprises: An acquisition module, used to acquire a multi-frame signal sequence corresponding to the target to be measured and collected by the millimeter wave radar, wherein each frame signal sequence in the multi-frame signal sequence includes a plurality of complex data, and each complex data in the plurality of complex data corresponds to a distance unit; A determination module, used for dividing the angle detection range of the millimeter wave radar into a plurality of deflection angle combinations according to the position information of the millimeter wave radar and the characteristic information of the target to be detected, and determining the distance detection range of the millimeter wave radar under each deflection angle combination, wherein the deflection angle combination is composed of a horizontal deflection angle unit and a vertical deflection angle unit, and the horizontal deflection angle unit and the vertical deflection angle unit are obtained by dividing the angle detection range of the millimeter wave radar according to the number of angle searches of the millimeter wave radar at the horizontal deflection angle and the number of angle searches at the vertical deflection angle; A screening module, configured to use, according to the distance detection range of the millimeter-wave radar under each of the deflection angle combinations, a distance unit matching any distance detection range as a candidate distance unit, and use the complex data corresponding to the candidate distance unit among the multiple complex data as a detection point; The output module is used to determine the height value output by each detection point according to the position information of the millimeter wave radar, and use the maximum value of the height value output by each detection point as the target height value of the target to be measured.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the method for detecting the target height according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the method for detecting the target height according to any one of claims 1 to 7.

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