Target detection method and device, server, and computer-readable storage medium

Abstract

The present application relates to a target detection method and device, a server, and a computer-readable storage medium, including: obtaining a first detection result obtained by a laser radar performing target detection at the same time and in the same scene and a second detection result obtained by a millimeter-wave radar performing target detection. For the detection blind area of ​​the laser radar, the second detection result corresponding to the detection blind area of ​​the laser radar is used as the target detection result of the detection blind area of ​​the laser radar; and / or, for the detection blind area of ​​the millimeter-wave radar, the first detection result of the detection blind area of ​​the millimeter-wave radar is used as the target detection result of the detection blind area of ​​the millimeter-wave radar. For the overlapping detection area of ​​the laser radar and the millimeter-wave radar, the first detection result of the overlapping detection area and the second detection result of the overlapping detection area are fused to obtain the fused detection result, and the fused detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

Description

Technical Field

[0001] The present application relates to the field of image processing technology, and in particular to a target detection method and device, a server, and a computer-readable storage medium. Background Art

[0002] With the continuous development of LiDAR and millimeter-wave radar technologies, they are increasingly widely used in roadside equipment or in the fields of autonomous driving and unmanned driving. Both LiDAR and millimeter-wave radar can achieve target detection and target tracking. However, based on the different technical principles of LiDAR and millimeter-wave radar, each has its own advantages and disadvantages when performing target detection and target tracking. When traditional technologies are used simultaneously in LiDAR and millimeter-wave radar to achieve target detection and target tracking, the accuracy of the target detection results obtained is low. Summary of the invention

[0003] The embodiments of the present application provide a target detection method, device, server, and computer-readable storage medium, which can improve the accuracy of target detection results.

[0004] A target detection method, comprising:

[0005] Performing target detection on the laser point cloud collected by the laser radar at the same time and in the same scene to obtain a first detection result, and performing target detection on the millimeter wave point cloud collected by the millimeter wave radar at the same time and in the same scene to obtain a second detection result;

[0006] For the detection blind area of ​​the laser radar, taking the second detection result corresponding to the detection blind area of ​​the laser radar as the target detection result of the detection blind area of ​​the laser radar; and,

[0007] For the detection blind area of ​​the millimeter wave radar, taking the first detection result of the detection blind area of ​​the millimeter wave radar as the target detection result of the detection blind area of ​​the millimeter wave radar;

[0008] For the overlapping detection area of ​​the laser radar and the millimeter-wave radar, the first detection result of the overlapping detection area and the second detection result of the overlapping detection area are fused to obtain a fused detection result, and the fused detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

[0009] In one embodiment, the method further comprises:

[0010] Target detection results in the blind detection area of ​​the laser radar, target detection results in the blind detection area of ​​the millimeter-wave radar, and target detection results in the overlapping detection area of ​​the laser radar and the millimeter-wave radar are tracked, and the target detection results are updated according to the target tracking results.

[0011] In one embodiment, the fusing the first detection result of the overlapped detection area and the second detection result of the overlapped detection area to obtain a fused detection result, and using the fused detection result as the target detection result of the overlapped detection area of ​​the laser radar and the millimeter wave radar, includes:

[0012] Performing target matching on the first detection result of the overlapped detection area and the second detection result of the overlapped detection area;

[0013] If the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

[0014] In one embodiment, after the target matching of the first detection result of the overlapped detection area and the second detection result of the overlapped detection area is performed, the method further comprises:

[0015] If the first detection result of the overlap detection area does not match the second detection result of the overlap detection area successfully, respectively obtain the confidence of the first detection result of the overlap detection area and the second detection result of the overlap detection area, and respectively determine whether the confidence of the first detection result of the overlap detection area and the second detection result of the overlap detection area meets a preset condition;

[0016] If the confidence of the first detection result of the overlapped detection area meets the preset condition, the first detection result of the overlapped detection area is added to the first candidate detection result, and the first candidate detection result is added to the first detection result of the laser radar acquired at the next moment and in the same scene;

[0017] If the confidence of the second detection result of the overlapping detection area meets the preset condition, the second detection result of the overlapping detection area is added to the second candidate detection result, and the second candidate detection result is added to the second detection result of the millimeter-wave radar obtained at the next moment and in the same scene;

[0018] The step of cyclically executing the target matching of the first detection result of the overlapped detection area and the second detection result of the overlapped detection area at the next moment and in the same scene, wherein the number of times the cyclic execution does not exceed a preset number;

[0019] If the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

[0020] In one embodiment, the method further comprises:

[0021] If the confidence level of the first detection result of the overlap detection area does not meet the preset condition, determining whether the change range of the information in the first detection result of the overlap detection area meets the preset condition;

[0022] If so, the first detection result of the overlapped detection area is added to the first candidate detection result, the first candidate detection result is added to the first detection result of the laser radar acquired at the next moment and in the same scene, and the step of matching the first detection result of the overlapped detection area with the second detection result of the overlapped detection area is performed cyclically, and the number of times the cycle is performed does not exceed the preset number;

[0023] If the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

[0024] In one embodiment, the method further comprises:

[0025] If the confidence level of the second detection result of the overlap detection area does not meet the preset condition, determining whether the change range of the information in the second detection result of the overlap detection area meets the preset condition;

[0026] If so, the second detection result of the overlapping detection area is added to the second candidate detection result, and the second candidate detection result is added to the second detection result of the millimeter-wave radar obtained at the next moment and in the same scene, and the step of matching the first detection result of the overlapping detection area with the second detection result of the overlapping detection area is performed cyclically, and the number of times the cycle is performed does not exceed the preset number;

[0027] If the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

[0028] In one of the embodiments, target detection results of the target detection blind area of ​​the laser radar, the target detection results of the target detection blind area of ​​the millimeter wave radar, and the target detection results of the overlapping detection area of ​​the laser radar and the millimeter wave radar are tracked, and the target detection results are updated according to the target tracking results, including:

[0029] Tracking the target according to the target detection result of the blind detection area of ​​the laser radar, the target detection result of the blind detection area of ​​the millimeter wave radar, and the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar;

[0030] If a target tracked in the detection blind area of ​​the laser radar enters the overlapping detection area of ​​the laser radar and the millimeter-wave radar, the first detection result of the target and the second detection result of the target are fused to obtain a fused detection result, and the fused detection result is used as the detection result of the target;

[0031] If a target tracked in the overlapping detection area of ​​the laser radar and the millimeter-wave radar enters the detection blind area of ​​the millimeter-wave radar, the first detection result of the target is used as the detection result of the target.

[0032] In one of the embodiments, target detection results of the target detection blind area of ​​the laser radar, the target detection results of the target detection blind area of ​​the millimeter wave radar, and the target detection results of the overlapping detection area of ​​the laser radar and the millimeter wave radar are tracked, and the target detection results are updated according to the target tracking results, including:

[0033] Tracking the target according to the target detection result of the blind detection area of ​​the laser radar, the target detection result of the blind detection area of ​​the millimeter wave radar, and the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar;

[0034] If a target tracked in the detection blind area of ​​the millimeter-wave radar enters the overlapping detection area of ​​the laser radar and the millimeter-wave radar, the first detection result of the target and the second detection result of the target are fused to obtain a fused detection result, and the fused detection result is used as the detection result of the target;

[0035] If a target in the overlapping detection areas of the laser radar and the millimeter-wave radar is tracked and enters the detection area of ​​the millimeter-wave radar, the second detection result of the target is used as the detection result of the target.

[0036] A target detection device, comprising:

[0037] A target detection module is used to perform target detection on the laser point cloud collected by the laser radar at the same time and in the same scene to obtain a first detection result, and to perform target detection on the millimeter wave point cloud collected by the millimeter wave radar at the same time and in the same scene to obtain a second detection result;

[0038] a target detection result determination module, for a detection blind area of ​​the laser radar, using a second detection result corresponding to the detection blind area of ​​the laser radar as a target detection result of the detection blind area of ​​the laser radar; and, for a detection blind area of ​​the millimeter-wave radar, using a first detection result of the detection blind area of ​​the millimeter-wave radar as a target detection result of the detection blind area of ​​the millimeter-wave radar;

[0039] The target detection result fusion module is used to fuse the first detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar with the second detection result of the overlapping detection area to obtain a fused detection result, and use the fused detection result as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

[0040] A server includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the above method.

[0041] A computer-readable storage medium stores a computer program, which implements the steps of the above method when executed by a processor.

[0042] The above-mentioned target detection method, device, server, and computer-readable storage medium obtain the first detection result obtained by the laser radar for target detection and the second detection result obtained by the millimeter wave radar for target detection at the same time and in the same scene. For the detection blind area of ​​the laser radar, the second detection result corresponding to the detection blind area of ​​the laser radar is used as the target detection result of the detection blind area of ​​the laser radar; and, for the detection blind area of ​​the millimeter wave radar, the first detection result of the detection blind area of ​​the millimeter wave radar is used as the target detection result of the detection blind area of ​​the millimeter wave radar. For the overlapping detection area of ​​the laser radar and the millimeter wave radar, the first detection result of the overlapping detection area and the second detection result of the overlapping detection area are fused to obtain the fused detection result, and the fused detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar. The detection area is divided into the detection blind area of ​​the laser radar, the detection blind area of ​​the millimeter wave radar, and the overlapping detection area of ​​the laser radar and the millimeter wave radar, so that different detection results are used for different areas, and the first detection result obtained by the laser radar for target detection and the second detection result obtained by the millimeter wave radar for target detection are fused in the overlapping detection area of ​​the laser radar and the millimeter wave radar. Thereby, the accuracy of target detection results is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 An application scenario diagram of a target detection method in an embodiment;

[0045] Figure 2A is a flow chart of a target detection method in one embodiment;

[0046] Figure 2B is a flow chart of a target detection method in another embodiment;

[0047] Figure 3 A schematic diagram of detection area division in one embodiment;

[0048] Figure 4 for Figure 2A A flow chart of a method for fusing a first detection result and a second detection result;

[0049] Figure 5 for Figure 2A A flow chart of a method for fusing a first detection result and a second detection result;

[0050] Figure 6 A schematic diagram of a target moving in a detection area in an embodiment;

[0051] Figure 7 A schematic diagram of a target moving in a detection area in an embodiment;

[0052] Figure 8 is a flowchart of a target detection method in a specific embodiment;

[0053] Fig. 9 is a structural block diagram of a target detection device in one embodiment;

[0054] Fig.10 FIG. 1 is a schematic diagram of the internal structure of a server in an embodiment. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail 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 used to limit the present application.

[0056] It can be understood that the terms "first", "second", etc. used in the present application can be used in this article to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0057] Figure 1 FIG. 1 is an application scenario diagram of a target detection method in an embodiment. Figure 1As shown, the application environment includes a millimeter wave radar 120, a laser radar 140 and a server 160. A first detection result obtained by the laser radar for target detection and a second detection result obtained by the millimeter wave radar for target detection at the same time and in the same scene are obtained. For the detection blind area of ​​the laser radar, the second detection result is used as the target detection result of the detection blind area of ​​the laser radar, and for the detection blind area of ​​the millimeter wave radar, the first detection result is used as the target detection result of the detection blind area of ​​the millimeter wave radar. For the overlapping detection area of ​​the laser radar and the millimeter wave radar, the first detection result and the second detection result are fused to obtain the fused detection result, and the fused detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar. Among them, the millimeter wave radar refers to a radar that works in the millimeter wave band (millimeter wave) for detection. Usually, millimeter waves refer to electromagnetic waves in the frequency domain of 30 to 300 GHz (wavelength of 1 to 10 mm). Millimeter wave radars are good at determining the location information and velocity estimation of targets, but are less effective in obtaining information such as the number and characteristics of targets. LiDAR has a short detection distance and high measurement accuracy, and can accurately obtain the three-dimensional information and speed information of objects, but it is expensive, lacks RGB information, and cannot work properly in bad weather, such as rainy days and foggy days. Therefore, the fusion of LiDAR and millimeter-wave radar can bring out their respective advantages. On the basis of fusion, information exchange is carried out to obtain the surrounding environment information to the maximum extent.

[0058] Figure 2A This is a flowchart of a target detection method in an embodiment. A target detection method is provided and applied to a server, including steps 220 to 260.

[0059] In step 220, target detection is performed on the laser point cloud collected by the laser radar at the same time and in the same scene to obtain a first detection result, and target detection is performed on the millimeter wave point cloud collected by the millimeter wave radar at the same time and in the same scene to obtain a second detection result.

[0060] Adjust the laser radar and millimeter-wave radar to the preset angle in advance, and fix the relative position between the laser radar and the millimeter-wave radar. Then, the laser point cloud is collected by the laser radar at the same time and in the same scene, and the millimeter-wave point cloud data is collected by the millimeter-wave radar at the same time and in the same scene. The laser point cloud and millimeter-wave point cloud collected at the same time and in the same scene are uploaded to the server. The server performs target detection on the laser point cloud collected by the laser radar at the same time and in the same scene to obtain a first detection result, and performs target detection on the millimeter-wave point cloud collected by the millimeter-wave radar at the same time and in the same scene to obtain a second detection result. Among them, the detection results obtained by performing target detection include information such as the center point, length, width, height, category, heading angle and speed of the target, which is not limited in this application. The heading angle refers to the angle between the vehicle's center of mass velocity and the horizontal axis in the ground coordinate system.

[0061] Step 240, for the detection blind spot of the laser radar, use the second detection result corresponding to the detection blind spot of the laser radar as the target detection result of the detection blind spot of the laser radar; and, for the detection blind spot of the millimeter-wave radar, use the first detection result of the detection blind spot of the millimeter-wave radar as the target detection result of the detection blind spot of the millimeter-wave radar.

[0062] Since the laser radar has a short detection distance, the farther away area is the laser radar's detection blind area. Figure 3 The figure shows a schematic diagram of the detection area division. Figure 3 The area in circle 2 is the area that can be detected by the laser radar, and the area of ​​circle 3 minus circle 1 is the area that can be detected by the millimeter-wave radar. Therefore, the area in circle 1 is the blind area of ​​the millimeter-wave radar detection, the area of ​​circle 3 minus circle 2 is the blind area of ​​the laser radar detection, and the area of ​​circle 2 minus circle 1 is the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

[0063] When the millimeter-wave radar is used to check and fill in the gaps in the detection results of the laser radar, only the millimeter-wave point cloud detected by the millimeter-wave radar can be obtained for the detection blind area of ​​the laser radar. Therefore, the millimeter-wave point cloud corresponding to the detection blind area of ​​the laser radar collected by the millimeter-wave radar at the same time and in the same scene is used for target detection to obtain the second detection result corresponding to the detection blind area of ​​the laser radar as the target detection result of the detection blind area of ​​the laser radar. At this time, the coordinate system of the laser radar is selected as the reference coordinate system, and the millimeter-wave point cloud corresponding to the detection blind area of ​​the laser radar is converted from the coordinate system of the millimeter-wave radar to the reference coordinate system, so that the second detection result corresponding to the converted millimeter-wave point cloud is used as the target detection result of the detection blind area of ​​the laser radar.

[0064] When the laser radar is used to check and fill in the gaps in the detection results of the millimeter-wave radar, only the laser point cloud detected by the laser radar can be obtained for the detection blind area of ​​the millimeter-wave radar. Therefore, the laser point cloud of the detection blind area of ​​the millimeter-wave radar collected by the laser radar at the same time and in the same scene is used for target detection to obtain the first detection result of the detection blind area of ​​the millimeter-wave radar as the target detection result of the detection blind area of ​​the millimeter-wave radar. At this time, the coordinate system of the millimeter-wave radar is selected as the reference coordinate system, and the laser point cloud corresponding to the detection blind area of ​​the millimeter-wave radar is converted from the coordinate system of the laser radar to the reference coordinate system, so that the first detection result corresponding to the converted laser point cloud is used as the target detection result of the detection blind area of ​​the millimeter-wave radar.

[0065] In the above-mentioned process of target detection, you can choose to use the detection results of the laser radar as the main detection results, and only use the detection results of the millimeter-wave radar as the detection results of the laser radar for the blind detection area of ​​the laser radar. Of course, you can also choose to use the detection results of the millimeter-wave radar as the main detection results, and only use the detection results of the laser radar as the detection results of the millimeter-wave radar for the blind detection area of ​​the millimeter-wave radar. You can choose one of these two methods as the detection method for the entire scene. Of course, you can also choose both methods as the detection method for the entire scene at the same time, and obtain the detection results of the laser radar for the entire scene and the detection results of the millimeter-wave radar for the entire scene at the same time. This application is not limited to this.

[0066] Step 260, for the overlapping detection area of ​​the laser radar and the millimeter-wave radar, the first detection result of the overlapping detection area and the second detection result of the overlapping detection area are fused to obtain a fused detection result, and the fused detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

[0067] For the overlapping detection area of ​​the laser radar and the millimeter-wave radar, not only the millimeter-wave point cloud of the millimeter-wave detection can be obtained, but also the laser point cloud of the laser radar detection can be obtained. Therefore, target detection is performed on the laser point cloud to obtain the first detection result, and target detection is performed on the millimeter-wave point cloud to obtain the second detection result. Then, the first detection result and the second detection result are fused to obtain a fused detection result, and the fused detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar. Among them, the fusion of the first detection result and the second detection result can specifically be matching, correcting, screening, etc., the first detection result and the second detection result to obtain a more accurate detection result, which is not limited in this application.

[0068] When the first detection result of the overlapping detection area and the second detection result of the overlapping detection area are fused to obtain the fused detection result, the world coordinate system can be selected as the reference coordinate system, and the first detection result of the overlapping detection area and the second detection result of the overlapping detection area can be respectively converted to the reference coordinate system, thereby realizing fusion in the reference coordinate system to obtain the fused detection result, and the fused detection result is used as the target detection result of the overlapping detection area of ​​the lidar and the millimeter wave radar.

[0069] In the embodiment of the present application, the detection area is divided into the detection blind area of ​​the laser radar, the detection blind area of ​​the millimeter wave radar, and the overlapping detection area of ​​the laser radar and the millimeter wave radar, so that different detection results are used for different areas, and the first detection result obtained by the laser radar for target detection and the second detection result obtained by the millimeter wave radar for target detection are fused in the overlapping detection area of ​​the laser radar and the millimeter wave radar. Thereby, the accuracy of the target detection result is improved.

[0070] In one embodiment, Figure 2B A target detection method is provided, further comprising:

[0071] Step 280, target tracking is performed on the target detection results in the blind area of ​​the laser radar, the target detection results in the blind area of ​​the millimeter wave radar, and the target detection results in the overlapping detection area of ​​the laser radar and the millimeter wave radar, and the target detection results are updated according to the target tracking results.

[0072] After obtaining the target detection results of the laser radar's detection blind area, the millimeter-wave radar's detection blind area, and the target detection results of the overlapping detection area of ​​the laser radar and the millimeter-wave radar through the above steps, because the target in the same scene may move at different times, it is necessary to track the target detection results in the above different areas and update the target detection results based on the target tracking results. First, the detection results of the same target in the same scene will change at different times. Second, the position of the same target in the same scene will change at different times. When the same target crosses different areas, the target detection results also need to be updated.

[0073] In the embodiment of the present application, the detection area is divided into the detection blind area of ​​the laser radar, the detection blind area of ​​the millimeter-wave radar, and the overlapping detection area of ​​the laser radar and the millimeter-wave radar, so that different detection results are used for different areas, and the first detection result obtained by the laser radar for target detection and the second detection result obtained by the millimeter-wave radar for target detection are fused in the overlapping detection area of ​​the laser radar and the millimeter-wave radar. Target detection results in different areas are tracked, and the target detection results are updated according to the target tracking results. Thus, while improving the accuracy of the target detection results, the real-time update of the target detection results is improved by target tracking.

[0074] In one embodiment, Figure 4 As shown, the first detection result of the overlapped detection area and the second detection result of the overlapped detection area are fused to obtain a fused detection result, and the fused detection result is used as the target detection result of the overlapped detection area of ​​the laser radar and the millimeter wave radar, including:

[0075] Step 402: Target matching is performed between the first detection result of the overlapped detection area and the second detection result of the overlapped detection area.

[0076] For the overlapping detection areas of the laser radar and the millimeter-wave radar, target detection is performed on the laser point cloud to obtain the first detection result of the overlapping detection area, and target detection is performed on the millimeter-wave point cloud to obtain the second detection result of the overlapping detection area. In some descriptions below, "the first detection result of the overlapping detection area" is referred to as "the first detection result", and "the first detection result of the overlapping detection area" is referred to as "the second detection result". Then, the first detection result and the second detection result are matched. Specifically, the minimum distance or feature matching method can be used for target matching. The minimum distance method is used for target matching. For example, target detection is performed on the millimeter-wave point cloud to obtain m targets, and target detection is performed on the laser point cloud to obtain n targets. The distance value between the center point of the m targets and the center point of the n targets is calculated. The distance value is less than the preset threshold and is considered to be the same target. The feature matching method is used for target matching. For example, feature matching is performed based on the speed, length, width, height, heading angle and other features of the target in the target detection result, and the matching degree is calculated.

[0077] When the first detection result and the second detection result are matched, the above minimum distance or feature matching method can be used alone to match the target. Of course, the above minimum distance and feature matching methods can also be used simultaneously to match the target.

[0078] Step 404: If the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar.

[0079] If the distance between the center point of m targets and the center point of n targets is calculated, and the distance value is less than the preset threshold, it is considered that they are the same target, and then the first detection result of the target and the second detection result of the target are successfully matched. Or if the matching degree of the first detection result and the second detection result is greater than the preset threshold, then the first detection result and the second detection result are successfully matched.

[0080] If the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar.

[0081] Specifically, the first detection result of the overlap detection area is corrected by the second detection result of the overlap detection area. Because the measurement accuracy of the laser radar is high, the first detection result of the overlap detection area of ​​the laser radar shall prevail. Specifically, the correction can be performed in the following ways: for the same target that is successfully matched, if the detection result of the millimeter-wave radar is a vehicle, and the detection result of the laser radar is a pedestrian or a non-motor vehicle, then the detection target type is corrected to a vehicle; for the same target that is successfully matched, if the confidence of the detection results of the millimeter-wave radar and the laser radar is relatively low, then the confidence of the detection results of the millimeter-wave radar and the laser radar can be appropriately increased. For the same target that is successfully matched, if the heading angles in the detection results of the millimeter-wave radar and the laser radar are inconsistent, then the heading angle can be corrected according to the lane line information detected by the millimeter-wave radar. The corrected detection result is used as the target detection result of the overlap detection area of ​​the laser radar and the millimeter-wave radar.

[0082] In an embodiment of the present application, for the overlapping detection areas of the laser radar and the millimeter-wave radar, the first detection result of the overlapping detection area is matched with the second detection result of the overlapping detection area. If the first detection result of the overlapping detection area is successfully matched with the second detection result of the overlapping detection area, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar. At the same time, target matching and correction are performed based on the first detection result of the overlapping detection area of ​​the laser radar and the second detection result of the overlapping detection area of ​​the millimeter-wave radar, which greatly improves the accuracy of the target detection result compared to the detection result of a single sensor.

[0083] Continuing from the previous embodiment, after the first detection result of the overlapped detection area is matched with the second detection result of the overlapped detection area, the method includes:

[0084] Step 406, if the first detection result of the overlapping detection area does not match the second detection result of the overlapping detection area, obtain the confidence of the first detection result of the overlapping detection area and the second detection result of the overlapping detection area respectively, and judge whether the confidence of the first detection result of the overlapping detection area and the second detection result of the overlapping detection area meet the preset conditions respectively.

[0085] For the overlapping detection areas of the laser radar and the millimeter-wave radar, target detection is performed on the laser point cloud to obtain the first detection result of the overlapping detection area, and target detection is performed on the millimeter-wave point cloud to obtain the second detection result of the overlapping detection area. Then, the first detection result of the overlapping detection area and the second detection result of the overlapping detection area are matched. If the first detection result of the overlapping detection area and the second detection result of the overlapping detection area are not successfully matched, the confidence of the first detection result of the overlapping detection area and the confidence of the second detection result of the overlapping detection area are further obtained respectively. Then, it is determined whether the confidence of the first detection result of the overlapping detection area of ​​the target meets the preset conditions, and it is determined whether the confidence of the second detection result of the overlapping detection area of ​​the target meets the preset conditions. The preset condition is the confidence threshold, and the present application does not specifically limit the size of the confidence threshold.

[0086] Step 408, if the confidence of the first detection result of the overlapping detection area meets the preset conditions, the first detection result of the overlapping detection area is added to the first candidate detection result, and the first candidate detection result is added to the first detection result of the laser radar obtained at the next moment and in the same scene.

[0087] Among them, the unmatched detection result of the laser radar at the current moment is added to the first candidate detection result, and is used for target matching with the second detection result of the overlapping detection area of ​​the millimeter-wave radar at the next moment. It is judged whether the confidence of the first detection result of the overlapping detection area of ​​the target meets the preset conditions. If the confidence of the first detection result of the overlapping detection area meets the preset conditions, the first detection result of the overlapping detection area is added to the first candidate detection result.

[0088] Step 410, if the confidence of the second detection result of the overlapping detection area meets the preset conditions, the first detection result of the overlapping detection area is added to the first candidate detection result, and the second candidate detection result is added to the second detection result of the millimeter wave radar obtained at the next moment and in the same scene.

[0089] Among them, the unmatched detection result of the millimeter-wave radar at the current moment is added to the second candidate detection result, which is used for target matching with the first detection result of the overlapping detection area of ​​the laser radar at the next moment. It is judged whether the confidence of the second detection result of the overlapping detection area of ​​the target meets the preset conditions. If the confidence of the second detection result of the overlapping detection area meets the preset conditions, the second detection result of the overlapping detection area is added to the second candidate detection result. And the second candidate detection result is added to the second detection result of the millimeter-wave radar obtained at the next moment and in the same scene.

[0090] Step 412, looping and executing the step of matching the first detection result of the overlapping detection area with the second detection result of the overlapping detection area at the next moment and in the same scene, wherein the number of loop executions does not exceed a preset number;

[0091] Step 414, if the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar.

[0092] Specifically, the first candidate detection result is added to the first detection result of the laser radar obtained at the next moment and in the same scene, and the second candidate detection result is added to the second detection result of the laser radar obtained at the next moment and in the same scene. Then, the step of matching the first detection result of the overlapping detection area at the next moment and in the same scene with the second detection result of the overlapping detection area is performed. If the first detection result of the overlapping detection area matches the second detection result of the overlapping detection area successfully, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar.

[0093] If the first detection result of the overlapping detection area and the second detection result of the overlapping detection area are not successfully matched, the confidences of the first detection result of the overlapping detection area and the second detection result of the overlapping detection area are obtained respectively, and it is determined whether the confidences of the first detection result of the overlapping detection area of ​​the target and the second detection result of the overlapping detection area of ​​the target meet the preset conditions respectively; if the confidence of the first detection result of the overlapping detection area meets the preset conditions, the first detection result of the overlapping detection area is added to the first candidate detection result, and if the confidence of the second detection result of the overlapping detection area meets the preset conditions, the second detection result of the overlapping detection area is added to the second candidate detection result; the first candidate detection result is added to the first detection result of the laser radar obtained at the next moment and in the same scene, and the second candidate detection result is added to the second detection result of the laser radar obtained at the next moment and in the same scene, and the step of target matching the first detection result of the overlapping detection area at the next moment and in the same scene with the second detection result of the overlapping detection area is executed cyclically, and the number of loop executions does not exceed the preset number of times.

[0094] If the first detection result of the overlap detection area successfully matches the second detection result of the overlap detection area during the loop execution, the first detection result of the overlap detection area is corrected by the second detection result of the overlap detection area, and the corrected detection result is used as the target detection result of the overlap detection area of ​​the laser radar and the millimeter wave radar. Of course, if the target matching for the first candidate detection result exceeds the number of loops and still cannot match the second detection result of the overlap detection area, the first candidate detection result is discarded.

[0095] In an embodiment of the present application, for the overlapping detection areas of the laser radar and the millimeter-wave radar, the first detection result of the overlapping detection area is matched with the second detection result of the overlapping detection area. If the first detection result of the overlapping detection area is not successfully matched with the second detection result of the overlapping detection area, the confidence of the first detection result of the overlapping detection area and the second detection result of the overlapping detection area is used to determine whether the first detection result of the overlapping detection area and the second detection result of the overlapping detection area are valid. If valid, the target detection result is added to the detection result of the laser radar or millimeter-wave radar obtained at the next moment and in the same scene, respectively, for the next target matching. In this way, the missing of the detection result that was not successfully matched but valid is avoided, thereby improving the accuracy of target detection.

[0096] Continuing with the previous embodiment, Figure 5 As shown, a target detection method is provided, which also includes:

[0097] Step 416, if the confidence level of the first detection result of the overlap detection area does not meet the preset condition, determine whether the change range of the information in the first detection result of the overlap detection area meets the preset condition;

[0098] Step 418, if yes, then add the first detection result of the overlapped detection area to the first candidate detection result, add the first candidate detection result to the first detection result of the overlapped detection area of ​​the laser radar acquired at the next moment and in the same scene, and cyclically perform the step of target matching the first detection result of the overlapped detection area at the next moment and in the same scene with the second detection result of the overlapped detection area, and the number of cyclic executions shall not exceed the preset number of times;

[0099] Step 420, if the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar.

[0100] Among them, the detection results obtained by performing target detection include information such as the center point, length, width, height, category, heading angle and speed of the target, which is not limited in this application. The change range of the information in the detection result includes whether the target ID (Identifier) ​​has jumped, the speed change range of the target, the heading angle change range of the target, etc. The preset conditions here can be that the target ID has not jumped, the speed change range is less than the preset speed change range, and the heading angle change range is less than the preset heading angle change range.

[0101] If it is determined that the change range of the information in the first detection result of the overlap detection area meets the preset conditions, that is, assuming that the ID of the target has not changed, the speed change range is less than the preset speed change range, and the heading angle change range is less than the preset heading angle change range. Then the first candidate detection result is added to the first detection result of the overlap detection area of ​​the laser radar obtained at the next moment and in the same scene, and the step of matching the first detection result of the overlap detection area at the next moment and in the same scene with the second detection result of the overlap detection area is executed cyclically, and the number of loop executions is set not to exceed the preset number. If the first detection result of the overlap detection area successfully matches the second detection result of the overlap detection area during the loop execution, the first detection result of the overlap detection area is corrected by the second detection result of the overlap detection area, and the corrected detection result is used as the target detection result of the overlap detection area of ​​the laser radar and the millimeter wave radar.

[0102] Of course, if the first candidate detection result still cannot be matched with the second detection result of the overlapping detection area after the target matching exceeds the number of cycles, the first candidate detection result is discarded.

[0103] In an embodiment of the present application, after judging the confidence of the first detection result of the overlap detection area and concluding that the confidence of the first detection result of the overlap detection area does not meet the preset conditions, a step is further added to judge whether the change amplitude of the information in the first detection result of the overlap detection area meets the preset conditions. If the change amplitude of the information in the first detection result of the overlap detection area meets the preset conditions, it can still be concluded that the first detection result of the overlap detection area is valid. Then, the first detection result of the overlap detection area is added to the first candidate detection result, and the first candidate detection result is added to the detection result of the laser radar obtained at the next moment and in the same scene for the next target matching. In this way, the change amplitude of the information is increased on the basis of the confidence, so as to avoid missing the detection results that were not successfully matched this time but are valid, thereby improving the accuracy of target detection.

[0104] In one embodiment, a target detection method is provided, further comprising:

[0105] If the confidence level of the second detection result of the overlap detection area does not meet the preset condition, determining whether the change range of the information in the second detection result of the overlap detection area meets the preset condition;

[0106] If so, the second detection result of the candidate overlap detection area is added to the second candidate detection result, and the second candidate detection result is added to the second detection result of the millimeter-wave radar obtained at the next moment and in the same scene, and the step of matching the first detection result of the overlap detection area with the second detection result of the overlap detection area is executed repeatedly, and the number of executions of the cycle does not exceed the preset number of times;

[0107] If the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar.

[0108] Specifically, if it is determined that the change range of the information in the second detection result of the overlap detection area meets the preset conditions, that is, assuming that the ID of the target has not changed, the speed change range is less than the preset speed change range, and the heading angle change range is less than the preset heading angle change range. Then the second candidate detection result is added to the second detection result of the millimeter wave radar obtained at the next moment and in the same scene, and the step of matching the first detection result of the overlap detection area at the next moment and in the same scene with the second detection result of the overlap detection area is executed cyclically, and the number of cyclic executions does not exceed the preset number.

[0109] If the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar.

[0110] In an embodiment of the present application, after judging the confidence of the second detection result of the overlap detection area and concluding that the confidence of the second detection result of the overlap detection area does not meet the preset conditions, a step is further added to judge whether the change amplitude of the information in the second detection result of the overlap detection area meets the preset conditions. If the change amplitude of the information in the second detection result of the overlap detection area meets the preset conditions, it can still be concluded that the second detection result of the overlap detection area is valid. Then, the second detection result of the overlap detection area is added to the second candidate detection result, and the second candidate detection result is added to the detection result of the millimeter-wave radar obtained at the next moment and in the same scene for the next target matching. In this way, the change amplitude of the information is increased on the basis of the confidence, so as to avoid missing the detection results that were not successfully matched this time but are valid, thereby improving the accuracy of target detection.

[0111] In one embodiment, target detection results of a target in a detection blind area of ​​a laser radar, target detection results of a target in a detection blind area of ​​a millimeter-wave radar, and target detection results of a target in an overlapped detection area of ​​the laser radar and the millimeter-wave radar are tracked, and the target detection results are updated according to the target tracking results, including:

[0112] Tracking targets based on target detection results in the laser radar's blind area, target detection results in the millimeter wave radar's blind area, and target detection results in the overlapping detection area of ​​the laser radar and the millimeter wave radar;

[0113] If the target tracked in the detection blind area of ​​the laser radar enters the overlapping detection area of ​​the laser radar and the millimeter wave radar, the first detection result of the target and the second detection result of the target are fused to obtain a fused detection result, and the fused detection result is used as the detection result of the target;

[0114] If a target tracked in the overlapping detection area of ​​the laser radar and the millimeter-wave radar enters the detection blind area of ​​the millimeter-wave radar, the first detection result of the target is used as the detection result of the target.

[0115] like Figure 6 As shown in the figure, target tracking is performed on the target detection results of the laser radar's detection blind area, the target detection results of the millimeter wave radar's detection blind area, and the target detection results of the overlapped detection area of ​​the laser radar and the millimeter wave radar. If the target in the laser radar's detection blind area enters the overlapped detection area of ​​the laser radar and the millimeter wave radar, that is, Figure 6 When the target moves in the direction of the arrow shown in the "first step", the first detection result of the target and the second detection result of the target are fused to obtain a fused detection result, and the fused detection result is used as the detection result of the target. Thus, the second detection result of the original millimeter-wave radar is replaced.

[0116] If the target in the overlapping detection area of ​​the laser radar and the millimeter-wave radar enters the detection blind area of ​​the millimeter-wave radar, that is, Figure 6 When the target moves in the direction of the arrow shown in "Step 2", the first detection result of the target is used as the detection result of the target.

[0117] In the embodiment of the present application, the detection area is divided into the detection blind area of ​​the laser radar, the detection blind area of ​​the millimeter-wave radar, and the overlapping detection area of ​​the laser radar and the millimeter-wave radar, and the target is tracked, so that different detection results are used for different areas where the target is currently located, and the first detection result obtained by the laser radar for target detection and the second detection result obtained by the millimeter-wave radar for target detection are fused in the overlapping detection area of ​​the laser radar and the millimeter-wave radar. Thereby, the accuracy of the target detection result is improved.

[0118] In one embodiment, target detection results of a target in a detection blind area of ​​a laser radar, target detection results of a target in a detection blind area of ​​a millimeter-wave radar, and target detection results of a target in an overlapped detection area of ​​the laser radar and the millimeter-wave radar are tracked, and the target detection results are updated according to the target tracking results, including:

[0119] Tracking targets based on target detection results in the laser radar's blind area, target detection results in the millimeter wave radar's blind area, and target detection results in the overlapping detection area of ​​the laser radar and the millimeter wave radar;

[0120] If the target tracked in the detection blind area of ​​the millimeter-wave radar enters the overlapping detection area of ​​the laser radar and the millimeter-wave radar, the first detection result of the target and the second detection result of the target are fused to obtain a fused detection result, and the fused detection result is used as the detection result of the target;

[0121] If a target in the overlapping detection area of ​​the laser radar and the millimeter-wave radar is tracked and enters the detection area of ​​the millimeter-wave radar, the second detection result of the target is used as the detection result of the target.

[0122] like Figure 7 As shown in the figure, target detection results of the laser radar detection blind area, the millimeter wave radar detection blind area and the target detection results of the laser radar and millimeter wave radar overlap detection area are tracked. If the target in the millimeter wave radar detection blind area enters the overlap detection area of ​​the laser radar and millimeter wave radar, that is, Figure 7 When the target moves in the direction of the arrow shown in "Step 3", the first detection result of the target and the second detection result of the target are fused to obtain a fused detection result, and the fused detection result is used as the detection result of the target.

[0123] If the target in the overlapping detection area of ​​the laser radar and the millimeter-wave radar enters the detection area of ​​the millimeter-wave radar, that is, Figure 7 When the target moves in the direction of the arrow shown in "Step 4", the second detection result of the target is used as the detection result of the target.

[0124] In the embodiment of the present application, the detection area is divided into the detection blind area of ​​the laser radar, the detection blind area of ​​the millimeter-wave radar, and the overlapping detection area of ​​the laser radar and the millimeter-wave radar, and the target is tracked, so that different detection results are used for different areas where the target is currently located, and the first detection result obtained by the laser radar for target detection and the second detection result obtained by the millimeter-wave radar for target detection are fused in the overlapping detection area of ​​the laser radar and the millimeter-wave radar. Thereby, the accuracy of the target detection result is improved.

[0125] In a specific embodiment, Figure 8 As shown, a target detection method is provided, comprising:

[0126] Step 1: Perform target detection on the laser point cloud collected by the laser radar at the same time and in the same scene to obtain the laser radar detection result;

[0127] Step 2: Perform target detection on the millimeter wave point cloud collected by the millimeter wave radar at the same time and in the same scene to obtain the millimeter wave detection result;

[0128] Step 3: For the detection blind area of ​​the laser radar (the area detected only by the millimeter wave radar), the millimeter wave detection result is used as the target detection result of the detection blind area of ​​the laser radar;

[0129] Step 4: For the blind area of ​​the millimeter-wave radar (the area detected only by the laser radar), the laser detection result is used as the target detection result of the blind area of ​​the millimeter-wave radar;

[0130] Step 5: For the overlapping detection areas of the laser radar and the millimeter wave radar, target matching is performed on the laser detection results of the overlapping detection areas and the millimeter wave detection results of the overlapping detection areas to determine whether they are the same target;

[0131] Step 6: If yes, correct the laser radar detection result by the millimeter wave radar detection result;

[0132] Step 7; if not, determine whether to add the laser detection results of the overlapping detection area to the laser candidate detection results based on the confidence level and the amplitude of the information change, and if so, add the laser candidate detection results to the laser detection results of the laser radar obtained at the next moment and in the same scene; determine whether to add the millimeter wave detection results of the overlapping detection area to the millimeter wave candidate detection results based on the confidence level and the amplitude of the information change, and if so, add the millimeter wave candidate detection results to the millimeter wave detection results of the millimeter wave radar obtained at the next moment and in the same scene;

[0133] Finally, step 5 to step 7 are executed repeatedly until the target detection results of the overlapping detection areas of the laser radar and the millimeter wave radar are obtained.

[0134] In the embodiment of the present application, the detection area is divided into the detection blind area of ​​the laser radar, the detection blind area of ​​the millimeter wave radar, and the overlapping detection area of ​​the laser radar and the millimeter wave radar, so that different detection results are used for different areas, and in the overlapping detection area of ​​the laser radar and the millimeter wave radar, the laser detection results of the overlapping detection area obtained by the laser radar for target detection and the millimeter wave detection results of the overlapping detection area obtained by the millimeter wave radar for target detection are fused. Thus, the accuracy of the target detection result is improved.

[0135] In one embodiment, Fig. 9 As shown, a target detection device 900 is provided, comprising:

[0136] The target detection module 920 is used to perform target detection on the laser point cloud collected by the laser radar at the same time and in the same scene to obtain a first detection result, and to perform target detection on the millimeter wave point cloud collected by the millimeter wave radar at the same time and in the same scene to obtain a second detection result;

[0137] The target detection result determination module 940 is used to use, for a detection blind area of ​​the laser radar, a second detection result corresponding to the detection blind area of ​​the laser radar as a target detection result of the detection blind area of ​​the laser radar; and, for a detection blind area of ​​the millimeter-wave radar, use the first detection result of the detection blind area of ​​the millimeter-wave radar as a target detection result of the detection blind area of ​​the millimeter-wave radar;

[0138] The target detection result fusion module 960 is used to fuse the first detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar and the second detection result of the overlapping detection area to obtain a fused detection result, and use the fused detection result as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

[0139] In one embodiment, a target detection device 900 is provided, which also includes: a target tracking module, which is used to track the target detection results in the detection blind area of ​​the laser radar, the target detection results in the detection blind area of ​​the millimeter wave radar, and the target detection results in the overlapping detection area of ​​the laser radar and the millimeter wave radar, and update the target detection results according to the target tracking results.

[0140] In one embodiment, the target detection result fusion module 960 includes:

[0141] A target matching unit, used for performing target matching between the first detection result of the overlapped detection area and the second detection result of the overlapped detection area;

[0142] A correction unit is used to correct the first detection result of the overlapping detection area by using the second detection result of the overlapping detection area if the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area, and use the corrected detection result as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar.

[0143] In one embodiment, after the first detection result of the overlapped detection area is matched with the second detection result of the overlapped detection area, the method includes:

[0144] A judgment unit, for respectively obtaining the confidence of the first detection result of the overlap detection area and the second detection result of the overlap detection area if the first detection result of the overlap detection area and the second detection result of the overlap detection area do not match successfully, and respectively judging whether the confidence of the first detection result of the overlap detection area and the second detection result of the overlap detection area meet preset conditions;

[0145] A first candidate detection result generating unit, configured to add the first detection result of the overlapping detection area to the first candidate detection result if the confidence of the first detection result of the overlapping detection area meets a preset condition, and to add the first candidate detection result to the first detection result of the laser radar acquired at the next moment and in the same scene;

[0146] A second candidate detection result generating unit, configured to add the second detection result of the overlapping detection area to the second candidate detection result if the confidence of the second detection result of the overlapping detection area meets a preset condition, and add the second candidate detection result to the second detection result of the millimeter-wave radar acquired at the next moment and in the same scene;

[0147] A loop unit is used to cyclically execute the steps of matching the first detection result of the overlapping detection area at the next moment and in the same scene with the second detection result of the overlapping detection area, and the number of loop executions does not exceed a preset number; if the first detection result of the overlapping detection area is successfully matched with the second detection result of the overlapping detection area during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar.

[0148] In one embodiment, a target detection device is provided, further comprising:

[0149] The first judgment unit is also used to judge whether the change amplitude of the information in the first detection result of the overlapping detection area meets the preset conditions if the confidence of the first detection result of the overlapping detection area does not meet the preset conditions; if so, the first detection result of the overlapping detection area is added to the first candidate detection result, and the first candidate detection result is added to the first detection result of the laser radar obtained at the next moment and in the same scene, and the step of matching the first detection result of the overlapping detection area with the second detection result of the overlapping detection area is executed cyclically, and the number of loop executions does not exceed the preset number of times; if the first detection result of the overlapping detection area matches the second detection result of the overlapping detection area successfully during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar.

[0150] In one embodiment, a target detection device is provided, further comprising:

[0151] The second judgment unit is also used to judge whether the change amplitude of the information in the second detection result of the overlapping detection area meets the preset conditions if the confidence of the second detection result of the overlapping detection area does not meet the preset conditions; if so, the second detection result of the overlapping detection area is added to the second candidate detection result, and the second candidate detection result is added to the second detection result of the millimeter-wave radar obtained at the next moment and in the same scene, and the step of matching the first detection result of the overlapping detection area with the second detection result of the overlapping detection area is executed cyclically, and the number of loop executions does not exceed the preset number of times; if the first detection result of the overlapping detection area matches the second detection result of the overlapping detection area successfully during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

[0152] In one embodiment, the target tracking module includes:

[0153] A target tracking unit is used to track the target detection results of the laser radar's detection blind area, the target detection results of the millimeter wave radar's detection blind area, and the target detection results of the laser radar and the millimeter wave radar's overlapping detection area;

[0154] The detection result updating unit is used to fuse the first detection result of the target and the second detection result of the target to obtain a fused detection result if the target tracked in the detection blind spot of the laser radar enters the overlapping detection area of ​​the laser radar and the millimeter-wave radar, and use the fused detection result as the detection result of the target; if the target tracked in the overlapping detection area of ​​the laser radar and the millimeter-wave radar enters the detection blind spot of the millimeter-wave radar, use the first detection result of the target as the detection result of the target.

[0155] In one embodiment, the target tracking module includes:

[0156] A target tracking unit is used to track the target detection results of the laser radar's detection blind area, the target detection results of the millimeter wave radar's detection blind area, and the target detection results of the laser radar and the millimeter wave radar's overlapping detection area;

[0157] The detection result updating unit is used to fuse the first detection result of the target and the second detection result of the target to obtain a fused detection result if the target tracked in the detection blind area of ​​the millimeter-wave radar enters the overlapping detection area of ​​the laser radar and the millimeter-wave radar, and use the fused detection result as the detection result of the target; if the target tracked in the overlapping detection area of ​​the laser radar and the millimeter-wave radar enters the detection area of ​​the millimeter-wave radar, use the second detection result of the target as the detection result of the target.

[0158] The division of the various modules in the above target detection device is only for illustration. In other embodiments, the target detection device may be divided into different modules as needed to complete all or part of the functions of the above target detection device.

[0159] Fig.10 FIG. 1 is a schematic diagram of the internal structure of a server in an embodiment. Fig.10 As shown, the server includes a processor and a memory connected via a system bus. The processor is used to provide computing and control capabilities to support the operation of the entire server. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program can be executed by the processor to implement a target detection method provided in each of the following embodiments. The internal memory provides a cached operating environment for the operating system computer program in the non-volatile storage medium. The server can be a mobile phone, a tablet computer, a personal digital assistant, a wearable device, etc.

[0160] The implementation of each module in the target detection device provided in the embodiment of the present application can be in the form of a computer program. The computer program can be run on a terminal or a server. The program module constituted by the computer program can be stored in the memory of the terminal or the server. When the computer program is executed by the processor, the steps of the method described in the embodiment of the present application are implemented.

[0161] The embodiment of the present application also provides a computer-readable storage medium, which is one or more non-volatile computer-readable storage media containing computer-executable instructions, and when the computer-executable instructions are executed by one or more processors, the processors execute the steps of the target detection method.

[0162] A computer program product comprising instructions, when executed on a computer, causes the computer to perform a target detection method.

[0163] Any reference to memory, storage, database or other media used in the embodiments of the present application may include non-volatile and volatile memory. Suitable non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM), which is used as an external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM) and memory bus dynamic RAM (RDRAM).

[0164] 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 modifications 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 target detection method, characterized in that: include: Performing target detection on the laser point cloud collected by the laser radar at the same time and in the same scene to obtain a first detection result, and performing target detection on the millimeter wave point cloud collected by the millimeter wave radar at the same time and in the same scene to obtain a second detection result; For the detection blind area of ​​the laser radar, taking the second detection result corresponding to the detection blind area of ​​the laser radar as the target detection result of the detection blind area of ​​the laser radar; and, For the detection blind area of ​​the millimeter-wave radar, taking the first detection result corresponding to the detection blind area of ​​the millimeter-wave radar as the target detection result of the detection blind area of ​​the millimeter-wave radar; For the overlapping detection area of ​​the laser radar and the millimeter-wave radar, a first detection result of the overlapping detection area and a second detection result of the overlapping detection area are fused to obtain a fused detection result, and the fused detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar; The step of fusing the first detection result of the overlapped detection area and the second detection result of the overlapped detection area to obtain a fused detection result, and using the fused detection result as the target detection result of the overlapped detection area of ​​the laser radar and the millimeter wave radar, comprises: Performing target matching on the first detection result of the overlapped detection area and the second detection result of the overlapped detection area; If the first detection result of the overlap detection area does not match the second detection result of the overlap detection area successfully, respectively obtain the confidence of the first detection result of the overlap detection area and the second detection result of the overlap detection area, and respectively determine whether the confidence of the first detection result of the overlap detection area and the second detection result of the overlap detection area meets a preset condition; If the confidence of the first detection result of the overlapped detection area meets the preset condition, the first detection result of the overlapped detection area is added to the first candidate detection result, and the first candidate detection result is added to the first detection result of the laser radar acquired at the next moment and in the same scene; If the confidence of the second detection result of the overlapping detection area meets the preset condition, the second detection result of the overlapping detection area is added to the second candidate detection result, and the second candidate detection result is added to the second detection result of the millimeter-wave radar obtained at the next moment and in the same scene; The step of cyclically executing the target matching of the first detection result of the overlapped detection area and the second detection result of the overlapped detection area at the next moment and in the same scene, wherein the number of times the cyclic execution does not exceed a preset number; If the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

2. The method according to claim 1, characterized in that The method further comprises: Target detection results in the blind detection area of ​​the laser radar, target detection results in the blind detection area of ​​the millimeter-wave radar, and target detection results in the overlapping detection area of ​​the laser radar and the millimeter-wave radar are tracked, and the target detection results are updated according to the target tracking results.

3. The method according to claim 1, characterized in that The method further comprises: If the confidence of the first detection result of the overlap detection area does not meet the preset condition, then determine whether the change range of the information in the first detection result of the overlap detection area meets the preset condition; the information in the first detection result includes at least identification information, speed information and heading angle information; If so, the first detection result of the overlapped detection area is added to the first candidate detection result, the first candidate detection result is added to the first detection result of the laser radar acquired at the next moment and in the same scene, and the step of matching the first detection result of the overlapped detection area with the second detection result of the overlapped detection area is performed cyclically, and the number of times the cycle is performed does not exceed the preset number; If the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

4. The method according to claim 1, characterized in that The method further comprises: If the confidence level of the second detection result of the overlap detection area does not meet the preset condition, determining whether the change range of the information in the second detection result of the overlap detection area meets the preset condition; the information in the second detection result includes at least identification information, speed information and heading angle information; If so, the second detection result of the overlapping detection area is added to the second candidate detection result, and the second candidate detection result is added to the second detection result of the millimeter-wave radar obtained at the next moment and in the same scene, and the step of matching the first detection result of the overlapping detection area with the second detection result of the overlapping detection area is performed cyclically, and the number of times the cycle is performed does not exceed the preset number; If the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

5. The method according to claim 2, characterized in that: Tracking the target detection result of the blind detection area of ​​the laser radar, the target detection result of the blind detection area of ​​the millimeter-wave radar, and the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar, and updating the target detection result according to the target tracking result, including: Tracking the target according to the target detection result of the blind detection area of ​​the laser radar, the target detection result of the blind detection area of ​​the millimeter wave radar, and the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar; If a target tracked in the detection blind area of ​​the laser radar enters the overlapping detection area of ​​the laser radar and the millimeter-wave radar, the first detection result of the target and the second detection result of the target are fused to obtain a fused detection result, and the fused detection result is used as the detection result of the target; If a target tracked in the overlapping detection area of ​​the laser radar and the millimeter-wave radar enters the detection blind area of ​​the millimeter-wave radar, the first detection result of the target is used as the detection result of the target.

6. The method according to claim 2, characterized in that Tracking the target detection result of the blind detection area of ​​the laser radar, the target detection result of the blind detection area of ​​the millimeter-wave radar, and the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar, and updating the target detection result according to the target tracking result, including: Tracking the target according to the target detection result of the blind detection area of ​​the laser radar, the target detection result of the blind detection area of ​​the millimeter wave radar, and the target detection result of the overlapping detection area of ​​the laser radar and the millimeter wave radar; If a target tracked in the detection blind area of ​​the millimeter-wave radar enters the overlapping detection area of ​​the laser radar and the millimeter-wave radar, the first detection result of the target and the second detection result of the target are fused to obtain a fused detection result, and the fused detection result is used as the detection result of the target; If a target tracked in the overlapping detection area of ​​the laser radar and the millimeter-wave radar enters the detection blind area of ​​the laser radar, the second detection result of the target is used as the detection result of the target.

7. A target detection device, characterized in that: include: A target detection module is used to perform target detection on the laser point cloud collected by the laser radar at the same time and in the same scene to obtain a first detection result, and to perform target detection on the millimeter wave point cloud collected by the millimeter wave radar at the same time and in the same scene to obtain a second detection result; a target detection result determination module, configured to use, for a detection blind area of ​​the laser radar, a second detection result corresponding to the detection blind area of ​​the laser radar as a target detection result of the detection blind area of ​​the laser radar; and, for the detection blind area of ​​the millimeter-wave radar, taking a first detection result corresponding to the detection blind area of ​​the millimeter-wave radar as a target detection result of the detection blind area of ​​the millimeter-wave radar; a target detection result fusion module, for fusing, for the overlapped detection area of ​​the laser radar and the millimeter-wave radar, a first detection result of the overlapped detection area and a second detection result of the overlapped detection area to obtain a fused detection result, and using the fused detection result as the target detection result of the overlapped detection area of ​​the laser radar and the millimeter-wave radar; The target detection result fusion module includes: A target matching unit, used for performing target matching between the first detection result of the overlap detection area and the second detection result of the overlap detection area; A judgment unit, for respectively obtaining the confidence of the first detection result of the overlap detection area and the second detection result of the overlap detection area if the first detection result of the overlap detection area and the second detection result of the overlap detection area do not match successfully, and respectively judging whether the confidence of the first detection result of the overlap detection area and the second detection result of the overlap detection area meet preset conditions; A first candidate detection result generating unit, configured to add the first detection result of the overlapped detection area to the first candidate detection result if the confidence of the first detection result of the overlapped detection area meets a preset condition, and to add the first candidate detection result to the first detection result of the laser radar acquired at the next moment and in the same scene; A second candidate detection result generating unit, configured to add the second detection result of the overlapping detection area to the second candidate detection result if the confidence of the second detection result of the overlapping detection area meets a preset condition, and add the second candidate detection result to the second detection result of the millimeter-wave radar acquired at the next moment and in the same scene; A loop unit, used for cyclically executing the step of target matching the first detection result of the overlapped detection area at the next moment and in the same scene with the second detection result of the overlapped detection area, wherein the number of times the loop is executed does not exceed a preset number; If the first detection result of the overlapping detection area successfully matches the second detection result of the overlapping detection area during the loop execution, the first detection result of the overlapping detection area is corrected by the second detection result of the overlapping detection area, and the corrected detection result is used as the target detection result of the overlapping detection area of ​​the laser radar and the millimeter-wave radar.

8. A server comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the computer program is executed by the processor, the processor is caused to perform the steps of the target detection method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the target detection method according to any one of claims 1 to 6 are implemented.

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