Method, device, terminal and readable medium for removing speed-ambiguous false targets

Abstract

The present invention provides a method and device for removing speed blurred false targets, the method comprising: obtaining temporary tracks of continuous Q frames and target point tracks associated with the temporary tracks in each frame, where Q is a positive integer and Q≥2; calculating the distance R between the target point tracks. (i，j) , i and j represent the frame number, i, j∈{1, 2, 3, ..., Q}, i<j; based on the distance R (i，j) and the distance R (i，j) The interval time T (i，j) Calculate multiple distance change rates V (i，j) For multiple distance change rates V (i，j) Data fusion is performed to obtain the true range change rate corresponding to the temporary track; the true range change rate is compared with the defuzzification speed parameter to obtain a speed difference; the speed difference is compared with a preset difference threshold parameter, and based on the comparison result, it is determined whether to upgrade the temporary track to a mature track. The present invention can identify and eliminate false targets with defuzzification errors, avoiding false target output and erroneous upgrade of temporary tracks.

Description

Technical Field

[0001] The present invention mainly relates to the field of vehicle navigation, and in particular to a method, device, terminal and readable medium for removing speed-ambiguous false targets. Background Art

[0002] With the growing demand for autonomous vehicles, the application requirements for automotive radar are also increasing. While a vehicle is in motion, errors are inevitable during the radar's tracking and filtering of targets (such as pedestrians, vehicles, or obstacles) due to factors such as numerical calculations and line delays. There is also a certain probability of repeated speed measurement errors, resulting in the re-tracking of a false target near the actual target. This has a serious impact on the subsequent integration of automotive radar with cameras or other centralized applications, easily causing false alarms and hindering safe and convenient driving. Therefore, if temporary tracks acquired by radar are directly upgraded to mature tracks through continuous successful pairing, the aforementioned continuous speed measurement errors may lead to false targets and the resulting incorrect track upgrade. Therefore, a method is needed to determine whether a temporary track can be upgraded to a mature track to eliminate false targets in the speed module and ensure the accuracy of track upgrades. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method and device for removing speed fuzzy false targets, thereby achieving the elimination of fuzzy speed false targets.

[0004] In order to solve the above technical problems, the present invention provides a method for removing speed blurred false targets, comprising the following steps: obtaining temporary tracks of consecutive Q frames and target point tracks associated with the temporary tracks in each frame, where Q is a positive integer and Q≥2; calculating the distance R between the target point tracks (i，j) , i and j represent the frame number, i, j∈{1, 2, 3, ..., Q}, i<j; based on the distance R (i，j) and the distance R (i，j) The interval time T (i，j) Calculate multiple distance change rates V (i，j) For multiple distance change rates V (i，j) Data fusion is performed to obtain a true distance change rate corresponding to the temporary track; the true distance change rate is compared with a defuzzified speed parameter to obtain a speed difference; the speed difference is compared with a preset difference threshold parameter, and based on the comparison result, it is determined whether to upgrade the temporary track to a mature track.

[0005] In one embodiment of the present invention, obtaining the target track associated with the temporary track of each frame includes the following steps:

[0006] A gate range is defined with each of the temporary tracks as the center; and a track closest to the temporary track among the tracks within the gate range is used as a target track associated with the temporary track.

[0007] In one embodiment of the present invention, the i and j are set adjacently, and the distance R between the target traces of adjacent frames is obtained. (i，j) .

[0008] In one embodiment of the present invention, recursive filtering or cumulative mean is used to calculate the distance change rate V. (i，j) Perform data fusion processing to obtain the real-time distance change rate of the current frame in the Q frame.

[0009] In one embodiment of the present invention, determining whether to upgrade the temporary track to a mature track based on the comparison result includes: if the speed difference is greater than a difference threshold parameter, determining that the speed parameter of the target point track is incorrect, and filtering out the temporary track; if the speed difference is less than or equal to the difference threshold parameter, determining that the speed parameter of the target point track is correct, and upgrading the temporary track to a mature track.

[0010] In one embodiment of the present invention, the difference threshold is k times the maximum unambiguous speed, where k is a rational number and k>0.

[0011] In one embodiment of the present invention, the point tracks obtained by each radar detection are tracked to obtain all temporary tracks of the corresponding frame.

[0012] The present invention also provides a device for removing speed fuzzy false targets, which is characterized by comprising:

[0013] The data acquisition module is used to obtain the temporary track of consecutive Q frames and the target track associated with the temporary track of each frame, where Q is a positive integer and Q≥2; the distance change rate calculation module is configured to calculate the distance R between the target tracks. (i，j) , i and j represent the frame number, i, j∈{1, 2, 3, ..., Q}, i<j; based on the distance R (i，j) and the distance R (i，j) The interval time T (i，j) Calculate multiple distance change rates V (i，j) For multiple distance change rates V (i，j) Data fusion is performed to obtain the actual distance change rate of the corresponding temporary track; the judgment and operation module is configured to: compare the actual distance change rate with the defuzzified speed parameter to obtain a speed difference; compare the speed difference with a preset difference threshold parameter, and determine whether to upgrade the temporary track to a mature track based on the comparison result.

[0014] The present invention also provides a terminal for removing speed-ambiguous false targets, comprising: a memory for storing instructions executable by a processor; and a processor for executing the instructions to implement any of the methods described above.

[0015] The present invention also provides a computer-readable medium storing computer program code, wherein the computer program code implements the method as described in any one of the preceding items when executed by a processor.

[0016] Compared with the prior art, the present invention has the following advantages: the technical solution of the present application calculates the speed of the point track through the distance change rate information of the point track, and then compares it with the defuzzification speed of the point track, so as to identify and eliminate false targets with defuzzification errors, avoid false target output and erroneous upgrading of temporary tracks, which is conducive to safe and convenient driving of the vehicle and enhances the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are provided to provide a further understanding of the present application. They are incorporated into and constitute a part of the present application. The accompanying drawings illustrate embodiments of the present application and, together with the present specification, serve to explain the principles of the present application. In the accompanying drawings:

[0018] Figure 1 This is a flow chart of a method for removing velocity blurred false targets according to an embodiment of the present application.

[0019] Figure 2 This is a schematic diagram of point tracking matching of vehicle-mounted radar.

[0020] Figure 3 This is a schematic diagram of two sets of chirp signals emitted by the radar to obtain target points.

[0021] Figure 4 It is a schematic diagram of the waveform of the three-transmitter radar unit deambiguation.

[0022] Figure 5 It is a schematic diagram of the blurred target shadow.

[0023] Figure 6 1 is a schematic diagram of the composition of a device for removing velocity blurred false targets according to an embodiment of the present application.

[0024] Figure 7 2 is a schematic diagram of removing a speed-ambiguous false target terminal according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the following is a brief introduction to the drawings required for describing the embodiments. Obviously, the drawings described below are merely examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without inventive effort. Unless otherwise apparent from the context or otherwise noted, the same reference numerals in the figures represent the same structure or operation.

[0026] As used in this application and the claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0027] Unless specifically stated otherwise, the relative arrangement of components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application.

[0028] In addition, it should be noted that the use of terms such as "first" and "second" to define components or parameters is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from commonly known and commonly used terms, some terms mentioned in this specification may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description herein. In addition, it is required that this application be understood not only by the actual terms used, but also by the meaning implied by each term.

[0029] Flowcharts are used in this application to illustrate the operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, the various steps may be processed in reverse order or simultaneously. Furthermore, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0030] During vehicle-mounted radar tracking, velocity defuzzified points that have not been processed by tracking filtering are called point tracks. Point tracks that have been processed by tracking filtering are called tracks, which include temporary tracks and mature tracks. Among them, mature tracks are directly output as targets. The temporary tracks of the corresponding frames obtained by tracking the point tracks acquired by the radar each time can be upgraded to mature tracks after several consecutive successful matches. Mature tracks are then output as targets.

[0031] Since the track with continuous deambiguation errors may also fall into the gate of the temporary track and may be upgraded to a mature track, a false target output may be generated after tracking. Figure 5 It is a schematic diagram of the blurred target shadow. Figure 5 In the figure, 501 indicates a blurred target and 502 indicates a real target. If the point track corresponding to the blurred target 501 is mistakenly regarded as a real target and is batched starting from the current frame (for example, as the first frame), the second frame, the third frame, ..., the fifth frame, and so on will be formed, forming a blurred target trail 511. If this track is output as a mature track, it will form a false target output, affecting the subsequent vehicle navigation. Therefore, the present application provides a method and apparatus for removing speed blurred false targets to solve the above problem.

[0032] The embodiments of the present application describe a method and apparatus for removing velocity-ambiguous false targets.

[0033] Figure 1 This is an exemplary flow chart of a method for removing velocity blurred false targets according to an embodiment of the present application.

[0034] like Figure 1 As shown, the method for removing speed blurred false targets includes: step 101, obtaining temporary tracks of consecutive Q frames and target track associated with the temporary track in each frame, where Q is a positive integer and Q≥2; step 102, calculating the distance R between the target track points (i，j) , i and j represent the frame number, i, j∈{1, 2, 3, ..., Q}, i<j; Step 103, based on the distance R (i，j) and the distance R (i，j) The interval time T (i，j) Calculate multiple distance change rates V (i，j) Step 104, for a plurality of said distance change rates V (i，j) Perform data fusion to obtain the true distance change rate corresponding to the temporary track; in step 105, compare the true distance change rate with the defuzzified speed parameter to obtain a speed difference; in step 106, compare the speed difference with a preset difference threshold parameter, and determine whether to upgrade the temporary track to a mature track based on the comparison result.

[0035] The technical solution of the present application obtains the speed of the target point track (i.e., the true distance change rate) through the distance change rate information of the target point track, and then compares it with the defuzzification speed of the target point track. If the difference between the two is too large, it means that the target corresponding to the temporary point track is a fuzzy target 501, thereby identifying the false target with defuzzification error and eliminating it, and avoiding mistakenly upgrading the temporary track to a mature track, that is, avoiding the formation of a fuzzy target trail 511 and outputting it as a mature track. In the target tracking process when the vehicle is driving, it can better prevent false targets caused by speed measurement errors from forming new tracks in batches and causing radar false alarms, which is beneficial to safe and convenient driving of the vehicle and enhances the user's vehicle driving experience.

[0036] Specifically, in step 101, temporary tracks of consecutive Q frames and target point tracks associated with the temporary tracks in each frame are obtained, where Q is a positive integer and Q ≥ 2. For example, the temporary tracks are obtained by a vehicle-mounted radar.

[0037] In some embodiments, for radars, such as vehicle-mounted radars, the track points obtained in each detection are tracked to obtain all temporary tracks of the corresponding frame. Generally, multiple track points can be obtained in one detection. The track points obtained by the radar in this detection are tracked to obtain the temporary track of the current frame, and the temporary track of the consecutive Q frames after the temporary track of the current frame is obtained through multiple detections and tracking. At the same time, for the temporary track of each frame, the corresponding target track points are also obtained. In some embodiments, the acquisition of the target track points associated with the temporary track of each frame includes the following steps: step 1011, defining a gate range with each of the temporary tracks as the center; step 1012, taking the track points within the gate range that are closest to the temporary track as the target track points associated with the temporary track.

[0038] Figure 2 This is a schematic diagram of the point trace matching of the vehicle-mounted radar. Figure 2 As shown in the figure, the track point of this temporary track (the track currently being processed) is, for example, 201. The dotted box 221 in the figure represents, for example, the gate of the vehicle-mounted radar. Figure 2 In Figure (a), if the target track 203 is within the wave gate, it can be said that the target track is matched (or associated) with the temporary track. If there are multiple tracks within the wave gate, the track closest to the temporary track is selected as the target track associated with the temporary track. Figure 2 In FIG. 2( b ), the target track 205 is outside the gate, which means that the target track is not matched by the temporary track (or is not associated).

[0039] In addition, in step 101, if one of the temporary tracks is not associated with the target track, the temporary track is deleted and the subsequent judgment is terminated.

[0040] The arrows marked on the track points (also called temporary track points) of the temporary track and the target track, for example, represent the instantaneous speed direction and magnitude of the temporary track points or the target track. The target tracking process of the vehicle-mounted radar includes matching and filtering processes.

[0041] In step 102, the distance R between the target points is calculated. (i，j) , i and j represent frame numbers, i, j∈{1, 2, 3, ..., Q}, i<j. The calculation result of the distance between target traces is obtained by, for example, calculating the Euclidean distance between the coordinates corresponding to the target traces.

[0042] In some embodiments, i and j are set adjacently, and the distance R between the target traces of adjacent frames is obtained. (i，j) At this time, for the target point track associated with the temporary track of continuous Q frames, (Q-1) distances R can be obtained. (i，j) .

[0043] In step 103, based on the distance R (i，j) and the distance R (i，j) The interval time T (i，j) Calculate multiple distance change rates V (i，j) , T (i，j) The interval time Tp can be obtained based on the frame number difference between i and j and the frame period value Tp. (i，j) The frame period value is obtained through the timer module of the vehicle-mounted radar, that is,

[0044]

[0045] For example, when i and j are adjacent to each other, in step 103, the real-time distance change rate V is calculated based on the distance difference and the interval time between different frames. (1，2) 、V (2，3) ,...V (i，j) ,...V (Q-1，Q) .

[0046] In step 104, a plurality of distance change rates V (i，j) Perform data fusion to obtain the actual distance change rate of the corresponding temporary track. In this step, if only the distance change rate V between two target points is used (i，j) As the real distance change rate, there may be a sudden change in speed due to inaccurate distance change measurement, so in step 104, the multiple distance change rates V (i，j) Data fusion is performed to obtain the actual distance change rate corresponding to the temporary track. In some embodiments, recursive filtering or cumulative mean is used to calculate the distance change rate V of the plurality of distance change rates.(i，j) Perform data fusion processing to obtain the real-time distance change rate of the current frame in the Q frame.

[0047] Specifically, in one embodiment, the calculation method corresponding to the recursive filter is, for example,

[0048] v (i，j) =α*V (i，j) +(1-α)*V (i-1，j-1) 0<α<1, i, j∈{1, 2, 3,..., Q}(2)

[0049] In one embodiment, the calculation method corresponding to the cumulative mean is:

[0050]

[0051] M is the distance change rate V stored before the temporary track is converted to the mature track (i，j) The number of .

[0052] Next, in step 105, the true distance change rate value is compared with the defuzzified speed parameter to obtain a speed difference value. When calculating the difference value, an absolute value operation can be performed as needed.

[0053] In some embodiments, the defuzzification speed parameter V x It is obtained by the following calculation method:

[0054]

[0055] Among them, f D is the Doppler frequency caused by target motion, and λ is the operating wavelength of the radar that obtains the target track.

[0056] In some embodiments, f D Obtained by:

[0057] f D =f rd +q*F D (5)

[0058] Among them, f rd is the fuzzy Doppler frequency obtained by fast Fourier transform (FFT) of the target point data, q is the fuzzy factor, F D To obtain the Doppler frequency corresponding to the total period of the waveform signal of the target point trace radar, the Fast Fourier Transform (FFT) includes, for example, a two-dimensional Fast Fourier Transform (2 Dimension FFT, 2DFFT).

[0059] In some embodiments, the fuzzy factor q is obtained by the following calculation:

[0060]

[0061] in, is the phase difference variable between the two groups of chirp signals emitted by the target point radar, T r is the period of the first group of chirp signals, a is the periodic delay value of the second group of chirp signals relative to the first group of chirp signals, T D To obtain the total period of the target trace radar waveform signal, use round() to round the value. The Round function returns a value that can be rounded to a specified number of decimal places.

[0062] Figure 3 The diagram below shows two sets of chirp signals sent by the radar to obtain target traces. The first set of signals is as follows: Figure 3 As shown in Figure (a), the second set of signals is as follows Figure 3 As shown in Figure (b) in the figure. Chirp signal refers to linear frequency modulation signal, which is a signal with continuous linear frequency change during the duration.

[0063] The estimation of target velocity depends on the measurement of the target Doppler frequency, and the measurement range of the Doppler frequency is determined by the chirp period. The shorter the period, the wider the Doppler measurement range of the fast Fourier transform (such as the two-dimensional fast Fourier transform), and the longer the period, the narrower the Doppler measurement range of the fast Fourier transform.

[0064] While using MIMO technology to widen the radar's transmit unit aperture also increases the chirp period, causing the target's Doppler frequency to exceed the range of the Fast Fourier Transform (FFT), such as the 2D FFT. This results in spectral aliasing and ambiguity in velocity measurement. Target demodulation is necessary to address this issue.

[0065] Assuming the radar transmits a chirp signal with a period of Tr and a virtual array order of N, when the velocity Doppler frequency exceeds 1 / (N*Tr), the target's velocity will inevitably become ambiguous. Therefore, chirp delay is used to resolve the target velocity ambiguity.

[0066] Figure 3 The period of the chirp signal shown in Figure (a) is T r . Figure 3 As shown in Figure (b), based on the chirp signal in Figure (a), a signal with one cycle is added before it, and a delay value a is added.

[0067] If the radar has three transmitting units for transmitting target detection signals (also known as the virtual array order is 3), the signal waveform transmitted by each transmitting unit is as follows: Figure 4exemplified, Figure 4 It is a schematic diagram of the waveform of the three-transmitter radar unit deambiguation. Figure 4 In the equation, TX0, TX1, and TX2 represent the first, second, and third transmitting units, respectively. After calculation, the phase difference between the two sets of chirp signals can be obtained. On the basis of defuzzification, due to the presence of noise, there is a certain probability that the defuzzification will be wrong, which will lead to radar point velocity errors. Therefore, the technical solution of this application continues to judge and calculate after obtaining the speed difference based on the defuzzified velocity parameter.

[0068] In step 106 , the speed difference is compared with a preset difference threshold parameter, and it is determined whether to upgrade the temporary track to a mature track according to the comparison result.

[0069] When the temporary track is converted to a mature track, the true distance change rate after data fusion calculation is close to the target's true speed. At this time, the relationship between the true distance change rate of the track and the defuzzified speed is compared. If the point track speed defuzzification error is incorrect, there must be a certain difference between it and the distance change rate; otherwise, the two should be equal. Therefore, in step 106, a difference threshold is set and the speed difference is compared with the preset difference threshold parameter.

[0070] In some embodiments, determining whether to upgrade the temporary track to a mature track point based on the comparison result includes: if the speed difference is greater than a difference threshold parameter, determining that the speed parameter of the target track point is incorrect and filtering out the temporary track point; if the speed difference is less than or equal to the difference threshold parameter, determining that the speed parameter of the target track point is correct and upgrading the temporary track to a mature track point. In some embodiments, the difference threshold is k times the maximum unambiguous speed, where k is a rational number and k>0. For example, k is greater than or equal to 1.

[0071] Furthermore, in some embodiments, the maximum unambiguous velocity Vm is the Doppler frequency f caused by the target motion. D The maximum value of the defuzzification speed parameter V x The value of, specifically,

[0072]

[0073] in, λ is the working wavelength of the radar for acquiring target traces, N is the order of the virtual array of the radar transmitting target detection signals, T r To obtain the period of the first set of chirp signals in the two sets of chirp signals emitted by the target track radar, the description of the chirp signal is as shown above.

[0074] The present application also provides a device for removing speed blurred false targets. Figure 6 1 is a schematic diagram of the composition of a device for removing velocity blurred false targets according to an embodiment of the present application.

[0075] like Figure 6 As shown, the speed ambiguity removal false target device 600 includes a data acquisition module 601, a distance change rate calculation module 603, and a judgment and operation module 605. The components of the speed ambiguity removal false target device 600 are connected to each other through a network to achieve data and instruction transmission.

[0076] In some embodiments, the data acquisition module is used to acquire temporary tracks of consecutive Q frames and target point tracks associated with the temporary tracks in each frame, where Q is a positive integer and Q≥2.

[0077] The distance change rate calculation module is configured to perform the following operations:

[0078] Calculate the distance R between target points (i，j) , i and j represent the frame number, i, j∈{1, 2, 3, ..., Q}, i<j; based on the distance R (i，j) and the distance R (i，j) The interval time T (i，j) Calculate multiple distance change rates V (i，j) For multiple distance change rates V (i，j) Perform data fusion to obtain the actual distance change rate of the corresponding temporary track

[0079] The judgment and operation module is configured to: compare the actual distance change rate with the defuzzified speed parameter to obtain a speed difference; compare the speed difference with a preset difference threshold parameter, and determine whether to upgrade the temporary track to a mature track based on the comparison result.

[0080] In some embodiments, the data acquisition module 601 includes a temporary track acquisition submodule and a target track acquisition submodule. The temporary track acquisition submodule is configured to track the track acquired by each radar detection and acquire all temporary tracks for the corresponding frame. For example, a single detection may acquire multiple tracks. The temporary track acquired by tracking the track acquired by the radar in this detection is used as the temporary track for the current frame. Through multiple detections and tracking, the temporary tracks for the consecutive Q frames following the temporary track of the current frame can be acquired.

[0081] The target track acquisition submodule is configured to perform the following steps: defining a gate range with each of the temporary tracks as the center; and taking the track closest to the temporary track among the tracks within the gate range as the target track associated with the temporary track. Figure 2 This is a schematic diagram of the point trace matching of the vehicle-mounted radar. Figure 2 The process of determining whether the target point traces match can be referred to the previous description.

[0082] In some embodiments, the distance change rate calculation module 603 includes a data fusion submodule, which is configured to use recursive filtering or cumulative mean to calculate the distance change rate V. (i，j) Perform data fusion processing to obtain the real-time distance change rate of the current frame in the Q frame. Specific examples of recursive filtering or taking cumulative mean are shown in the above formula (2) or (3).

[0083] In some embodiments, the judgment and operation module 605 includes a track upgrade operation submodule, which is configured to perform the following operations: if the speed difference is greater than the difference threshold parameter, the speed parameter of the target point track is determined to be wrong, and the temporary track is filtered out; if the speed difference is less than or equal to the difference threshold parameter, the speed parameter of the target point track is determined to be correct, and the temporary track is upgraded to a mature track.

[0084] When a temporary track is converted to a mature track, the true range change rate after data fusion calculation is close to the target's true speed. At this time, the relationship between the track's true range change rate and the defuzzified speed is compared. If the point track speed defuzzification error occurs, there must be a certain difference between the speed change rate and the range change rate; otherwise, the two should be equal. Therefore, a difference threshold is set and the speed difference is compared with the preset difference threshold parameter to determine whether to upgrade the temporary track to a mature track.

[0085] The present application also provides a terminal for removing speed-ambiguous false targets, comprising: a memory for storing instructions executable by a processor; and a processor for executing the instructions to implement the aforementioned method.

[0086] Figure 7A schematic diagram of a terminal for removing speed-ambiguous false targets according to an embodiment of the present application is shown. The speed-ambiguous false target removal device 700 may include an internal communication bus 701, a processor 702, a read-only memory (ROM) 703, a random access memory (RAM) 704, and a communication port 705. The speed-ambiguous false target removal device 700 is connected to a network and other devices via the communication port. The internal communication bus 701 enables data communication between the components of the speed-ambiguous false target removal device 700. The processor 702 can make judgments and issue prompts. In some embodiments, the processor 702 can be composed of one or more processors. The communication port 705 enables the sending and receiving of information and data from the network. The speed-ambiguous false target removal device 700 may also include various forms of program storage units and data storage units, such as a read-only memory (ROM) 703 and a random access memory (RAM) 704, capable of storing various data files used for computer processing and / or communication, as well as possible program instructions executed by the processor 702. The processor executes these instructions to implement the main components of the method. The device for removing speed ambiguity false targets is, for example, included in a vehicle computer system and communicates with a server of the vehicle computer system via a network.

[0087] The aforementioned apparatus 700 for removing velocity-ambiguous false targets can be implemented as a computer program, stored in a memory, and recorded to the processor 702 for execution to implement the velocity-ambiguous false target removal method of the present application. The present application also provides a computer-readable medium storing computer program code, which, when executed by a processor, implements the velocity-ambiguous false target removal method described above.

[0088] Some aspects of the present application can be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software can be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors or combinations thereof. In addition, various aspects of the present application may be expressed as computer products located in one or more computer-readable media, which include computer-readable program code. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, tapes...), optical disks (e.g., compact disks CDs, digital versatile disks DVDs...), smart cards, and flash memory devices (e.g., cards, sticks, key drives...).

[0089] A computer-readable medium may include a propagated data signal embodying computer program code, for example, in baseband or as part of a carrier wave. The propagated signal may be in a variety of forms, including electromagnetic, optical, etc., or a suitable combination thereof. A computer-readable medium may be any computer-readable medium other than a computer-readable storage medium that can be connected to an instruction execution system, apparatus, or device to communicate, propagate, or transmit the program for use. The program code on the computer-readable medium may be transmitted via any suitable medium, including radio, cable, fiber optic cable, radio frequency signal, or similar medium, or any combination of the above.

[0090] Similarly, it should be noted that, in order to simplify the presentation of this application and thus facilitate understanding of one or more embodiments of the invention, the foregoing descriptions of the embodiments of this application sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not mean that the subject matter of this application requires more features than those recited in the claims. In fact, an embodiment may have fewer features than all of the features of a single embodiment disclosed above.

[0091] Although the present application has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present application, and various equivalent changes or substitutions can be made without departing from the spirit of the present application. Therefore, as long as the changes and modifications to the above embodiments are within the scope of the essential spirit of the present application, they will fall within the scope of the claims of the present application.

Claims

1. A method for removing velocity-ambiguous false targets, comprising the following steps: Obtain the temporary track of consecutive Q frames and the target point track associated with the temporary track in each frame, where Q is a positive integer and Q ≥ 2; Calculate the distance R between the target points (i,j) , i and j represent the frame number, i,j∈ {1,2,3,…,Q}, i<j; Based on the distance R (i,j) and the distance R (i,j) The interval time T (i,j) Calculate multiple distance change rates V (i,j) ; For a plurality of the distance change rates V (i,j) Perform data fusion to obtain the actual distance change rate of the corresponding temporary track; wherein, recursive filtering or cumulative mean is used to calculate the distance change rate V of the plurality of said distance change rates. (i,j) Performing data fusion processing to obtain the real-time distance change rate of the current frame in the Q frame; Comparing the true distance change rate with the defuzzified speed parameter to obtain a speed difference; The speed difference is compared with a preset difference threshold parameter, and it is determined whether to upgrade the temporary track to a mature track according to the comparison result.

2. The method for removing velocity blurred false targets according to claim 1, characterized in that: The acquisition of the target point track associated with the temporary track of each frame includes the following steps: A gate range is defined with each of the temporary tracks as the center; and a track closest to the temporary track among the tracks within the gate range is used as a target track associated with the temporary track.

3. The method for removing velocity blurred false targets according to claim 1, characterized in that: The i and j are set adjacently, and the distance R between the target points in adjacent frames is obtained. (i,j) .

4. The method for removing velocity blurred false targets according to claim 1, characterized in that: Determining whether to upgrade the temporary track to a mature track according to the comparison result includes: If the speed difference is greater than the difference threshold parameter, it is determined that the speed parameter of the target track is wrong and the temporary track is filtered out; If the speed difference is less than or equal to the difference threshold parameter, it is determined that the speed parameter of the target track is correct, and the temporary track is upgraded to a mature track.

5. The method for removing velocity blurred false targets according to claim 1, characterized in that: The difference threshold is k times the maximum unambiguous speed, where k is a rational number and k>0.

6. The method for removing velocity blurred false targets according to claim 1, characterized in that: Track the point traces obtained by each radar detection and obtain all temporary tracks of the corresponding frame.

7. A device for removing speed fuzzy false targets, characterized in that: include: A data acquisition module is used to obtain temporary tracks of consecutive Q frames and target track associated with the temporary track of each frame, where Q is a positive integer and Q≥2; The distance change rate calculation module is configured as follows: Calculate the distance R between the target points (i,j) , i and j represent the frame number, i,j∈{1,2,3,…,Q}, i<j; Based on the distance R (i,j) and the distance R (i,j) The interval time T (i,j) Calculate multiple distance change rates V (i,j) ; For a plurality of the distance change rates V (i,j) Perform data fusion to obtain the corresponding temporary track real distance change rate; wherein, use recursive filtering or cumulative mean to calculate the distance change rate V of multiple (i,j) Performing data fusion processing to obtain the real-time distance change rate of the current frame in the Q frame; The judgment and operation module is configured as follows: Comparing the true distance change rate with the defuzzified speed parameter to obtain a speed difference; The speed difference is compared with a preset difference threshold parameter, and it is determined whether to upgrade the temporary track to a mature track according to the comparison result.

8. A terminal for removing velocity ambiguity false targets, comprising: a memory for storing instructions executable by the processor; as well as A processor, configured to execute the instructions to implement the method according to any one of claims 1 to 7.

9. A computer-readable medium storing computer program code, wherein the computer program code implements the method according to any one of claims 1 to 7 when executed by a processor.

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