A method, device, electronic device and storage medium for determining a mirror target

Abstract

A method, device, electronic device and storage medium for determining a mirror target disclosed in an embodiment of the present application include obtaining an echo data set of a radar set at each sampling moment, determining a reflection target set, a reference target set and a candidate target set according to the echo data set at each sampling moment, determining a first radar scattering cross section of each reference target in the reference target set, a second radar scattering cross section of a candidate target corresponding to each reference target, and a third radar scattering cross section of a reflection target corresponding to each reference target, and determining a mirror target corresponding to each reference target according to the first radar scattering cross section, the second radar scattering cross section and the third radar scattering cross section. The embodiment of the present application fully considers the influence of the reflection target on the mirror target, can improve the judgment accuracy of the mirror target, and can improve driving safety.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a method, device, electronic device and storage medium for determining a mirror target. Background Art

[0002] Millimeter-wave radar detects environmental information outside the vehicle body based on the physical properties of electromagnetic wave reflection. It can realize blind spot detection, lane change assistance, door opening collision warning, reversing crossing warning, forward warning, rear warning and other functions. It has the advantages of strong environmental adaptability, long detection distance, high measurement accuracy and low manufacturing cost. Therefore, it is widely used in assisted driving systems and automatic driving systems.

[0003] However, in the detection process of millimeter wave radar, due to the multipath effect caused by the reflection of the electromagnetic wave signal of the object by the reflector, the millimeter wave radar mistakenly identifies the mirror object as the real object, which will seriously affect the object recognition ability of the millimeter wave radar. The existing mirror object recognition method is relatively rough. When it is determined that there is a reflector, and the movement distance and movement speed of the real object and the object to be determined on both sides of the reflector relative to the reflector are within the error allowable range, if the radar scattering cross section of the object to be determined is much smaller than the radar scattering cross section of the real object, the object to be determined will be determined as a mirror object. If the radar scattering cross section of the object to be determined is not much smaller than the radar scattering cross section of the real object, the object to be determined will be determined as a real object, which ignores the influence of the reflector on the radar scattering cross section of the object to be determined. In this way, there will be misjudgment of real objects and mirror objects, which will attract the attention of the driver and cause unnecessary interference. Summary of the invention

[0004] The embodiments of the present application provide a method, device, electronic device and storage medium for determining a mirror target, which can fully consider the influence of the reflective target on the mirror target, improve the judgment accuracy of the mirror target, and improve driving safety.

[0005] The present application provides a method for determining a mirror target, including:

[0006] Obtain the echo data set of the radar set at each sampling moment;

[0007] According to the echo data set at each sampling moment, a reflection target set, a reference target set and a candidate target set are determined; the reference targets in the reference target set correspond one-to-one to the candidate targets in the candidate target set, the reflection targets in the reflection target set are located between the one-to-one corresponding reference targets and candidate targets, and the one-to-one corresponding reference targets and candidate targets are symmetrical with respect to one reflection target in the reflection target set;

[0008] Determine a first radar cross section of each reference target in the reference target set, a second radar cross section of a candidate target corresponding to each reference target, and a third radar cross section of a reflecting target corresponding to each reference target;

[0009] A mirror target corresponding to each reference target is determined according to the first radar cross section, the second radar cross section and the third radar cross section.

[0010] Further, determining the mirror target corresponding to each reference target according to the first radar cross section, the second radar cross section, and the third radar cross section includes:

[0011] If the difference between the first radar cross section and the second radar cross section is within a first preset difference interval, and the third radar cross section is greater than a preset cross section threshold, the candidate target corresponding to each reference target is determined as a mirror target corresponding to each reference target.

[0012] Further, determining the mirror target corresponding to each reference target according to the first radar cross section, the second radar cross section, and the third radar cross section includes:

[0013] If the difference between the first radar cross section and the second radar cross section is within a second preset difference interval, and the third radar cross section is less than a preset cross section threshold, determining the reference target attribute of each reference target and the candidate target attribute of the candidate target corresponding to each reference target; the lower limit of the second preset difference interval is greater than the upper limit of the first preset difference interval;

[0014] If the reference target attribute of each reference target matches the candidate target attribute of the corresponding candidate target, the candidate target corresponding to each reference target is determined as the mirror target corresponding to each reference target.

[0015] Further, determining the mirror target corresponding to each reference target according to the first radar cross section, the second radar cross section, and the third radar cross section includes:

[0016] If the difference between the first radar scattering cross section and the second radar scattering cross section is within a third preset difference interval, and the third radar scattering cross section is greater than the preset scattering cross section threshold, the mirror target corresponding to each reference target is determined according to the sum of the second radar scattering cross section and the third radar scattering cross section and the first radar scattering cross section; the lower limit of the third preset difference interval is greater than the upper limit of the first preset difference interval.

[0017] Further, determining the mirror target corresponding to each reference target according to the first radar cross section, the second radar cross section, and the third radar cross section includes:

[0018] If the difference between the first radar scattering cross section and the second radar scattering cross section is within a fourth preset difference interval, and the third radar scattering cross section is less than the preset scattering cross section threshold, the candidate target corresponding to each reference target is determined as the mirror target corresponding to each reference target; the lower limit value of the fourth preset difference interval is greater than the upper limit value of the third preset difference interval.

[0019] Further, according to the echo data set at each sampling moment, a reflection target set, a reference target set and a candidate target set are determined, including:

[0020] Determine the object set collected at each sampling moment and the motion information and position information of each object according to the echo data set at each sampling moment;

[0021] According to the motion information and position information of each object at each sampling moment, a reflection target set, a reference target set and a candidate target set are determined from the object set.

[0022] Further, after determining the mirror target corresponding to each reference target according to the first radar scattering cross section, the second radar scattering cross section and the third radar scattering cross section, the method further includes:

[0023] If it is determined within a preset time period that the candidate target corresponding to each reference target is the mirror target corresponding to each reference target, an alarm blocking information is generated.

[0024] Accordingly, an embodiment of the present application provides a device for determining a mirror target, including:

[0025] An acquisition module is used to acquire the echo data set of the radar set at each sampling moment;

[0026] A first determination module is used to determine a reflection target set, a reference target set and a candidate target set according to the echo data set at each sampling moment; the reference targets in the reference target set correspond to the candidate targets in the candidate target set one-to-one, the reflection targets in the reflection target set are located between the one-to-one corresponding reference targets and candidate targets, and the one-to-one corresponding reference targets and candidate targets are symmetrical with respect to one reflection target in the reflection target set;

[0027] A second determination module is used to determine a first radar cross section of each reference target in the reference target set, a second radar cross section of a candidate target corresponding to each reference target, and a third radar cross section of a reflecting target corresponding to each reference target;

[0028] The third determination module is used to determine the mirror target corresponding to each reference target according to the first radar scattering cross section, the second radar scattering cross section and the third radar scattering cross section.

[0029] Furthermore, the third determination module is used to determine the candidate target corresponding to each reference target as the mirror target corresponding to each reference target if the difference between the first radar scattering cross section and the second radar scattering cross section is within a first preset difference interval and the third radar scattering cross section is greater than a preset scattering cross section threshold.

[0030] Further, a third determination module is used to determine the reference target attribute of each reference target and the candidate target attribute of the candidate target corresponding to each reference target if the difference between the first radar scattering cross section and the second radar scattering cross section is within a second preset difference interval and the third radar scattering cross section is less than a preset scattering cross section threshold; and the lower limit value of the second preset difference interval is greater than the upper limit value of the first preset difference interval;

[0031] If the reference target attribute of each reference target matches the candidate target attribute of the corresponding candidate target, the candidate target corresponding to each reference target is determined as the mirror target corresponding to each reference target.

[0032] Furthermore, the third determination module is used to determine the mirror target corresponding to each reference target according to the sum of the second radar scattering cross section and the third radar scattering cross section and the first radar scattering cross section if the difference between the first radar scattering cross section and the second radar scattering cross section is within a third preset difference interval and the third radar scattering cross section is greater than a preset scattering cross section threshold; and the lower limit of the third preset difference interval is greater than the upper limit of the first preset difference interval.

[0033] Furthermore, the third determination module is used to determine the candidate target corresponding to each reference target as the mirror target corresponding to each reference target if the difference between the first radar scattering cross section and the second radar scattering cross section is within a fourth preset difference interval and the third radar scattering cross section is less than the preset scattering cross section threshold; and the lower limit value of the fourth preset difference interval is greater than the upper limit value of the third preset difference interval.

[0034] Furthermore, the first determination module includes:

[0035] A first determination submodule is used to determine the object set collected at each sampling moment and the motion information and position information of each object according to the echo data set at each sampling moment;

[0036] The second determination submodule is used to determine a reflection target set, a reference target set and a candidate target set from the object set according to the motion information and position information of each object at each sampling moment.

[0037] Furthermore, the above-mentioned image target determination device also includes:

[0038] The information generation module is used to determine the mirror target corresponding to each reference target according to the first radar scattering cross section, the second radar scattering cross section and the third radar scattering cross section.

[0039] If it is determined within a preset time period that the candidate target corresponding to each reference target is the mirror target corresponding to each reference target, an alarm blocking information is generated.

[0040] Correspondingly, an embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the above-mentioned method for determining the mirror target.

[0041] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the above-mentioned method for determining the mirror target.

[0042] The embodiments of the present application have the following beneficial effects:

[0043] A method, device, electronic device and storage medium for determining a mirror target disclosed in an embodiment of the present application include obtaining an echo data set of a radar set at each sampling time, determining a reflection target set, a reference target set and a candidate target set according to the echo data set at each sampling time, wherein the reference target in the reference target set corresponds to the candidate target in the candidate target set one-to-one, the reflection target in the reflection target set is located between the one-to-one corresponding reference target and the candidate target, and the one-to-one corresponding reference target and the candidate target are symmetrical with respect to a reflection target in the reflection target set, determining the first radar scattering cross section of each reference target in the reference target set, the second radar scattering cross section of the candidate target corresponding to each reference target, and the third radar scattering cross section of the reflection target corresponding to each reference target, and determining the mirror target corresponding to each reference target according to the first radar scattering cross section, the second radar scattering cross section and the third radar scattering cross section. Based on the embodiment of the present application, the mirror target is determined from the object set according to the first radar scattering cross section of the reference target, the second radar scattering cross section of the candidate target and the third radar scattering cross section of the reflection target, and the influence of the reflection target on the mirror target is fully considered, so that the judgment accuracy of the mirror target can be improved and the driving safety can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are 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 creative work.

[0045] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0046] Figure 2 It is a flowchart of a method for determining a mirror target provided in an embodiment of the present application;

[0047] Figure 3 It is a schematic diagram of the reinjection of the third radar cross section of a reflecting target provided in an embodiment of the present application;

[0048] Figure 4 It is a schematic diagram of the injection of a first radar cross section of a reference target and a second radar cross section of a mirror target provided in an embodiment of the present application;

[0049] Figure 5 It is a schematic diagram of the injection of a first radar cross section, a second radar cross section, and a third radar cross section provided in an embodiment of the present application;

[0050] Figure 6 This is a schematic diagram of the degree of influence of a reflector on a mirror image object corresponding to a real object provided by an embodiment of the present application;

[0051] Figure 7 This is a schematic diagram of data re-injection provided by an embodiment of the present application;

[0052] Figure 8 This is another data re-injection schematic diagram provided in an embodiment of the present application;

[0053] Fig. 9 This is a schematic diagram of data re-injection of an alarm interruption mechanism provided in an embodiment of the present application;

[0054] Fig.10 It is a structural diagram of a device for determining a mirror target provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical scheme and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiment is only one embodiment of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0056] The "embodiment" referred to herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the embodiments of the present application, it should be understood that the orientation or positional relationship indicated by the terms "left", "right", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device / system or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The terms "first", "second", "third" and "fourth" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may include one or more of the features explicitly or implicitly. Moreover, the terms "first", "second", "third" and "fourth" are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here. In addition, the terms "including," "having," and "for" and any variations thereof, are intended to cover a non-exclusive inclusion.

[0057] See also Figure 1 , which shows a schematic diagram of an application environment provided by an embodiment of the present application, including: vehicle O, another vehicle A, another vehicle mirror image A' formed by another vehicle A relative to the left railing of the reflector on the left side of vehicle O, another vehicle mirror image A" formed by another vehicle A relative to the right railing of the reflector on the right side of vehicle O, an actual another vehicle mirror image A"' formed by another vehicle A relative to the left railing of the reflector on the left side of vehicle O, and a candidate target search box a.

[0058] In the embodiment of the present application, the on-board processor carried by the vehicle O can obtain the echo data set of the first radar and the second radar at each sampling moment, and determine the reflection target set, the reference target set and the candidate target set according to the echo data set at each sampling moment, wherein the reference targets in the reference target set correspond one-to-one to the candidate targets in the candidate target set, the reflection targets in the reflection target set are located between the one-to-one corresponding reference targets and candidate targets, and the one-to-one corresponding reference targets and candidate targets are symmetrical with respect to a reflection target in the reflection target set, determine the first radar scattering cross section of each reference target in the reference target set, the second radar scattering cross section of the candidate target corresponding to each reference target, and the third radar scattering cross section of the reflection target corresponding to each reference target, and determine the mirror target corresponding to each reference target according to the first radar scattering cross section, the second radar scattering cross section and the third radar scattering cross section.

[0059] In an embodiment of the present application, by determining a mirror target from an object set based on the first radar scattering cross section of the reference target, the second radar scattering cross section of the candidate target, and the third radar scattering cross section of the reflection target, and fully considering the influence of the reflection target on the mirror target, the judgment accuracy of the mirror target can be improved, and driving safety can be improved.

[0060] The following describes a specific embodiment of a method for determining a mirror target of the present application. Figure 2 This is a flowchart of a method for determining a mirror target provided by an embodiment of the present application. This specification provides method operation steps as shown in the embodiment or flowchart, but more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiment is only one of many execution orders and does not represent the only execution order. In actual execution, the method sequence shown in the embodiment or the figure may be executed or executed in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0061] Specific as Figure 2 As shown, the method may include:

[0062] S201: Obtain an echo data set of the radar set at each sampling moment.

[0063] In the embodiment of the present application, one radar may be installed on the vehicle, or multiple radars may be installed on the vehicle. The radar may be a millimeter wave radar, a laser radar, or a multi-input multi-output radar. For example, a radar may be installed at the center of the front of the vehicle, the center of the rear of the vehicle, or other suitable locations to detect environmental information around the vehicle. For another example, a corner radar may be installed at both sides of the front of the vehicle, at both sides of the rear of the vehicle, and at both sides of the vehicle body to detect environmental information around the vehicle.

[0064] Due to the limited field of view of the radar, the environmental information around the vehicle detected by installing one radar on the vehicle is bound to be less than the environmental information around the vehicle detected by installing multiple radars on the vehicle. The environmental information around the vehicle detected by installing multiple radars densely in some areas of the vehicle is bound to be less than the environmental information around the vehicle detected by installing multiple radars evenly on the vehicle.

[0065] Taking manufacturing costs and detection effects into consideration, the following takes the installation of a millimeter-wave radar defined as the first radar at the left position of the rear of the vehicle, and the installation of a millimeter-wave radar defined as the second radar at the right position of the rear of the vehicle, to detect environmental information in the RCTA scene as an example. Among them, the first radar and the second radar can be symmetrical with respect to the central axis of the vehicle, and the first radar and the second radar can both include an antenna device for transmitting electromagnetic wave signals and receiving reflected signals. The electromagnetic wave signals emitted by the antenna device are reflected by multiple objects in the environmental information and received by the antenna device, so that the first echo data set of the first radar and the second echo data set of the second radar can be obtained at each sampling time. Of course, the method for determining the mirror target described below can also be applied to various scenarios such as blind spot detection, lane change assistance, door opening collision warning, reversing crossing warning, forward warning, and backward warning, and the embodiments of the present application are not repeated here.

[0066] S203: Determine a reflection target set, a reference target set and a candidate target set according to the echo data set at each sampling moment; the reference targets in the reference target set correspond one-to-one to the candidate targets in the candidate target set, the reflection targets in the reflection target set are located between the one-to-one corresponding reference targets and candidate targets, and the one-to-one corresponding reference targets and candidate targets are symmetrical with respect to a reflection target in the reflection target set.

[0067] In the embodiment of the present application, the object set collected at each sampling moment and the motion information and position information of each object can be determined based on the echo data set at each sampling moment, that is, the lateral movement distance, longitudinal movement distance, lateral movement speed, longitudinal movement speed and coordinate data of the object in the vehicle coordinate system at each sampling moment are determined. Then, the reflection target set, reference target set and candidate target set can be determined from the object set based on the lateral movement distance, longitudinal movement distance, lateral movement speed, longitudinal movement speed and coordinate data of the object. Among them, the reflection target set can include reflectors with mirror reflection ability such as walls, mirrors, vehicle body sides, metal railings, etc. The reference target set can include real objects such as motor vehicles, non-motor vehicles, pedestrians, etc. around the vehicle, and the candidate target set can include mirrored objects, i.e. virtual objects, corresponding to real objects such as motor vehicles, non-motor vehicles, pedestrians, etc. in the reference target set, and can also include other real objects.

[0068] In a specific embodiment, after obtaining the first echo data set and the second echo data set, the point track and the track of the object can be determined according to the first echo data set and the second echo data set. Optionally, the first echo data set and the second echo data set can be subjected to a one-dimensional fast Fourier transform (Fast fourier Transform Algorithm, 1D-FFT) in the distance dimension and a 2D-FFT in the Doppler dimension to obtain a frequency spectrum matrix of the distance-speed of the object. Then, based on the frequency spectrum matrix of the distance-speed of the object, a constant false alarm rate (CFAR) is performed on the object to obtain information such as the position, speed and angle of the point track of the object. Then, the point track can be subjected to association, target tracking, filtering and other processing to obtain the track of the object. Then, based on the conversion matrix between the radar coordinate system and the vehicle coordinate system, the point track and the track can be mapped to the vehicle coordinate system to obtain the motion information and position information of the object, for example, the lateral movement distance, longitudinal movement distance, lateral movement speed, longitudinal movement speed and coordinate data of the object in the vehicle coordinate system at each sampling moment. The vehicle coordinate system may be a system with the vehicle symmetry center as the origin, the horizontal rightward as the horizontal coordinate axis, and the vertical upward as the longitudinal coordinate system. After acquiring the first echo data set and the second echo data set, other processing methods may also be used to determine the point track and track of the object, which is not specifically limited in the embodiments of the present application.

[0069] Since the reflector can reflect the electromagnetic waves emitted by the first radar and the second radar to the object, and reflect the reflected signal reflected by the object to the first radar and the second radar again, in an optional implementation of determining the reflection target set, the reflection target set can be determined from the object set according to the lateral movement distance, longitudinal movement distance, lateral movement speed, longitudinal movement speed and coordinate data of the object in the vehicle coordinate system at each sampling moment.

[0070] Optionally, when the vehicle is stationary, if it is found in multiple frames of data collected at multiple sampling times that the lateral moving distance, longitudinal moving distance, lateral moving speed, and longitudinal moving speed of an object are all less than a preset reference threshold, and the coordinate data remains unchanged, it can be determined that the object is stationary or nearly stationary, and the object can be determined to be a reflective target. It should be noted that the above method for determining reflective targets is also applicable when the vehicle is in motion. When the vehicle is in motion, the reflective target set can be determined from the object set by obtaining the relative lateral moving distance, relative longitudinal moving distance, relative lateral moving speed, relative longitudinal moving speed of the object relative to the vehicle and the coordinate data in the vehicle coordinates.

[0071] Below Figure 1The scenario shown is illustrated by way of example. The other car A has a mirror image of the other car A' relative to the left railing of the reflector on the left side of the vehicle, and the other car A has a mirror image of the other car A". relative to the left railing of the reflector on the right side of the vehicle. Assume that the first radar and the second radar can both detect the other car A. Due to the limitation of the field of view, the first radar can only detect the mirror image of the other car A', but cannot detect the mirror image of the other car A", and the second radar can only detect the mirror image of the other car A", but cannot detect the mirror image of the other car A'. For the sake of convenience, it is assumed that the reference target corresponds to the candidate target one-to-one, and the one-to-one corresponding reference target and candidate target are symmetrically arranged relative to the reflective target, that is, the other car A, the left railing of the reflector and the mirror image A' of the other car correspond one-to-one, and the other car A, the right railing of the reflector and the mirror image A" of the other car correspond one-to-one.

[0072] In an optional implementation, the determination of the reference target set and the candidate target set is described by taking the one-to-one correspondence of the other vehicle A, the left railing of the reflector, and the mirror image A′ of the other vehicle as an example.

[0073] After determining the reflective target set, the reference target set and the candidate target set can be determined according to the lateral moving distance, longitudinal moving distance, lateral moving speed, longitudinal moving speed and coordinate data of each object in the object set in the vehicle coordinate system. Since the real object and the mirrored object are located on both sides of the reflector and are symmetrical relative to the reflector, the lateral moving distance of the real object and the lateral moving distance of the mirrored object are bound to be equal or similar, the longitudinal moving distance of the real object and the longitudinal moving distance of the mirrored object are bound to be equal or similar, the lateral moving speed of the real object and the lateral moving speed of the mirrored object are bound to be equal or similar, the longitudinal moving distance of the real object and the longitudinal moving distance of the mirrored object are bound to be equal or similar, and the lateral coordinate data of the real object in the vehicle coordinate system is bound to be smaller than the lateral coordinate data of the mirrored object in the vehicle coordinate system. Therefore, when it is determined that there are object groups in the object set that are located on both sides of the reflective target, and their lateral moving distances, longitudinal moving distances, lateral moving speeds, and longitudinal moving speeds are equal or similar, the object whose lateral coordinate data is close to the coordinate origin can be determined as a reference target, and the object whose lateral coordinate data is far from the coordinate origin can be determined as a candidate target. For example, at each sampling moment, the difference in lateral moving distance, longitudinal moving distance, lateral moving speed, and longitudinal moving speed between the other car A and the other car's mirror image A' in the vehicle coordinate system is within the preset difference range. However, since the left railing of the reflector is on the left side of the vehicle, the absolute value of the lateral coordinate of the other car A in the vehicle coordinate system is less than the absolute value of the lateral coordinate of the other car's mirror image A' in the vehicle coordinate system. Therefore, the other car A can be determined as a reference target, i.e., a real object, and the other car's mirror image A' can be determined as a candidate target, i.e., it may be a mirror object or a real object.

[0074] Optionally, when it is determined that there are object groups in the object set that are located on both sides of the reflective target, and their lateral moving distances, longitudinal moving distances, lateral moving speeds, and longitudinal moving speeds are equal or similar, the object whose lateral coordinate data is close to the coordinate origin in the object group can be determined as the reference target, and then the candidate target search box of the candidate target corresponding to the reference target can be determined according to the coordinate data of the reflective target in the vehicle coordinate system, the field of view of the radar corresponding to the reflective target, the reflection constraint condition of the reflective target, and the coordinate data of the reference target in the coordinate system. If another object in the object group is in the candidate target search box corresponding to the candidate target, it can be determined as the candidate target.

[0075] Continuing with the example given above, if it is determined that the absolute value of the lateral coordinate of the other vehicle A in the vehicle coordinate system is less than the absolute value of the lateral coordinate of the other vehicle mirror image A' in the vehicle coordinate system, the other vehicle A can be determined as a reference target, i.e., a real object. Then, based on the left railing of the reflector, the coordinate data of the other vehicle A in the vehicle coordinate system, the reflection constraint condition of the left railing of the reflector, and the first radar corresponding to the other vehicle A, a candidate target search box is determined on the left side of the left railing of the reflector, i.e. Figure 1 In a, optionally, the candidate target search frame can be determined according to the distance between the other vehicle A and the left railing of the reflector. By determining the candidate target search frame of the candidate target corresponding to the reference target according to the coordinate data of the reflective target in the vehicle coordinate system, the field of view angle of the radar corresponding to the reflective target, the reflection constraint condition of the reflective target, and the coordinate data of the reference target in the coordinate system, the search range of the candidate target can be accurately divided without increasing the hardware cost, and an accurate candidate target position range can be obtained. In addition, by verifying that the candidate target is within the candidate target search frame, the accuracy of determining the candidate target can be improved.

[0076] In another optional implementation, the determination of the reference target set and the candidate target set is described by taking the one-to-one correspondence of the other vehicle A, the right railing of the reflector, and the other vehicle mirror image A" as an example.

[0077] After determining the reflection target set, the reference target set and the candidate target set can be determined according to the lateral moving distance, longitudinal moving distance, lateral moving speed, longitudinal moving speed and coordinate data of each object in the object set in the vehicle coordinate system. Since the real object and the mirrored object are located on both sides of the reflector and are symmetrical relative to the reflector, the lateral moving distance of the real object and the lateral moving distance of the mirrored object are bound to be equal or similar, the longitudinal moving distance of the real object and the longitudinal moving distance of the mirrored object are bound to be equal or similar, the lateral moving speed of the real object and the lateral moving speed of the mirrored object are bound to be equal or similar, the longitudinal moving distance of the real object and the longitudinal moving distance of the mirrored object are bound to be equal or similar, the lateral coordinate data of the real object in the vehicle coordinate system is bound to be smaller than the lateral coordinate data of the mirrored object in the vehicle coordinate system, and the appearance time of the real object in the radar echo data is bound to be earlier than the appearance time of the mirrored object in the radar echo data. Therefore, when it is determined that there is an object group located on both sides of the reflective target in the object concentration, and their lateral moving distances, longitudinal moving distances, lateral moving speeds and longitudinal moving speeds are equal or similar, the object whose coordinate data is close to the coordinate origin can be determined as a reference target, and the object whose coordinate data is far from the coordinate origin can be determined as a candidate target. Or the object detected by the radar first is determined as a reference target, and the object detected by the radar later is determined as a candidate target. For example, at each sampling moment, the difference in lateral moving distance, longitudinal moving distance, lateral moving speed and longitudinal moving speed between the other car A and the other car's mirror image A' in the vehicle coordinate system is within the preset difference range, but the absolute value of the lateral coordinate of the other car A in the vehicle coordinate system is less than the absolute value of the lateral coordinate of the other car's mirror image A' in the vehicle coordinate system, or the second radar detects the other car A first and then detects the other car's mirror image A'. Therefore, the other car A can be determined as a reference target, that is, a real object, and the other car's mirror image A' can be determined as a candidate target, that is, it may be a mirror object or a real object.

[0078] In an optional embodiment, multiple frames of echo data can be collected at each sampling moment, and the point track corresponding to each frame of echo data can be marked with an identification information ID. For example, the identification information ID marking the reference target is the reference target identification information ID, and its corresponding track and candidate target all use the same identification information ID. The identification information can be represented by a specific numerical value, and its range can be in the interval [1,128].

[0079] S205: Determine a first radar cross section of each reference target in the reference target set, a second radar cross section of a candidate target corresponding to each reference target, and a third radar cross section of a reflecting target corresponding to each reference target.

[0080] Radar Cross Section (RCS) is a measure of an object's ability to reflect electromagnetic waves emitted by a radar. It is related to the shape, size, structure and material of the object, as well as the frequency of the electromagnetic waves emitted by the radar, the polarization of the antenna device, the angle of incidence and the distance between the object and the radar.

[0081] In an embodiment of the present application, after determining the reflection target set, the reference target set and the candidate target set, the first radar scattering cross section ObjRcs of each reference target, the second radar scattering cross section MirrorObjRcs of the candidate target corresponding to each reference target, and the third radar scattering cross section of the reflection target corresponding to each reference target can be determined.

[0082] Figure 3 This is a schematic diagram of the third radar cross section of a reflective target provided by an embodiment of the present application. In the process of determining the third radar cross section of a reflective target, the radar cross section of the reflective target can be directly obtained after the reflective target is determined, and the third radar cross section can be obtained by back-injection through the host computer. For example, if the reflective target is a metal railing, the specific value of its radar cross section can be 9.438. Figure 4 It is a schematic diagram of the first radar cross section of a reference target and the second radar cross section of a mirror target provided in an embodiment of the present application. In the process of determining the first radar cross section of the reference target and the second radar cross section of the mirror target, the radar cross section of the reference target and the radar cross section of the candidate target can be directly obtained after the reference target and the candidate target are determined, and the first radar cross section and the second radar cross section are obtained by back-injection of the host computer. For example, if the reference target is a real object, that is, another car, and the candidate target is a mirror object, that is, the mirror image of another car, the specific value of the radar cross section of the other car can be -5.040, and the specific value of the radar cross section of the mirror image of the other car can be -0.557. It can be seen that, affected by the reflector, the RCS of the real object is much smaller than the RCS of the mirror object. Figure 5 is a schematic diagram of the re-injection of a first radar cross section, a second radar cross section and a third radar cross section provided in an embodiment of the present application. After re-injection of a large amount of data, the following can be obtained: Figure 5 The results shown in the figure show that, by comparison, when the RCS of the reflector is high, that is, in the interval [8,10], the RCS of the mirror target will be greater than the RCS of the reference target. When the RCS of the reflector is low, that is, in the interval [0,2], the RCS of the reflector has almost no effect on the RCS of the mirror target.

[0083] S207: Determine a mirror target corresponding to each reference target according to the first radar cross section, the second radar cross section, and the third radar cross section.

[0084] The multipath effect refers to the fact that the millimeter wave emitted by the radar is directly reflected by the object and received by the antenna device. The scattered millimeter wave signal will be reflected by reflectors such as the ground, sea surface or buildings, and the antenna device needs to receive multipath signals. That is, in a multipath environment, the antenna receiving device not only receives the direct wave signal, but also receives the multipath signal of the object-reflector-radar. The direct wave signal and the multipath signal are linearly superimposed at the antenna receiving end according to their respective phases to form a multipath effect. Due to multipath attenuation, the energy of the mirror target set mirror object or virtual object is much lower than the energy of the reference target, i.e., the real object. In other words, the energy of the millimeter wave reflected by the mirror target, i.e., the mirror object or virtual object, is much lower than the energy of the millimeter wave reflected by the reference target, i.e., the real object, i.e., the first radar cross section should be much larger than the second radar cross section. Based on this, in the prior art, when determining that the first radar cross section of the reference target is not much larger than the second radar cross section of the candidate target, the candidate target will be determined as a real object, which ignores the influence of the reflective target, i.e., the reflector, on the second radar cross section of the candidate target.

[0085] In an optional implementation, a first preset difference interval, a second preset difference interval, a third preset difference interval, and a fourth preset difference interval may be preset. The upper limit value of the first preset difference interval is less than the lower limit value of the second preset difference interval, the upper limit value of the first preset difference interval is less than the lower limit value of the third preset difference interval, and the upper limit value of the third preset difference interval is less than the lower limit value of the fourth preset difference interval. The specific numerical value of each preset difference interval is not specifically limited in the embodiment of the present application, but the upper limit value of the first preset difference interval may be preset as a negative value, the lower limit value of the second preset difference interval may be preset as a positive value, the lower limit value of the third preset difference interval may be preset as a positive value, and the lower limit value of the fourth preset difference interval may be preset as a positive value.

[0086] Figure 6 : This is a schematic diagram of the degree of influence of a reflector on a mirror object corresponding to a real object provided by an embodiment of the present application, wherein the fluctuation curve b represents the RCS fluctuation curve of the reflector when the RCS of the real object is greater than the RCS of the mirror object, that is, the RCS fluctuation curve of the reflector that has an influence on the RCS of the mirror object, and the fluctuation curve c represents the RCS fluctuation curve of the reflector when the RCS of the real object is less than the RCS of the mirror object, that is, the RCS fluctuation curve of the reflector that has no influence on the mirror object. Figure 3 It can be determined that when the RCS of the reflector is in the interval [0,2], it can be considered that the reflector has no effect on the mirror image object, and when the RCS of the reflector is in the interval [8,10], it can be considered that the reflector has a greater effect on the mirror image object. Therefore, a preset scattering cross section threshold can be set in advance, and its specific value can be 2.

[0087] In the embodiment of the present application, the difference between the first radar cross section and the second radar cross section, and the difference between the third radar cross section and a preset scattering cross section threshold can be determined.

[0088] In an optional implementation, if the difference between the first radar cross section and the second radar cross section is within a first preset difference interval, and the third radar cross section is greater than a preset scattering cross section threshold, that is, due to the greater influence of the reflector on the RCS of the mirror object, the RCS of the real object is much smaller than the RCS of the mirror object, then the candidate target corresponding to the reference target can be determined as the mirror target corresponding to the reference target, that is, the virtual object corresponding to the real object.

[0089] In an optional embodiment, if the difference between the first radar scattering cross section and the second radar scattering cross section is within the second preset difference interval, and the third radar scattering cross section is less than the preset scattering cross section threshold, the reference target attribute of each reference target and the candidate target attribute of the candidate target corresponding to each reference target can be determined, and if the reference target attribute of each reference target matches the candidate target attribute of the corresponding candidate target, the candidate target corresponding to each reference target can be determined as the mirror target corresponding to each reference target. That is, due to the influence of the reflector, the actual lateral coordinate of the mirror object corresponding to the real object in the vehicle coordinate system is smaller than the theoretical lateral coordinate of the mirror object corresponding to the real object in the vehicle coordinate system, and the RCS of the real object is slightly larger than the RCS of the mirror object, that is, Figure 1 The real other car mirror image A"' (the real other car mirror image A"' is closer to the left railing of the reflector than the theoretical other car mirror image A', but the absolute value of the lateral coordinate of the real other car mirror image A"' in the vehicle coordinate system is greater than the absolute value of the lateral coordinate of the other car A in the vehicle coordinate system). At this time, according to the size of the point traces of the other car A and the size of the point traces of the other car mirror image A"', it can be judged whether the other car A and the other car mirror image A"' are the same vehicle. Of course, it can also be judged whether the other car A and the other car mirror image A"' are the same vehicle in combination with the camera equipment installed on the vehicle. If it is determined to be the same vehicle, the actual other car mirror image A"' can be determined as the mirror image of the other car A.

[0090] In another optional implementation, if the difference between the first radar cross section and the second radar cross section is within a third preset difference interval, and the third radar cross section is greater than a preset scattering cross section threshold. That is, due to the small influence (non-negligible influence) of the reflector on the RCS of the mirrored object, the RCS of the real object is slightly greater than the RCS of the mirrored object. At this time, the sum of the second radar cross section and the third radar cross section can be determined, and the sum can be compared with the first radar cross section. If the sum of the second radar cross section and the third radar cross section is greater than the first radar cross section, that is, if the sum of the RCS of the mirrored object and the RCS of the reflector is greater than the RCS of the real object, the candidate target corresponding to the reference target can be determined as the mirrored target corresponding to the reference target, that is, the virtual object corresponding to the real object. Optionally, the sum of the second radar cross section and the third radar cross section multiplied by a weight can be compared with the first radar cross section to determine whether the candidate target corresponding to the reference target is a mirrored target, wherein the weight is less than 1.

[0091] In another optional embodiment, if the difference between the first radar scattering cross section and the second radar scattering cross section is within a fourth preset difference interval, and the third radar scattering cross section is less than the preset scattering cross section threshold, that is, the RCS of the real object is greater than the RCS of the mirror object due to a small influence (negligible influence) of the reflector on the RCS of the mirror object, then the candidate target corresponding to the reference target can be determined as the mirror target corresponding to the reference target, that is, the virtual object corresponding to the real object.

[0092] In the embodiment of the present application, by determining the mirror target from the object set based on the first radar scattering cross section of the reference target, the second radar scattering cross section of the candidate target and the third radar scattering cross section of the reflection target, the influence of the reflection target on the mirror target is fully considered, so the judgment accuracy of the mirror target can be improved and the driving safety can be improved.

[0093] In an optional implementation, at each sampling moment, if it is determined that the candidate target corresponding to the reference target is the mirror target corresponding to the reference target, the identification information ID of the mirror target can be updated to an invalid identification information ID, whose specific value can be 255, otherwise its original identification information ID is still used.

[0094] In the embodiment of the present application, after determining the mirror target corresponding to each reference target, if the candidate target corresponding to each reference target is determined to be the mirror target corresponding to each reference target within a preset time period, alarm blocking information may be generated.

[0095] Normally, when the system detects the presence of a real object in the vehicle's surroundings, that is, when it determines that the candidate target corresponding to the reference target is a non-mirror target, the functional state machine alarm will be triggered, and an alarm message will be generated to alert the driver. The functional state machine will continue to alarm for about 1 second. In order to avoid false alarms of the system, that is, to avoid the system determining the mirror target corresponding to the reference target as the non-mirror target corresponding to the reference target, and falsely triggering the functional state machine alarm, the embodiment of the present application adds an alarm interruption mechanism to the functional state machine.

[0096] Assume that, during the alarm process of the functional state machine, 20 frames of data can be collected. During this process, the identification information IDs corresponding to multiple candidate targets in the 20 frames of data can be obtained. If the candidate target is a non-mirror target, that is, a real object, the value of the corresponding identification information ID is in the interval [1,128]. If the candidate target is a mirror target, that is, a virtual object, the value of the corresponding identification information ID is 255. In this way, 20 identification information IDs can be obtained.

[0097] Figure 7 This is a data re-injection schematic diagram provided by an embodiment of the present application. When the system determines that the candidate target corresponding to the reference target in the first 5 frames of data is a non-mirror target, that is, the first 5 values ​​of the 20 identification information IDs are within the interval [1,128], the functional machine alarm will be triggered. Alternatively, when the system determines that the candidate target corresponding to the reference target in the first 5 frames of data is a mirror target, but due to data transmission delay, the functional state machine has not received it, that is, the functional state machine has not entered the mirror determination strategy, it can determine the identification information ID of the candidate target in the first 5 frames of data before it is updated, and obtain the identification information ID of the candidate target before it is updated and the identification information ID after it is updated in the 6th and 7th frames of data. Figure 8 This is another data re-injection schematic diagram provided by an embodiment of the present application. If the identification information ID of the candidate target before being updated in the 6th and 7th frames of data matches the identification information ID of the candidate target in the first 5 frames of data, and the identification information ID of the candidate target after being updated in the 6th and 7th frames of data is a value of 255. Fig. 9 This is a data re-injection diagram of an alarm interruption mechanism provided in an embodiment of the present application. That is, when the candidate target is determined to be a mirror target for 6 consecutive frames, an alarm blocking message can be generated to interrupt the alarm of the functional machine and avoid false alarms of the functional state machine. By adding an alarm interruption mechanism to the functional state machine, false alarm interference caused by false alarms can be reduced, which is suitable for complex scenarios and can further improve driving safety.

[0098] By adopting the method for determining the mirror target provided in the embodiment of the present application, the mirror target is determined from the object set according to the first radar scattering cross section of the reference target, the second radar scattering cross section of the candidate target and the third radar scattering cross section of the reflection target, and the influence of the reflection target on the mirror target is fully considered, the judgment accuracy of the mirror target can be improved, and the driving safety can be improved. In addition, by adding an alarm interruption mechanism in the functional state machine, the false alarm interference caused by the false alarm can be reduced, which is suitable for complex scenes and can further improve driving safety.

[0099] The embodiment of the present application also provides a device for determining a mirror target, Fig.10 is a schematic diagram of the structure of a device for determining a mirror target provided in an embodiment of the present application, such as Fig.10 As shown, the device may include:

[0100] The acquisition module 1001 may be used to acquire an echo data set of the radar set at each sampling moment;

[0101] The first determination module 1003 may be used to determine a reflection target set, a reference target set, and a candidate target set according to the echo data set at each sampling moment; the reference targets in the reference target set correspond one-to-one to the candidate targets in the candidate target set, the reflection targets in the reflection target set are located between the one-to-one corresponding reference targets and candidate targets, and the one-to-one corresponding reference targets and candidate targets are symmetrical with respect to one reflection target in the reflection target set;

[0102] The second determination module 1005 may be used to determine a first radar cross section of each reference target in the reference target set, a second radar cross section of a candidate target corresponding to each reference target, and a third radar cross section of a reflecting target corresponding to each reference target;

[0103] The third determination module 1007 may be configured to determine a mirror target corresponding to each reference target according to the first radar cross section, the second radar cross section, and the third radar cross section.

[0104] In this embodiment of the present application, the third determination module 1007 can be used to determine the candidate target corresponding to each reference target as the mirror target corresponding to each reference target if the difference between the first radar scattering cross section and the second radar scattering cross section is within a first preset difference interval and the third radar scattering cross section is greater than a preset scattering cross section threshold.

[0105] In the embodiment of the present application, the third determination module 1007 may be used to determine the reference target attribute of each reference target and the candidate target attribute of the candidate target corresponding to each reference target if the difference between the first radar scattering cross section and the second radar scattering cross section is within the second preset difference interval and the third radar scattering cross section is less than the preset scattering cross section threshold; the lower limit of the second preset difference interval is greater than the upper limit of the first preset difference interval;

[0106] If the reference target attribute of each reference target matches the candidate target attribute of the corresponding candidate target, the candidate target corresponding to each reference target is determined as the mirror target corresponding to each reference target.

[0107] In an embodiment of the present application, the third determination module 1007 can be used to determine the mirror target corresponding to each reference target according to the sum of the second radar scattering cross section and the third radar scattering cross section and the first radar scattering cross section if the difference between the first radar scattering cross section and the second radar scattering cross section is within a third preset difference interval and the third radar scattering cross section is greater than a preset scattering cross section threshold; the lower limit of the third preset difference interval is greater than the upper limit of the first preset difference interval.

[0108] In the embodiment of the present application, the third determination module 1007 can be used to determine the candidate target corresponding to each reference target as the mirror target corresponding to each reference target if the difference between the first radar scattering cross section and the second radar scattering cross section is within a fourth preset difference interval and the third radar scattering cross section is less than a preset scattering cross section threshold; and the lower limit value of the fourth preset difference interval is greater than the upper limit value of the third preset difference interval.

[0109] In the embodiment of the present application, the first determining module 1003 may include:

[0110] A first determination submodule is used to determine the object set collected at each sampling moment and the motion information and position information of each object according to the echo data set at each sampling moment;

[0111] The second determination submodule is used to determine a reflection target set, a reference target set and a candidate target set from the object set according to the motion information and position information of each object at each sampling moment.

[0112] In the embodiment of the present application, the above-mentioned device for determining the mirror target further includes:

[0113] The information generation module is used to determine the mirror target corresponding to each reference target according to the first radar scattering cross section, the second radar scattering cross section and the third radar scattering cross section.

[0114] If it is determined within a preset time period that the candidate target corresponding to each reference target is the mirror target corresponding to each reference target, an alarm blocking information is generated.

[0115] The device and method embodiments in the embodiments of the present application are based on the same application concept.

[0116] By using the mirror target determination device provided in the embodiment of the present application, the mirror target is determined from the object set according to the first radar scattering cross section of the reference target, the second radar scattering cross section of the candidate target and the third radar scattering cross section of the reflection target, and the influence of the reflection target on the mirror target is fully considered, the judgment accuracy of the mirror target can be improved, and the driving safety can be improved. In addition, by adding an alarm interruption mechanism in the functional state machine, the false alarm interference caused by the false alarm can be reduced, which is suitable for complex scenes and can further improve driving safety.

[0117] An embodiment of the present application also provides an electronic device, which can be set in a server to store at least one instruction, at least one program, code set or instruction set related to a method for determining a mirror target in a method embodiment, and the at least one instruction, the at least one program, the code set or instruction set is loaded and executed by the memory to implement the above-mentioned method for determining the mirror target.

[0118] An embodiment of the present application also provides a storage medium, which can be set in a server to store at least one instruction, at least one program, code set or instruction set related to a method for determining a mirror target in a method embodiment, and the at least one instruction, the at least one program, the code set or instruction set is loaded and executed by the processor to implement the above-mentioned method for determining the mirror target.

[0119] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a mobile hard disk, a magnetic disk, or an optical disk.

[0120] It can be seen from the embodiments of the method, device, electronic device or storage medium for determining the mirror target provided by the above-mentioned application that the method in the present application includes obtaining an echo data set of the radar set at each sampling time, determining a reflection target set, a reference target set and a candidate target set according to the echo data set at each sampling time, wherein the reference target in the reference target set corresponds to the candidate target in the candidate target set one-to-one, the reflection target in the reflection target set is located between the one-to-one corresponding reference target and the candidate target, and the one-to-one corresponding reference target and the candidate target are symmetrical with respect to a reflection target in the reflection target set, determining the first radar scattering cross section of each reference target in the reference target set, the second radar scattering cross section of the candidate target corresponding to each reference target, and the third radar scattering cross section of the reflection target corresponding to each reference target, and determining the mirror target corresponding to each reference target according to the first radar scattering cross section, the second radar scattering cross section and the third radar scattering cross section. Based on the embodiment of the present application, the mirror target is determined from the object set according to the first radar scattering cross section of the reference target, the second radar scattering cross section of the candidate target and the third radar scattering cross section of the reflection target, and the influence of the reflection target on the mirror target is fully considered, so that the judgment accuracy of the mirror target can be improved, and the driving safety can be improved. Moreover, by adding an alarm interruption mechanism in the functional state machine, the false alarm interference caused by false alarms can be reduced. This is suitable for complex scenarios and can further improve driving safety.

[0121] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be a connection between two elements or an interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0122] It should be noted that the order of the above embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. The above description describes specific embodiments, and other embodiments are also within the scope of the attached claims. In some cases, the actions or steps recorded in the claims can be performed in the order of different embodiments and can achieve the expected results. In addition, the processes depicted in the drawings do not necessarily require a specific order or connection order to achieve the desired results. In some embodiments, multi-task parallel processing is also possible or may be advantageous.

[0123] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is based on a method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0124] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for determining a mirror target, characterized in that: include: Obtain the echo data set of the radar set at each sampling moment; Determine a reflection target set, a reference target set and a candidate target set according to the echo data set at each sampling moment; The reference targets in the reference target set correspond one-to-one to the candidate targets in the candidate target set, the reflection targets in the reflection target set are located between the one-to-one corresponding reference targets and candidate targets, and the one-to-one corresponding reference targets and candidate targets are symmetrical with respect to a reflection target in the reflection target set; Determine a first radar cross section of each reference target in the reference target set, a second radar cross section of a candidate target corresponding to each reference target, and a third radar cross section of a reflecting target corresponding to each reference target; Determining a mirror target corresponding to each reference target according to the first radar cross section, the second radar cross section, and the third radar cross section; The determining, according to the first radar cross section, the second radar cross section, and the third radar cross section, the mirror target corresponding to each reference target includes: If the difference between the first radar cross section and the second radar cross section is within a first preset difference interval, and the third radar cross section is greater than a preset cross section threshold, determining the candidate target corresponding to each reference target as the mirror target corresponding to each reference target; If the difference between the first radar cross section and the second radar cross section is within a second preset difference interval, and the third radar cross section is less than a preset cross section threshold, determining the reference target attribute of each reference target and the candidate target attribute of the candidate target corresponding to each reference target; the lower limit value of the second preset difference interval is greater than the upper limit value of the first preset difference interval; If the reference target attribute of each reference target matches the candidate target attribute of the corresponding candidate target, the candidate target corresponding to each reference target is determined as the mirror target corresponding to each reference target.

2. The method according to claim 1, characterized in that The determining, according to the first radar cross section, the second radar cross section, and the third radar cross section, the mirror target corresponding to each reference target includes: If the difference between the first radar cross section and the second radar cross section is within a third preset difference interval, and the third radar cross section is greater than the preset radar cross section threshold, determining the mirror target corresponding to each reference target according to the sum of the second radar cross section and the third radar cross section and the first radar cross section; The lower limit value of the third preset difference interval is greater than the upper limit value of the first preset difference interval.

3. The method according to claim 2, characterized in that The determining, according to the first radar cross section, the second radar cross section, and the third radar cross section, the mirror target corresponding to each reference target includes: If the difference between the first radar scattering cross section and the second radar scattering cross section is within a fourth preset difference interval, and the third radar scattering cross section is less than the preset scattering cross section threshold, the candidate target corresponding to each reference target is determined as the mirror target corresponding to each reference target; the lower limit value of the fourth preset difference interval is greater than the upper limit value of the third preset difference interval.

4. The method according to any one of claims 1 to 3, characterized in that: The step of determining a reflection target set, a reference target set, and a candidate target set according to the echo data set at each sampling moment includes: According to the echo data set at each sampling moment, the object set collected at each sampling moment and the motion information and position information of each object are determined; according to the motion information and the position information of each object at each sampling moment, the reflection target set, the reference target set and the candidate target set are determined from the object set.

5. The method according to any one of claims 1 to 3, characterized in that: After determining the mirror target corresponding to each reference target according to the first radar scattering cross section, the second radar scattering cross section and the third radar scattering cross section, the method further includes: If it is determined within a preset time period that the candidate target corresponding to each reference target is the mirror target corresponding to each reference target, alarm blocking information is generated.

6. A device for determining a mirror target, characterized in that: include: An acquisition module is used to acquire the echo data set of the radar set at each sampling moment; A first determination module, configured to determine a reflection target set, a reference target set, and a candidate target set according to the echo data set at each sampling moment; The reference targets in the reference target set correspond one-to-one to the candidate targets in the candidate target set, the reflection targets in the reflection target set are located between the one-to-one corresponding reference targets and candidate targets, and the one-to-one corresponding reference targets and candidate targets are symmetrical with respect to a reflection target in the reflection target set; A second determination module is used to determine a first radar cross section of each reference target in the reference target set, a second radar cross section of a candidate target corresponding to each reference target, and a third radar cross section of a reflecting target corresponding to each reference target; A third determination module is used to determine the mirror target corresponding to each reference target according to the first radar scattering cross section, the second radar scattering cross section and the third radar scattering cross section; The determining, according to the first radar cross section, the second radar cross section, and the third radar cross section, the mirror target corresponding to each reference target includes: If the difference between the first radar cross section and the second radar cross section is within a first preset difference interval, and the third radar cross section is greater than a preset cross section threshold, determining the candidate target corresponding to each reference target as the mirror target corresponding to each reference target; If the difference between the first radar cross section and the second radar cross section is within a second preset difference interval, and the third radar cross section is less than a preset cross section threshold, determining the reference target attribute of each reference target and the candidate target attribute of the candidate target corresponding to each reference target; the lower limit value of the second preset difference interval is greater than the upper limit value of the first preset difference interval; If the reference target attribute of each reference target matches the candidate target attribute of the corresponding candidate target, the candidate target corresponding to each reference target is determined as the mirror target corresponding to each reference target.

7. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the method for determining the mirror target according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the method for determining the mirror target as described in any one of claims 1-5.

Images