A method and device for determining radar measurement accuracy

Abstract

The present invention discloses a method and device for determining radar measurement accuracy, including: using a target radar to perform measurement processing on a target object, obtaining first measurement information corresponding to each of a plurality of measurement points of the target object; obtaining second measurement information corresponding to each of a plurality of boundary points of the target object; determining reference information corresponding to the target object based on the second measurement information; determining measurement error information of the target radar based on the first measurement information and the reference information; and determining measurement accuracy information of the target radar based on the measurement error information. According to the technical solution of the present invention, by using a target radar to perform measurement processing on a target object, obtaining first measurement information corresponding to each of a plurality of measurement points of the target object, determining measurement error information of the target radar based on the first measurement information and the reference information, and determining measurement accuracy information of the target radar based on the measurement error information, the measurement accuracy of the target radar on a volume target is determined, thereby realizing the determination of the measurement accuracy of the target radar on the volume target.

Description

Technical Field

[0001] The present invention relates to the field of radar measurement technology, and in particular to a method and device for determining radar measurement accuracy. Background Art

[0002] With the increase in the number of cars people own and the enhancement of awareness of road traffic safety, autonomous driving (AD) technology and assisted driving (ADAS) technology have shown a booming momentum. The autonomous driving system can be independent of the driver and realize the fully autonomous driving of the vehicle itself under certain preset conditions to deliver passengers or goods to the desired destination. The assisted driving system can sense the surrounding traffic or obstacles under the condition of the driver, and promptly remind the driver of dangerous situations, thereby ensuring safety during actions such as changing lanes, turning, opening doors, and reversing.

[0003] Sensors are an indispensable part of autonomous driving systems or assisted driving systems, and among various sensors, millimeter-wave radars occupy a very important position. Compared with lidar, ultrasonic radar, cameras and other sensors, millimeter-wave radars have the advantages of low cost, high speed measurement accuracy and strong stability, long detection range, all-weather and all-day working characteristics, and adaptability to various severe weather conditions. Therefore, major sensor suppliers and even many universities and research institutes are currently engaged in the research and development of millimeter-wave radars, presenting a situation of flourishing and a hundred schools of thought. Under this situation, how to evaluate the performance of a millimeter-wave radar product has become a difficult problem that needs to be solved urgently by various development teams and even OEMs.

[0004] The existing performance evaluation of millimeter-wave radar signal processing focuses on the accuracy evaluation of point targets. However, with the improvement of radar distance, angle, and velocity resolution, actual radar applications are faced with more volume targets, and there is a lack of evaluation of volume target measurement performance. Summary of the invention

[0005] The object of the present invention is to provide a method and device for determining radar measurement accuracy, by using a target radar to perform measurement processing on a target object, obtaining first measurement information corresponding to each of multiple measurement points of the target object, determining reference information corresponding to the target object based on second measurement information corresponding to each of multiple boundary points of the target object, determining measurement error information of the target radar based on the first measurement information and the reference information, and determining measurement accuracy information of the target radar based on the measurement error information, thereby realizing the determination of the measurement accuracy of the target radar on the body target.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] A method for determining radar measurement accuracy, the method comprising:

[0008] Using a target radar to measure a target object, and obtaining first measurement information corresponding to each of a plurality of measurement points of the target object;

[0009] Acquire second measurement information corresponding to each of a plurality of boundary points of the target object;

[0010] Determining reference information corresponding to the target object based on the second measurement information;

[0011] Determining measurement error information of the target radar based on the first measurement information and the reference information;

[0012] Based on the measurement error information, measurement accuracy information of the target radar is determined.

[0013] Optionally, the second measurement information includes second position information and second speed information, and the reference information includes position reference information and speed reference information;

[0014] The determining, based on the second measurement information, reference information corresponding to the target object includes:

[0015] Based on the second position information, determine the contour position information corresponding to the target object, and use the contour position information as the position reference information;

[0016] According to the second speed information, speed range information corresponding to the target object is determined, and the speed range information is used as the speed reference information.

[0017] Optionally, the determining, based on the first measurement information and the reference information, measurement error information of the target radar includes:

[0018] Based on the first measurement information and the reference information, determining error information corresponding to each of the plurality of measurement points;

[0019] Based on the error information, measurement error information of the target radar is determined.

[0020] Optionally, the determining, based on the first measurement information and the reference information, error information corresponding to each of the plurality of measurement points includes:

[0021] Comparing the first measurement information corresponding to the target measurement point with the reference information, the target measurement point being any one of the multiple measurement points;

[0022] In a case where the first measurement information corresponding to the target measurement point falls within a range corresponding to the reference information, determining that the error information corresponding to the target measurement point is error-free;

[0023] When the first measurement information corresponding to the target measurement point does not belong to the range corresponding to the reference information, error information corresponding to the target measurement point is determined based on the first measurement information corresponding to the target measurement point and the reference information.

[0024] Optionally, the first measurement information includes first position information and first speed information; the measurement error information includes first measurement error information and second measurement error information;

[0025] When the first measurement information corresponding to the target measurement point does not fall within the range corresponding to the reference information, determining error information corresponding to the target measurement point based on the first measurement information corresponding to the target measurement point and the reference information includes:

[0026] When the first position information corresponding to the target measurement point does not belong to the range corresponding to the contour position information, the distance between the position point corresponding to the first position information and the target position point in the area corresponding to the contour position information is used as the first error information;

[0027] In a case where the first speed information corresponding to the target measurement point does not belong to the speed range information, the second error information is obtained according to the speed range information and the first speed information.

[0028] Optionally, determining the measurement accuracy information of the target radar based on the measurement error information includes:

[0029] Get the error threshold;

[0030] When the measurement error information satisfies the error threshold, determining that the measurement accuracy information of the target radar meets the accuracy requirement;

[0031] When the measurement error information does not meet the error threshold, it is determined that the measurement accuracy information of the target radar does not meet the accuracy requirement.

[0032] Optionally, the obtaining error threshold includes:

[0033] Acquiring distance information between the target radar and the target object;

[0034] Based on the distance information, the error threshold is obtained.

[0035] On the other hand, the present invention also provides a device for determining radar measurement accuracy, the device comprising:

[0036] A first measurement information acquisition module is used to perform measurement processing on a target object using a target radar to obtain first measurement information corresponding to each of a plurality of measurement points of the target object;

[0037] A second measurement information acquisition module, used to acquire second measurement information corresponding to each of a plurality of boundary points of the target object;

[0038] A reference information determination module, configured to determine reference information corresponding to the target object based on the second measurement information;

[0039] a measurement error information determination module, configured to determine the measurement error information of the target radar based on the first measurement information and the reference information;

[0040] The accuracy information determination module is used to determine the measurement accuracy information of the target radar based on the measurement error information.

[0041] On the other hand, the present invention also provides an electronic device, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the above-mentioned method for determining radar measurement accuracy.

[0042] On the other hand, the present invention further provides a non-volatile computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the above-mentioned method for determining radar measurement accuracy.

[0043] The present invention provides a method and device for determining radar measurement accuracy. The method and device use a target radar to perform measurement processing on a target object to obtain first measurement information corresponding to each of multiple measurement points of the target object, determine reference information corresponding to the target object based on second measurement information corresponding to each of multiple boundary points of the target object, determine measurement error information of the target radar based on the first measurement information and the reference information, and determine measurement accuracy information of the target radar based on the measurement error information, thereby achieving the determination of the measurement accuracy of the target radar on the volume target. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0045] Figure 1 is a method flow chart of a method for determining radar measurement accuracy provided by an embodiment of the present invention;

[0046] Figure 2 is a flow chart of a method for determining reference information corresponding to a target object based on second measurement information provided by an embodiment of the present invention;

[0047] Figure 3 is a flow chart of a method for determining measurement error information of a target radar based on first measurement information and reference information provided by an embodiment of the present invention;

[0048] Figure 4 is a flow chart of a method for determining error information corresponding to each of a plurality of measurement points based on first measurement information and reference information provided by an embodiment of the present invention;

[0049] Figure 5 A flowchart of a method for determining error information corresponding to a target measurement point based on the first measurement information corresponding to the target measurement point and the reference information, provided by an embodiment of the present invention, when the first measurement information corresponding to the target measurement point does not fall within a range corresponding to the reference information;

[0050] Figure 6 It is a flow chart of a method for determining measurement accuracy information of a target radar based on measurement error information provided by an embodiment of the present invention;

[0051] Figure 7 is a flow chart of a method for obtaining an error threshold provided by an embodiment of the present invention;

[0052] Figure 8 is a structural block diagram of a device for determining radar measurement accuracy provided by an embodiment of the present invention;

[0053] Fig. 9 is a schematic diagram of a radar coordinate system of a target radar provided by an embodiment of the present invention;

[0054] Fig.10 is a schematic diagram of a target coordinate system of a target object provided by an embodiment of the present invention;

[0055] Fig.11 is a schematic diagram of calculating second speed information provided by an embodiment of the present invention;

[0056] Fig.12 It is a schematic diagram of calculating the second position information provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0058] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0059] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings 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 interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0060] The following describes an embodiment of a method for determining radar measurement accuracy of the present invention. Figure 1 It is a method flow chart of a method for determining radar measurement accuracy provided by an embodiment of the present invention. It should be noted that this specification provides method operation steps as described in the embodiment or flow chart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many orders, and does not represent the only order of execution. When the system product is executed in practice, it can be executed in the order shown in the embodiment or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment). Figure 1 As shown, this embodiment provides a method for determining radar measurement accuracy, the method comprising:

[0061] S101. Use a target radar to perform measurement processing on a target object to obtain first measurement information corresponding to each of a plurality of measurement points of the target object.

[0062] Among them, the target radar may refer to a radar whose measurement accuracy of measuring a body target is to be determined. The target object may refer to the measurement object of the radar; specifically, the target object may be a vehicle. The multiple measurement points of the target object may refer to the multiple points of the target object measured by the target radar. The first measurement information of each measurement point may refer to the measurement information corresponding to each measurement point. The first measurement information of each measurement point may include first position information and first speed information. It can be understood that the target radar can determine the position and speed of the target object relative to the target radar through the first measurement information corresponding to each of the multiple measurement points of the target object.

[0063] In practical applications, the target radar may be mounted on a radar vehicle, and the target object may be measured by the target radar to obtain first measurement information corresponding to each of a plurality of measurement points of the target object.

[0064] It should be noted that since the position coordinates directly obtained by the target radar measurement are based on the polar coordinate system, in order to facilitate the determination of the measurement error information, the position coordinates of the multiple measurement points measured by the radar can be converted from the polar coordinate system to the rectangular coordinate system, and the antenna phase center of the target radar is used as the origin of the rectangular coordinate system. Specifically, the coordinate conversion process is as follows:

[0065] First, the coordinate system used by the position coordinates directly measured by the target radar is introduced. Fig. 9 As shown in the figure, the origin of the radar coordinate system is defined at the antenna phase center of the target radar, denoted as O, the normal is perpendicular to the antenna surface and points away from the antenna surface, denoted as the T axis, and the angle rotated counterclockwise from the T axis is denoted as θ. Assuming there is a target at point P, the length from the origin O to the target P is the target distance, denoted as R. Therefore, the coordinates of the target point P can be represented by (R, θ).

[0066] The origin of the rectangular coordinate system of the target object is defined at the center point of the target object, such as Fig.10 As shown, the U axis points to the front of the target vehicle, and the V axis points to the direction rotated 90° counterclockwise along the U axis.

[0067] After the target radar measures and obtains the coordinates of multiple measurement points, they are converted to the rectangular coordinate system corresponding to the positioning measurement device through the following conversion formula, and the first position information is output:

[0068]

[0069] S102. Obtain second measurement information corresponding to each of a plurality of boundary points of the target object.

[0070] Among them, the multiple boundary points of the target object may refer to multiple points on the boundary of the target object as a body target. It is understandable that the boundary contour of the target object can be characterized by connecting multiple boundary points. The more boundary points there are, the closer the contour formed by connecting the multiple boundary points is to the real boundary contour of the target object. The second measurement information corresponding to each boundary point may refer to the measurement information corresponding to each boundary point obtained by the positioning measurement device. Specifically, the positioning measurement device can be used to create a real-time network for tracking multiple targets, measure distance, direction and relative motion, and model the target as a multi-point polygon. The second measurement information of each boundary point may include second position information and second speed information. It is understandable that when the accuracy of the positioning measurement device meets the requirements, the second measurement information corresponding to each boundary point is close to the true value information corresponding to the boundary point.

[0071] In practical applications, two positioning and measuring devices are installed on the radar vehicle and the target object, respectively. Specifically, the positioning point of the positioning and measuring device of the radar vehicle can be set at the antenna phase center of the target radar; the positioning point of the positioning and measuring device of the target object can be set at the center point of the target object. By setting the positioning point of the positioning and measuring device of the radar vehicle as the origin of the final output coordinate system of the two positioning and measuring devices, the X-axis of the coordinate system points to the front of the radar vehicle, and the Y-axis points to the direction rotated 90° counterclockwise along the X-axis.

[0072] By measuring the length and width of the outer contour of the target object, points can be taken at preset intervals on the front, back, left and right boundaries of the center point of the target object to obtain multiple boundary points. The measurement information corresponding to each boundary point is measured by a positioning measurement device. Specifically, the positioning measurement device can output the position coordinates of each boundary point by measurement, and use the position coordinates of each boundary point as the second position information of the boundary point; based on the positioning measurement device, the second velocity information of each boundary point on the target object can be obtained. Among them, the second velocity information of each boundary point can be the Doppler velocity of the boundary point. Fig.11 As shown, the calculation process of the second velocity information of each boundary point is as follows:

[0073] The velocity vector a of the target object:

[0074]

[0075] in, is the velocity of the i-th boundary point in the X-axis direction, is the velocity of the i-th boundary point in the Y-axis direction.

[0076] The sight vector b between the target object and the radar vehicle:

[0077] b=(X i , Y i )

[0078] Among them, X i is the relative position of the i-th boundary point in the X-axis direction relative to the target radar, Y i is the relative position of the i-th boundary point in the Y-axis direction relative to the target radar.

[0079] S103. Determine reference information corresponding to the target object based on the second measurement information.

[0080] The reference information may be used as a benchmark to determine the measurement error information of the target radar.

[0081] In practical applications, the contour position information corresponding to the target object can be determined based on the second position information; the speed range information corresponding to the target object can be determined based on the second speed information. The contour position information and the speed range information can be used as reference information corresponding to the target object.

[0082] S104. Determine measurement error information of the target radar based on the first measurement information and the reference information.

[0083] Among them, the measurement error information of the target radar can be used to determine the measurement accuracy information of the target radar.

[0084] In practical applications, the measurement error information of the target radar can be obtained by comparing the first measurement information with the reference information.

[0085] S105. Determine the measurement accuracy information of the target radar based on the measurement error information.

[0086] The measurement accuracy information of the target radar can represent the measurement performance of the target radar for the volume target. The measurement accuracy information can be embodied in the form of a numerical value or in multiple levels, which is not limited here.

[0087] In practical applications, a mapping relationship between measurement error information and measurement accuracy information may be established in advance; based on the measurement error information and the above mapping relationship, the measurement accuracy information of the target radar may be obtained.

[0088] By using a target radar to perform measurement processing on a target object, first measurement information corresponding to each of a plurality of measurement points of the target object is obtained, reference information corresponding to the target object is determined based on second measurement information corresponding to each of a plurality of boundary points of the target object, measurement error information of the target radar is determined based on the first measurement information and the reference information, and measurement accuracy information of the target radar is determined based on the measurement error information, thereby achieving determination of the measurement accuracy of the target radar on the volume target.

[0089] Figure 2 is a flow chart of a method for determining reference information corresponding to a target object based on second measurement information provided by an embodiment of the present invention. In a possible implementation manner, the second measurement information includes second position information and second speed information, and the reference information includes position reference information and speed reference information; Figure 2 As shown, the above step S103 may include:

[0090] S201. Based on the second position information, determine the contour position information corresponding to the target object, and use the contour position information as position reference information.

[0091] The contour position information corresponding to the target object can represent the relative position of the target object as a volume target relative to the target radar.

[0092] In practical applications, based on the second position information corresponding to each of the multiple boundary points, the multiple boundary points are connected to obtain the position information of the boundary contour formed after the connection, and the position information of the boundary contour is used as the contour position information.

[0093] S202. Determine speed range information corresponding to the target object according to the second speed information, and use the speed range information as speed reference information.

[0094] The speed range information corresponding to the target object can represent the relative speed of the target object as a body target relative to the target radar.

[0095] In practical applications, since each detected boundary point is on the target object, the vehicle speed at each boundary point is equal, but since the position of each boundary point is different, the Doppler speed has a maximum value and a minimum value. Based on the second speed information corresponding to each of the multiple boundary points, the maximum speed and the minimum speed in the multiple second speed information can be obtained through screening processing; based on the maximum speed and the minimum speed, the speed range information corresponding to the target object can be determined. Specifically, the maximum speed can be the upper limit of the speed range information, and the minimum speed can be the lower limit of the speed range information.

[0096] By using the contour position information corresponding to the target object as the position reference information and the speed range information as the speed reference information, the target radar body target measurement accuracy can be determined, which makes the target radar's determination of the body target measurement accuracy more accurate and is more conducive to the discovery and location of specific problems that cause errors.

[0097] Figure 3 is a flow chart of a method for determining measurement error information of a target radar based on first measurement information and reference information provided by an embodiment of the present invention. In a possible implementation manner, Figure 3 As shown, the above step S104 may include:

[0098] S301. Determine error information corresponding to each of a plurality of measurement points based on first measurement information and reference information.

[0099] The error information corresponding to each measurement point can represent the deviation between the information obtained by the target radar when measuring the measurement point and the true value.

[0100] In one possible implementation, Figure 4 As shown, the above step S301 may include:

[0101] S401. Compare first measurement information corresponding to a target measurement point with reference information, where the target measurement point is any one of a plurality of measurement points.

[0102] In practical applications, when the first measurement information includes the first position information and the first speed information, the first position information can be compared with the position reference information and the first speed information can be compared with the speed reference information respectively to perform a comparison process between the first measurement information and the reference information. The first measurement information corresponding to each of the multiple measurement points is compared with the reference information to determine the error information corresponding to each of the multiple measurement points.

[0103] S402. When the first measurement information corresponding to the target measurement point belongs to the range corresponding to the reference information, determine that the error information corresponding to the target measurement point is error-free.

[0104] The error information corresponding to the target measurement point may include first error information and second error information.

[0105] In practical applications, when the first position information of the target measurement point belongs to the range corresponding to the position reference information, it can be determined that the first error information of the target measurement point is error-free; when the first speed information of the target measurement point belongs to the range corresponding to the speed reference information, it can be determined that the second error information of the target measurement point is error-free.

[0106] S403. When the first measurement information corresponding to the target measurement point does not fall within the range corresponding to the reference information, determine error information corresponding to the target measurement point based on the first measurement information corresponding to the target measurement point and the reference information.

[0107] In one possible implementation, Figure 5 As shown, the above step S403 may include:

[0108] S501. When the first position information corresponding to the target measurement point does not belong to the range corresponding to the contour position information, the distance between the position point corresponding to the first position information and the target position point in the area corresponding to the contour position information is used as the first error information.

[0109] In practical applications, the target position point may be the point on the boundary contour of the target object that is closest to the target measurement point. Specifically, a perpendicular line may be drawn from the target measurement point to the nearest side on the boundary contour of the target object, and the intersection of the perpendicular line and the boundary contour of the target object may be used as the target position point.

[0110] For a target position point, the distance between the point closest to the target measurement point on the boundary contour of the target object and the target position point can be calculated based on Heron's formula. Assume that the target measurement point is point A(X A , Y A), draw a perpendicular line from this point to the nearest side of the boundary contour of the target object, the intersection point is B, then the value of AB is the first error information. Fig.12 As shown, the specific calculation process of AB is as follows:

[0111] First, find the boundary points on both sides of the intersection point B and record them as C(X C , Y C ) and D(X D , Y D ). The coordinate positions of C and D can be obtained by measuring the coordinates of all boundary points using positioning measurement equipment. The calculation formulas for AC, AD, and CD are:

[0112]

[0113] Based on Heron's formula, the area of ​​ACD can be calculated, and finally the value of AB can be obtained:

[0114]

[0115] S502. When the first speed information corresponding to the target measurement point does not belong to the speed range information, obtain second error information according to the speed range information and the first speed information.

[0116] In practical applications, when the first speed information corresponding to the target measurement point is greater than the upper limit speed corresponding to the speed range information, the difference between the first speed information and the upper limit speed can be used as the second error information; when the first speed information corresponding to the target measurement point is less than the lower limit speed corresponding to the speed range information, the difference between the first speed information and the lower limit speed can be used as the second error information.

[0117] S302. Determine measurement error information of the target radar based on the error information.

[0118] In practical applications, based on the error information corresponding to each of the multiple measurement points, the maximum value, the minimum value, and the root mean square value of the above error information can be screened out; the above maximum value, minimum value and / or root mean square value can be used as the measurement error information of the target radar. It should be noted that in the process of obtaining the root mean square value, it is necessary to consider the detected points within the range corresponding to the reference information; for example, after obtaining the square value of the error information of each of the multiple measurement points, the root mean square value of the above error information is obtained by dividing it by the number of the multiple measurement points. Specifically, the measurement error information may include speed measurement error information and position measurement error information; the position measurement error information can be obtained based on the first error information, and the speed measurement error information can be obtained based on the second error information.

[0119] It should be noted that the measurement error information of the target radar can be the measurement error information calculated based on one frame of data, or the measurement error information calculated based on multiple frames of data. In the case of multiple frames, after obtaining the measurement error information of each frame in the multiple frames, the measurement error information of the target radar can be obtained by taking the average value.

[0120] Figure 6 FIG. 1 is a flow chart of a method for determining measurement accuracy information of a target radar based on measurement error information provided by an embodiment of the present invention. In a possible implementation manner, Figure 6 As shown, the above step S105 may include:

[0121] S601. Obtain an error threshold.

[0122] The error threshold may be used to determine the measurement accuracy information of the target radar. The error threshold may be obtained by presetting.

[0123] In practical applications, when the radar measurement characteristics vary greatly with distance, such as Figure 7 As shown, the above step S601 may include:

[0124] S701. Obtain distance information between the target radar and the target object.

[0125] The distance information between the target radar and the target object may refer to the distance between the target radar and the center point of the target object, or may refer to the minimum distance between the target radar and the boundary contour of the target object.

[0126] S702. Obtain an error threshold based on the distance information.

[0127] In practical applications, the error threshold can be obtained according to the distance information by looking up a table. It is understandable that when the radar measurement characteristics vary greatly with distance, the error threshold can be determined according to the distance information segment, which can improve the accuracy of the target radar's measurement accuracy information.

[0128] S602. When the measurement error information meets the error threshold, determine whether the measurement accuracy information of the target radar meets the accuracy requirement.

[0129] In practical applications, the measurement accuracy information may be information of different levels. For example, the measurement accuracy information may be respectively in compliance with the accuracy requirement and incompliance with the accuracy requirement.

[0130] S603. When the measurement error information does not meet the error threshold, determine that the measurement accuracy information of the target radar does not meet the accuracy requirement.

[0131] Figure 8is a structural block diagram of a device for determining radar measurement accuracy provided by an embodiment of the present invention. Figure 8 As shown, this embodiment also provides a device for determining radar measurement accuracy, the device comprising:

[0132] The first measurement information acquisition module 10 is used to perform measurement processing on the target object using the target radar to obtain first measurement information corresponding to each of a plurality of measurement points of the target object;

[0133] A second measurement information acquisition module 20, used to acquire second measurement information corresponding to each of a plurality of boundary points of the target object;

[0134] A reference information determination module 30, configured to determine reference information corresponding to the target object based on the second measurement information;

[0135] A measurement error information determination module 40, configured to determine measurement error information of a target radar based on the first measurement information and the reference information;

[0136] The accuracy information determination module 50 is used to determine the measurement accuracy information of the target radar based on the measurement error information.

[0137] On the other hand, an embodiment of the present invention further provides an electronic device, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the above-mentioned method for determining radar measurement accuracy.

[0138] On the other hand, an embodiment of the present invention further provides a non-volatile computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions implement the above-mentioned method for determining radar measurement accuracy when executed by a processor.

[0139] It should be noted that, for the convenience of description, the aforementioned method embodiments are all described as two series of action combinations, but those skilled in the art should be aware that the present invention is not limited by the described order of actions, because according to the present invention, certain steps can be performed in other orders or simultaneously. Similarly, the modules of the above-mentioned radar measurement accuracy determination device refer to computer programs or program segments for performing one or more specific functions. In addition, the distinction between the above-mentioned modules does not mean that the actual program codes must also be separated. In addition, the above-mentioned embodiments can be arbitrarily combined to obtain other embodiments.

[0140] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in certain embodiments, please refer to the relevant description of other embodiments. Those skilled in the art may also understand that the various illustrative logical blocks, units, and steps listed in the embodiments of the present invention may be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly demonstrate the interchangeability of hardware and software, the various illustrative components, units, and steps mentioned above have generally described their functions. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present invention.

[0141] The above description has fully disclosed the specific embodiments of the present invention. It should be pointed out that any changes made by those skilled in the art to the specific embodiments of the present invention do not deviate from the scope of the claims of the present invention. Accordingly, the scope of the claims of the present invention is not limited to the above specific embodiments.

Claims

1. A method for determining radar measurement accuracy, characterized in that: The method comprises: Using a target radar to measure a target object, and obtaining first measurement information corresponding to each of a plurality of measurement points of the target object; Acquire second measurement information corresponding to each of the plurality of boundary points of the target object; the second measurement information includes second position information and second speed information; Determine reference information corresponding to the target object based on the second measurement information; the reference information includes position reference information and speed reference information; the determination of the reference information corresponding to the target object based on the second measurement information includes: determining contour position information corresponding to the target object based on the second position information corresponding to each of the plurality of boundary points, and using the contour position information as the position reference information; determining speed range information corresponding to the target object based on the second speed information corresponding to each of the plurality of boundary points, and using the speed range information as the speed reference information; Determining the measurement error information of the target radar based on the first measurement information and the reference information includes: determining error information corresponding to each of a plurality of measurement points based on the first measurement information and the reference information; determining the measurement error information of the target radar based on the error information; Based on the measurement error information, measurement accuracy information of the target radar is determined.

2. The method according to claim 1, characterized in that The determining, based on the first measurement information and the reference information, error information corresponding to each of the plurality of measurement points includes: Comparing the first measurement information corresponding to the target measurement point with the reference information, the target measurement point being any one of the multiple measurement points; In a case where the first measurement information corresponding to the target measurement point falls within a range corresponding to the reference information, determining that the error information corresponding to the target measurement point is error-free; When the first measurement information corresponding to the target measurement point does not belong to the range corresponding to the reference information, error information corresponding to the target measurement point is determined based on the first measurement information corresponding to the target measurement point and the reference information.

3. The method according to claim 2, characterized in that The first measurement information includes first position information and first speed information; the error information includes first error information and second error information; When the first measurement information corresponding to the target measurement point does not fall within the range corresponding to the reference information, determining error information corresponding to the target measurement point based on the first measurement information corresponding to the target measurement point and the reference information includes: When the first position information corresponding to the target measurement point does not belong to the range corresponding to the contour position information, the distance between the position point corresponding to the first position information and the target position point in the area corresponding to the contour position information is used as the first error information; In a case where the first speed information corresponding to the target measurement point does not belong to the speed range information, the second error information is obtained according to the speed range information and the first speed information.

4. The method according to claim 1, characterized in that: The determining, based on the measurement error information, the measurement accuracy information of the target radar includes: Get the error threshold; When the measurement error information satisfies the error threshold, determining that the measurement accuracy information of the target radar meets the accuracy requirement; When the measurement error information does not meet the error threshold, it is determined that the measurement accuracy information of the target radar does not meet the accuracy requirement.

5. The method according to claim 4, characterized in that The obtaining error threshold comprises: Acquiring distance information between the target radar and the target object; Based on the distance information, the error threshold is obtained.

6. A device for determining radar measurement accuracy, characterized in that: The device comprises: A first measurement information acquisition module is used to perform measurement processing on a target object using a target radar to obtain first measurement information corresponding to each of a plurality of measurement points of the target object; A second measurement information acquisition module, used to acquire second measurement information corresponding to each of the plurality of boundary points of the target object; the second measurement information includes second position information and second speed information; A reference information determination module, configured to determine reference information corresponding to the target object based on the second measurement information; the reference information includes position reference information and speed reference information; the determination of the reference information corresponding to the target object based on the second measurement information includes: determining contour position information corresponding to the target object based on the second position information corresponding to each of the plurality of boundary points, and using the contour position information as the position reference information; determining speed range information corresponding to the target object based on the second speed information corresponding to each of the plurality of boundary points, and using the speed range information as the speed reference information; A measurement error information determination module, used to determine the measurement error information of the target radar based on the first measurement information and the reference information, including: determining error information corresponding to each of a plurality of measurement points based on the first measurement information and the reference information; determining the measurement error information of the target radar based on the error information; The accuracy information determination module is used to determine the measurement accuracy information of the target radar based on the measurement error information.

7. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the executable instructions to implement the method for determining radar measurement accuracy as described in any one of claims 1 to 5.

8. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method for determining radar measurement accuracy according to any one of claims 1 to 5 is implemented.

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