Reflection point filtering method for radar device and radar device

Abstract

The present invention provides a reflection point filtering method of a radar device and a radar device, the method comprising the following steps: a calculation step, in which the speed, distance and cumulative tracking time of each moving body traveling on a road relative to the radar device are calculated using a radar signal received by the radar device; a judgment step, in which which of the moving bodies is a reflection point is judged based on the speed, distance and cumulative tracking time of each moving body relative to the radar device calculated in the calculation step; and a filtering step, in which the reflection point judged in the judgment step is filtered out.

Description

Technical Field

[0001] The present invention relates to a reflection point filtering method of a radar device and a radar device, for example, to a reflection point filtering technology of a radar installed on the side of a road. Background Art

[0002] The radar transmits electromagnetic waves through the transmitting antenna, and receives the corresponding reflected waves after being reflected by different objects. By analyzing the received results, it can effectively extract information such as the position and movement speed of the object from the radar. At present, in order to better assist autonomous driving vehicles in various levels of autonomous driving, radars are usually installed on the side of the road to detect the position, movement speed, direction angle and other information of each moving object (vehicle) driving on the road. However, when the radar detects each moving object on the road, due to the railings, walls, etc. set up on the road, reflection points often occur. The basic attributes of the data of these reflection points are not significantly different from the basic attributes of the data of the real moving object, so it is difficult to filter them out. Summary of the invention

[0003] The present invention is completed to solve the above-mentioned problems, and its purpose is to provide a reflection point filtering method for a radar device, which can filter out some reflection points generated by railings, walls, etc. set on the road, thereby improving the detection accuracy of real moving objects. The present invention also provides a radar device that can filter out the above-mentioned reflection points.

[0004] According to one aspect of the present invention, there is provided a reflection point filtering method of a radar device, characterized in that it comprises the following steps: a calculation step, in which the speed, distance and cumulative tracking time of each moving body traveling on the road relative to the radar device are calculated using a radar signal received by the radar device; a judgment step, in which it is judged which of the moving bodies is a reflection point based on the speed, distance and cumulative tracking time of each moving body relative to the radar device calculated in the calculation step; and a filtering step, in which the reflection points judged in the judgment step are filtered out.

[0005] Preferably, the tracking time cumulative value is obtained by accumulating the tracking time of each moving object obtained based on the radar signal in each processing cycle of the radar device.

[0006] Preferably, in the determination step, whether each of the moving objects is an outgoing vehicle or an oncoming vehicle is determined based on a speed of each of the moving objects relative to the radar device.

[0007] Preferably, in the judging step, when the moving body is the oncoming vehicle, if a moving body is at a distance greater than a first distance from the radar device and the accumulated tracking time value of the moving body is less than or equal to a threshold, the moving body is judged to be a reflection point.

[0008] Preferably, in the judging step, when the moving body is the oncoming vehicle, if a moving body is less than a second distance from the radar device and the accumulated tracking time value of the moving body is less than or equal to a threshold, the moving body is judged to be a reflection point.

[0009] Preferably, the threshold is set as a processing cycle of the radar device.

[0010] Preferably, the first distance is set to 40m.

[0011] Preferably, the second distance is set to the farthest detection distance of the radar device minus 40m.

[0012] According to another aspect of the present invention, a radar device is provided, characterized in that it includes: a calculation unit, which uses the radar signal received by the radar device to calculate the speed, distance and cumulative tracking time of each moving body traveling on the road relative to the radar device; a judgment unit, which judges which of the moving bodies is a reflection point based on the speed, distance and cumulative tracking time of each moving body relative to the radar device calculated by the calculation unit; and a filtering unit, which filters out the reflection points judged by the judgment unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram for explaining a scenario in which a jump-type reflection point to be filtered out by the present invention is generated.

[0014] Figure 2 It means in Figure 1 The situation detected by the radar device installed on the side of the road in the scene shown.

[0015] Figure 3 It is a block diagram of the structure of a radar device involved in one embodiment of the present invention.

[0016] Figure 4 This is a flowchart for explaining a reflection point filtering method of a radar device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0018] The terms used herein are only used to describe specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements and / or components is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof is not excluded.

[0019] The embodiments described herein may be described with reference to plan views and / or cross-sectional views by means of idealized schematic diagrams of the present disclosure. Therefore, the example illustrations may be modified according to manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to the embodiments shown in the accompanying drawings, but include modifications of the configurations formed based on the manufacturing process. Therefore, the regions illustrated in the accompanying drawings have schematic properties, and the shapes of the regions shown in the figures illustrate the specific shapes of the regions of the elements, but are not intended to be limiting.

[0020] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted as having an idealized or overly formal meaning unless explicitly defined as such herein.

[0021] Figure 1 It is a schematic diagram for explaining a scenario in which a jump-type reflection point to be filtered out by the present invention is generated. Figure 2 It means in Figure 1 The situation detected by the radar device installed on the side of the road in the scene shown.

[0022] like Figure 1 , Figure 2 As shown in the figure, when there is a moving object 10 traveling only in the first lane 1 on the left side, the radar detection result shows that there is a moving object 10 and a moving object 11 in front of it in the first lane 1. The moving object 11 does not actually exist, but is a reflection point generated by a nearby railing. When such a reflection point appears, it usually appears as a sudden jump to a distance in front of the real moving object 10. According to the characteristics of the appearance of such a reflection point, the reflection point in this case is defined as a jump-type reflection point.

[0023] The purpose of the reflection point filtering method of the radar device involved in one embodiment of the present invention is to determine the existence of the above-mentioned jump-type reflection points and filter them out.

[0024] Figure 3 It is a block diagram of the structure of a radar device 200 according to an embodiment of the present invention.

[0025] The radar device 200 of this embodiment is installed on the road side, and in this embodiment, is installed on a highway, and includes: a calculation unit 210 , a judgment unit 220 and a filtering unit 230 .

[0026] The calculation unit 210 calculates the speed and distance of each moving object traveling on the road relative to the radar device 200 and the cumulative value of the tracking time of each moving object using the radar signal received by the radar device 200. The calculation unit 210 obtains the tracking time of each moving object in each processing cycle of the radar device, and obtains the cumulative value of the tracking time of each moving object by accumulating the tracking time of each moving object in each processing cycle.

[0027] exist Figure 1 , Figure 2 In the illustrated case, the calculation unit 210 identifies two targets, the mobile body 10 and the mobile body 11, and calculates the speed of the mobile body 10 and the mobile body 11 relative to the radar device 200, the distance relative to the radar device 200, and the cumulative tracking time of the mobile body 10 and the mobile body 11.

[0028] The determination unit 220 determines which of the moving objects is a reflection point based on the speed of each moving object relative to the radar device 200, the distance of each moving object relative to the radar device 200, and the cumulative value of the tracking time of each moving object calculated by the calculation unit 210.

[0029] The characteristic of a jump-type reflection point is that it suddenly jumps to a certain distance in front of the real moving object. Therefore, the fact that the target moving object's accumulated life time is very short but the location where it appears is at a certain distance from the radar device is considered as a judgment and filtering condition.

[0030] Generally speaking, when a moving object enters the radar detection range of about 20m or closer, the radar device begins to track it. If the cumulative tracking time of a moving object is less than or equal to the processing cycle of the radar device, and the distance between it and the boundary of the radar detection range is greater than 40m, it can basically be judged as a reflection point.

[0031] Therefore, in the case where the moving body is an oncoming vehicle (i.e., the moving body travels from the nearest point to the farthest point in the detection range of the radar device), if the distance of the moving body relative to the radar device is greater than 40m (the first distance), and the accumulated tracking time of the moving body is less than or equal to the processing cycle (threshold) of the radar device, the moving body is judged to be a reflection point.

[0032] In the case where the moving body is an oncoming vehicle (i.e., the moving body moves from the farthest point to the closest point in the detection range of the radar device), if the distance of the moving body relative to the radar device is less than the second distance, and the accumulated tracking time of the moving body is less than or equal to the processing period (threshold) of the radar device, the moving body is judged to be a reflection point.

[0033] The second distance is obtained by subtracting 40 m from the maximum detection distance of the radar device. For example, if the maximum detection distance of the radar device is 250 m, the second distance is 210 m.

[0034] Among them, the outgoing vehicle and the oncoming vehicle can be judged based on the setting of each radar device and the speed of the moving body relative to the radar device. In this embodiment, based on the setting of the radar device, if the speed of the moving body relative to the radar device is greater than zero, it is an outgoing vehicle, and if the speed of the moving body relative to the radar device is less than zero, it is an oncoming vehicle. However, sometimes due to different settings of the radar device, there may be the following situation: that is, if the speed of the moving body relative to the radar device is less than zero, it is an outgoing vehicle, and if the speed of the moving body relative to the radar device is greater than zero, it is an oncoming vehicle.

[0035] exist Figure 1 , Figure 2 In the illustrated case, the calculation unit 210 calculates the speed of the mobile body 10, the mobile body 11 relative to the radar device 200, the distance of the mobile body 10, the mobile body 11 relative to the radar device 200, and the cumulative value of the tracking time of the mobile body 10, the mobile body 11.

[0036] Since both the moving bodies 10 and 11 are oncoming vehicles, their speeds relative to the radar device 200 are greater than zero. The distance of the moving body 11 relative to the radar device 200 is greater than 40 m, the speed of the moving body 11 relative to the radar device 200 is greater than zero, and the cumulative value of the tracking time of the moving body 11 is less than or equal to the processing cycle of the radar device 200, so the judgment unit 210 judges that the moving body 11 is a reflection point.

[0037] The filtering unit 250 filters out the reflection point determined by the determining unit 210 , that is, the moving object 11 .

[0038] Figure 4 It is a flowchart for explaining a reflection point filtering method of the radar device 200 according to an embodiment of the present invention.

[0039] First, in step S101 , the speed and distance of each moving object traveling on the road relative to the radar device and the cumulative value of the tracking time of each moving object are calculated using the radar signal received by the radar device 200 , and the process proceeds to step S102 .

[0040] Next, in step S102, based on the speed of each moving body relative to the radar device calculated in step S101, it is determined whether each moving body is a vehicle going to or coming from the radar device. In this embodiment, based on the setting of the radar device, if the speed of the moving body relative to the radar device is greater than zero, it is a vehicle going to, and if the speed of the moving body relative to the radar device is less than zero, it is an oncoming vehicle. If it is determined to be a vehicle going to, the process proceeds to step S103, and if it is determined to be an oncoming vehicle, the process proceeds to step S104.

[0041] In step S103, it is determined whether there is a moving object that is greater than the first distance (40 m) from the radar device 200 and the cumulative value of the tracking time of the moving object is less than or equal to a threshold value (processing cycle of the radar device).

[0042] If step S103 determines that there is a moving body whose distance from the radar device 200 is greater than the first distance (40m), and the cumulative tracking time value of the moving body is less than or equal to the threshold (step S103 is "yes"), then proceed to step S105. If step S103 is "no", then end the processing.

[0043] In step S104, it is determined whether there is a moving object that is less than the second distance (210 m) from the radar device 200 and the cumulative tracking time value of the moving object is less than or equal to the threshold (processing cycle of the radar device).

[0044] If step S104 determines that there is a moving body whose distance from the radar device is less than the second distance (210m), and the cumulative tracking time value of the moving body is less than or equal to the threshold (step S104 is "yes"), then proceed to step S105. If step S104 is "no", then end the processing.

[0045] In step S105, the reflection points determined in steps S103 and S104 are filtered out, and then the processing ends.

[0046] As described above, according to the embodiment of the present invention, it is possible to determine whether there is a reflection point through information detected by the radar device, and filter out the reflection point, thereby improving the detection accuracy of the real moving object.

[0047] Furthermore, in the above-mentioned embodiment, the radar device is installed on the expressway, but the present invention is not limited thereto, and the radar device may also be installed on other roads.

[0048] In the above embodiment, the first distance is set to 40 m, but the present invention is not limited thereto, and the value may be appropriately set according to the speed limit of the road.

[0049] Although the present invention has been described with reference to the current specific embodiments, those skilled in the art should recognize that the scope of the invention involved in the present invention is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

Claims

1. A reflection point filtering method for a radar device, characterized in that: The steps include: a calculation step of calculating the speed and distance of each moving body traveling on the road relative to the radar device and the cumulative value of the tracking time of each moving body using the radar signal received by the radar device; a judging step of judging which one of the moving objects is a reflection point based on the speed and distance of each moving object relative to the radar device and the cumulative value of the tracking time of each moving object calculated in the calculating step; as well as a filtering step, wherein the filtering step filters out the reflection points determined in the determining step, The tracking time cumulative value is obtained by accumulating the tracking time of each moving object obtained based on the radar signal in each processing cycle of the radar device. In the judging step, whether each of the moving bodies is an outgoing vehicle or an oncoming vehicle is judged based on its speed relative to the radar device. In the case where the moving body is the outgoing vehicle, if a moving body is at a distance greater than a first distance from the radar device and the accumulated tracking time value of the moving body is less than or equal to a threshold value, the moving body is judged to be a reflection point. In the case where the moving body is the oncoming vehicle, if a moving body is at a distance less than a second distance from the radar device and the accumulated tracking time value of the moving body is less than or equal to a threshold value, the moving body is judged to be a reflection point.

2. The reflection point filtering method of a radar device as claimed in claim 1, characterized in that: The threshold is set as a processing cycle of the radar device.

3. The reflection point filtering method of a radar device according to claim 1 or 2, characterized in that: The first distance is set to 40m.

4. The reflection point filtering method of a radar device according to claim 1 or 2, characterized in that: The second distance is set to the maximum detection distance of the radar device minus 40 m.

5. A radar device, characterized in that: include: a calculation unit that calculates the speed and distance of each moving body traveling on the road relative to the radar device and the cumulative value of the tracking time of each moving body using the radar signal received by the radar device; a determination unit for determining which of the moving objects is a reflection point based on the speed and distance of each moving object relative to the radar device and the cumulative value of the tracking time of each moving object calculated by the calculation unit; as well as a filtering unit, the filtering unit filtering out the reflection points determined by the determining unit, The tracking time cumulative value is obtained by accumulating the tracking time of each moving object obtained based on the radar signal in each processing cycle of the radar device. In the judgment unit, whether each of the moving bodies is an outgoing vehicle or an oncoming vehicle is judged based on the speed of each of the moving bodies relative to the radar device. In the case where the moving body is the outgoing vehicle, if a moving body is more than a first distance away from the radar device and the accumulated tracking time value of the moving body is less than or equal to a threshold value, the moving body is judged to be a reflection point. In the case where the moving body is the oncoming vehicle, if a moving body is less than a second distance away from the radar device and the accumulated tracking time value of the moving body is less than or equal to the threshold value, the moving body is judged to be a reflection point.

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