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 comprises: a detection step, in which the radar device is used to detect the position and speed of each moving body traveling on a road; a reflection point existence judgment step, in which whether a reflection point exists is judged based on the detected position and speed of each moving body, if two moving bodies travel on the road substantially parallel to each other within a certain period of time and the speed difference between the two moving bodies is less than or equal to a threshold value, it is judged that there is a reflection point in the two moving bodies; a reflection point determination step, in which which of the two moving bodies is the reflection point is determined based on a pre-stored probability table; and a filtering step, in which the reflection point determined in the reflection point determination step is filtered out.

Description

Technical Field

[0001] The present invention relates to a reflection point filtering method for a radar device and a radar device, for example, to a reflection point filtering technology for a radar installed on a road side. 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 and walls 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, a reflection point filtering method of a radar device is provided, characterized in that it comprises the following steps: a detection step, in which the radar device is used to detect the position and speed of each moving body traveling on the road; a reflection point existence judgment step, in which it is judged whether there is a reflection point based on the detected position and speed of each moving body, if two moving bodies travel on the road substantially parallel to each other within a certain period of time and the speed difference between the two moving bodies is less than or equal to a threshold value, it is judged that there is a reflection point in the two moving bodies; a reflection point determination step, in which it is determined which of the two moving bodies is the reflection point based on a pre-stored probability table; and a filtering step, in which the reflection points determined in the reflection point determination step are filtered out.

[0005] Preferably, the probability table records the probability of reflection point generation, and the probability of reflection point generation represents the probability of a reflection point being generated at another position when the moving body travels at a certain position.

[0006] Preferably, the road is divided into a plurality of sections, and the probability table records the probability of occurrence of the reflection points according to the plurality of sections.

[0007] Preferably, in the reflection point determination step, the corresponding reflection point generation probabilities in the probability table are selected based on the respective positions of the two moving bodies, thereby determining which one is the reflection point.

[0008] Preferably, the probability table is obtained by conducting a test on the road in advance.

[0009] Preferably, the threshold is 1.2 m / s.

[0010] Preferably, the road is a highway.

[0011] According to another aspect of the present invention, a radar device is provided, characterized in that it includes: a probability table, which records the probability of reflection points at various positions on the road; a detection unit, which detects the position and speed of each moving body traveling on the road; a reflection point existence judgment unit, which judges whether there is a reflection point based on the detected position and speed of each moving body, if two moving bodies travel on the road basically in parallel within a certain period of time and the speed difference between the two moving bodies is less than or equal to a threshold value, it is judged that there is a reflection point in the two moving bodies; a reflection point determination unit, which determines which of the two moving bodies is the reflection point based on the probability table; and a filtering unit, which filters out the reflection points determined in the reflection point determination unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram for explaining a scene of generating a follower-type reflection point to be filtered out by the present invention.

[0013] 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.

[0014] Figure 3 It is a block diagram of the structure of a radar device involved in one embodiment of the present invention.

[0015] 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

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] Figure 1 It is a schematic diagram for explaining a scene of generating a follower-type reflection point to be filtered out by the present invention. 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.

[0021] like Figure 1 , Figure 2 As shown in FIG. 1 , when there is only a moving object 10 in the first lane 1 on the right, the radar detection result shows that a target (moving object) 11 appears in the emergency lane 2. The moving object 11 does not actually exist, but is a reflection point generated by the nearby guardrail. When such a reflection point appears, it usually appears to be in the longitudinal position ( Figure 1 In other words, it travels substantially parallel to the real moving body 10 and follows the real moving body 10 for a period of time. According to the characteristics of the reflection point, the reflection point in this case is defined as a following reflection point.

[0022] The purpose of a reflection point filtering method of a radar device according to an embodiment of the present invention is to detect the existence of the following type reflection point, determine the following type reflection point and filter it out.

[0023] Figure 3 It is a block diagram of the structure of a radar device 200 according to an embodiment of the present invention.

[0024] The radar device 200 of this embodiment is installed on the road side, specifically, on the highway, and includes: a detection unit 210, a reflection point existence judgment unit 220, a reflection point determination unit 230, a probability table 240 and a filtering unit 250.

[0025] The detection unit 210 detects the position and speed of each moving object traveling on the highway based on the received radar signal. Figure 1 , Figure 2 In the illustrated case, the detection unit 210 identifies two targets, the moving object 10 and the moving object 11 , and detects the positions and speeds of the moving object 10 and the moving object 11 , respectively.

[0026] The reflection point existence judgment unit 220 judges whether there is a reflection point based on the position and speed of the moving body 10 and the moving body 11 detected by the detection unit 210. If the moving body 10 and the moving body 11 travel on the highway substantially in parallel for a certain period of time and the speed difference between the moving body 10 and the moving body 11 is less than or equal to a threshold value, it is judged that there is a reflection point in the moving body 10 and the moving body 11.

[0027] Generally, the speed difference between two vehicles running in parallel is generally greater than 2.8 m / s, so the threshold can be set to a value less than 2.8 m / s. After a large number of experiments, it is found that the speed difference between the reflection point and the actual vehicle is generally no more than 1.2 m / s, so it is more preferred to set the threshold to 1.2 m / s.

[0028] exist Figure 1 , Figure 2 In the illustrated case, the moving body 11 is a reflection point, so the reflection point existence determination unit 220 can determine that there is a reflection point in the moving body 10 and the moving body 11 .

[0029] The reflection point determination unit 230 determines which one of the moving object 10 and the moving object 11 is a reflection point based on the probability table 240 .

[0030] The probability table 240 is pre-stored in the radar device 200 , and records the probability of a reflection point being generated at another position when the moving object travels at a certain position.

[0031] The probability table 240 is obtained by conducting a large number of tests on the highway in advance. The highway can be divided into multiple sections, and data can be recorded according to each section. Figure 1The road section shown is defined as road section 001. Table (1) shows an example of the probability table 240 at this time. The probability table 240 shown in Table (1) records the following reflection point generation probabilities of road section 001: (1) the probability of generating a reflection point in the emergency lane 2 when the moving body travels in lane 1; (2) the probability of generating a reflection point in lane 1 when the moving body travels in the emergency lane 2; (3) the probability of generating a reflection point in the emergency lane 2 when the moving body travels in lane 3; (4) the probability of generating a reflection point in lane 3 when the moving body travels in the emergency lane 2; (5) the probability of generating a reflection point in lane 3 when the moving body travels in lane 1; and (6) the probability of generating a reflection point in lane 1 when the moving body travels in lane 3.

[0032]

[0033]

[0034] Table (1)

[0035] exist Figure 1 , Figure 2 In the case shown, the moving body 10 detected by the detection unit is located at the lane 1 of the road section 001, and the moving body 11 is located at the emergency lane 2 of the road section 001. Therefore, the reflection point determination unit 230 selects the corresponding reflection point generation probabilities in the probability table 240, that is, the reflection point generation probabilities in the first row and the second row of table (1), based on the respective positions of the moving body 10 and the moving body 11, that is, the lane 1 of the road section 001 and the emergency lane 2 of the road section 001. The selected reflection point generation probabilities are 95% and 10% respectively, that is, when the moving body 10 travels on the lane 1 of the road section 001, the probability of generating a reflection point at the emergency lane 2 of the road section 001 (the position of the moving body 11) is 95%, on the contrary, when the moving body 11 travels on the emergency lane 2 of the road section 001, the probability of generating a reflection point at the lane 1 of the road section 001 (the position of the moving body 10) is 0%, thereby determining that the moving body 11 in the emergency lane 2 of the road section 001 is the reflection point.

[0036] The filtering unit 250 filters out the reflection point determined by the reflection point determining unit 240 , that is, the moving object 11 .

[0037] 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.

[0038] First, in step S101 , the position and speed of each moving object traveling on the highway are detected by the radar device 200 . In this embodiment, the speeds and positions of two targets, the moving object 10 and the moving object 11 , are detected.

[0039] Next, in step S102, it is determined whether there is a reflection point based on the detected positions and speeds of each moving body 10, 11. If the moving bodies 10, 11 travel on the highway basically in parallel for a certain period of time and the speed difference between the moving bodies 10, 11 is less than or equal to the threshold value of 1.2 m / s, it is determined that there is a reflection point in the moving bodies 10, 11.

[0040] In this embodiment, there is a reflection point, that is, the judgment result of step S102 is "yes", so the process proceeds to step S103. If the judgment result of step S102 is "no", the process ends.

[0041] In step S103, it is determined which of the moving bodies 10 and 11 is the reflection point based on the pre-stored probability table 240. Specifically, based on the respective positions of the moving bodies 10 and 11, i.e., lane 1 of section 001 and emergency lane 2 of section 001, the corresponding reflection point generation probability in the probability table 240 is selected, thereby determining that the moving body 11 of the emergency lane 2 of section 001 is the reflection point, and then proceeding to step S104.

[0042] In step S104, the reflection point determined in step S103, that is, the moving object 11 is filtered out, and the processing ends.

[0043] As described above, according to an embodiment of the present invention, it is possible to determine whether there is a reflection point in two moving objects through the position and speed information of each moving object (target) detected by the radar device, and to determine which of the two moving objects is the real moving object and which is the reflection point based on a pre-stored probability table, and to filter out the reflection points. In this way, the reflection points can be determined and appropriately filtered out, thereby improving the detection accuracy of the real moving object.

[0044] 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.

[0045] In the above embodiment, the expressway is divided into a plurality of sections, and data is recorded in the probability table according to the sections, but the present invention is not limited thereto, and other methods may also be used.

[0046] 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 detection step, in which the radar device is used to detect the position and speed of each moving object traveling on the road; a reflection point existence determination step, in which whether a reflection point exists is determined based on the detected position and speed of each of the moving objects, and if the two moving objects travel on the road substantially parallel to each other within a certain period of time and the speed difference between the two moving objects is less than or equal to a threshold value, it is determined that a reflection point exists between the two moving objects; a reflection point determination step, in which the reflection point is determined based on a pre-stored probability table, which of the two moving objects is the reflection point; as well as a filtering step, wherein the filtering step filters out the reflection points determined in the reflection point determination step, The probability table records the probability of reflection point generation, which indicates the probability of a reflection point being generated at another position when the moving body travels at a certain position.

2. The reflection point filtering method of a radar device as claimed in claim 1, characterized in that: The road is divided into a plurality of road sections, and the probability table records the reflection point generation probability according to the plurality of road sections.

3. The reflection point filtering method of a radar device according to claim 1 or 2, characterized in that: In the reflection point determination step, the corresponding reflection point generation probability is selected from the probability table based on the respective positions of the two moving bodies, thereby determining which one is the reflection point.

4. The reflection point filtering method of a radar device according to claim 1 or 2, characterized in that: The probability table is obtained by conducting a test on the road in advance.

5. The reflection point filtering method of a radar device according to claim 1 or 2, characterized in that: The threshold value is 1.2 m / s.

6. The reflection point filtering method of a radar device according to claim 1 or 2, characterized in that: The road is a highway.

7. A radar device, characterized in that: include: A probability table, which records the probability of reflection points at various positions on the road; a detection unit that detects the position and speed of each moving object traveling on the road; a reflection point existence judgment unit, the reflection point existence judgment unit judging whether there is a reflection point based on the detected position and speed of each of the moving objects, and judging whether there is a reflection point in the two moving objects if the two moving objects travel on the road substantially parallel to each other within a certain period of time and the speed difference between the two moving objects is less than or equal to a threshold value; a reflection point determination unit, wherein the reflection point determination unit determines which one of the two moving bodies is a reflection point based on the probability table; as well as A filtering unit is used to filter out the reflection points determined by the reflection point determination unit.

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