A target tracking method and device based on millimeter wave radar and laser radar

Abstract

The present application discloses a target tracking method and device based on millimeter wave radar and laser radar, the method comprising: obtaining a first tracking result obtained by the millimeter wave radar detecting a monitoring scene in the previous detection cycle, the monitoring scene including at least one target to be tracked; adjusting the detection range of the laser radar in the current detection cycle based on the first tracking result to obtain a first detection range; detecting the target to be tracked in the first detection range using the laser radar to obtain first detection information; updating the first tracking result based on the first detection information to obtain a second tracking result of the target to be tracked in the current detection cycle. In the above manner, the present application can improve tracking accuracy and detection efficiency.

Description

Technical Field

[0001] The present application relates to the field of target tracking technology, and in particular to a target tracking method and device based on millimeter wave radar and laser radar. Background Art

[0002] In recent years, millimeter-wave radar and lidar have been widely used in the field of target tracking. Millimeter-wave radar works in the millimeter-wave frequency band and has strong resistance to severe weather. It can work normally in rain, snow, foggy weather or smoky scenes, and its cost is lower than that of lidar. However, millimeter-wave radar has poorer resolution than lidar and cannot obtain more accurate tracking results. Lidar has a huge amount of data due to the dense point cloud information detected. If lidar is used to undertake detection tasks, the difficulty of subsequent data processing will increase, affecting the real-time performance of the tracking system. Therefore, how to improve the accuracy of the tracking system while ensuring real-time performance has become an urgent problem to be solved. Summary of the invention

[0003] The present application provides a target tracking method and device based on millimeter wave radar and laser radar, which can improve tracking accuracy and detection efficiency.

[0004] In order to solve the above technical problems, the technical solution adopted in this application is: to provide a target tracking method based on millimeter-wave radar and laser radar, the method comprising: obtaining a first tracking result obtained by the millimeter-wave radar for detecting a monitoring scene in the previous detection cycle, the monitoring scene including at least one target to be tracked; based on the first tracking result, adjusting the detection range of the laser radar in the current detection cycle to obtain a first detection range; using the laser radar to detect the target to be tracked in the first detection range to obtain first detection information; updating the first tracking result based on the first detection information to obtain a second tracking result of the target to be tracked in the current detection cycle.

[0005] To solve the above technical problems, another technical solution adopted in the present application is: to provide a target tracking device, the target tracking device includes a memory and a processor connected to each other, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, it is used to implement the target tracking method based on millimeter wave radar and lidar in the above technical solution.

[0006] To solve the above technical problems, another technical solution adopted in the present application is: to provide a computer-readable storage medium for storing a computer program, which, when executed by a processor, is used to implement the target tracking method based on millimeter-wave radar and lidar in the above technical solution.

[0007] Through the above scheme, the beneficial effects of the present application are: first, a first tracking result obtained by the millimeter-wave radar detecting the monitoring scene in the previous detection cycle is obtained, and the detection range of the laser radar in the current detection cycle is adjusted according to the first tracking result to obtain the first detection range, and the laser radar is used to detect the target to be tracked in the first detection range to obtain the first detection information, and then the first tracking result is updated according to the first detection information, so as to obtain the second tracking result of the target to be tracked in the current detection cycle; because the laser radar is used to detect the target to be tracked in the first detection range, a more accurate first detection information is obtained, and the first tracking result of the millimeter-wave radar detection can be compensated for its accuracy, so as to obtain a more accurate second tracking result, which greatly improves the tracking accuracy of the overall tracking system, and thus improves the potential target recognition and classification capabilities; and the detection range of the laser radar can be adjusted in real time to improve the detection efficiency of the laser radar, thereby improving the point cloud output efficiency of the laser radar, and while improving the tracking accuracy, the real-time performance of the tracking system can also be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0009] Figure 1 It is a flowchart of an embodiment of a target tracking method based on millimeter wave radar and laser radar provided by the present application;

[0010] Figure 2 It is a schematic diagram for determining the detection range provided by the present application;

[0011] Figure 3 It is a flowchart of another embodiment of the target tracking method based on millimeter wave radar and laser radar provided by the present application;

[0012] Figure 4 It is a schematic diagram of the first target and the second target provided by this application;

[0013] Figure 5 is a schematic diagram of adjusting the detection horizontal angle range provided by the present application;

[0014] Figure 6 is a schematic diagram of adjusting the x-axis driving signal provided by the present application;

[0015] Figure 7 It is a structural schematic diagram of an embodiment of a target tracking device provided by the present application;

[0016] Figure 8 It is a structural schematic diagram of an embodiment of a computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0017] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0018] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0019] It should be noted that the terms "first", "second" and "third" in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second" and "third" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In addition, the terms "including" and "having" and any of their variations 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 limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0020] See also Figure 1 , Figure 1 : is a flow chart of an embodiment of a target tracking method based on millimeter wave radar and laser radar provided by the present application, the method comprising:

[0021] Step 11: Obtain the first tracking result obtained by the millimeter wave radar in the previous detection cycle for detecting the monitoring scene.

[0022] The millimeter-wave radar can complete a detection operation on the monitoring scene within one detection cycle. The monitoring scene may include at least one target to be tracked. The millimeter-wave radar detects the target to be tracked in the previous detection cycle, obtains detection information corresponding to the target to be tracked, and then clusters and tracks the detection information to obtain a corresponding first tracking result. The first tracking result may include information such as the direction, speed or acceleration of the target to be tracked.

[0023] In a specific implementation, when using millimeter-wave radar and laser radar for target tracking, the detection range of the millimeter-wave radar and the laser radar can be planned first, and the millimeter-wave radar and the laser radar can be calibrated to determine the detection range; specifically, the first preset detection range of the millimeter-wave radar and the second preset detection range of the laser radar can be obtained first; then the perpendicular bisector of the first preset detection range is aligned with the perpendicular bisector of the second preset detection range; and then the overlapping area of ​​the aligned first preset detection range and the aligned second preset detection range is obtained to obtain the detection range.

[0024] Furthermore, the installation direction or position of the millimeter-wave radar and the laser radar can be adjusted to align the perpendicular bisector of the first preset detection range with the perpendicular bisector of the second preset detection range, so as to obtain the maximum overlapping area between the millimeter-wave radar and the laser radar, and use the maximum overlapping area as the detection range, that is, the actual tracking area of ​​the millimeter-wave radar and the laser radar; wherein, the first preset detection range and the second preset detection range can be pre-set according to detection requirements during the installation of the millimeter-wave radar and the laser radar.

[0025] by Figure 2 For example, assuming that the first preset detection range of the millimeter-wave radar is Z1, and the second preset detection range of the laser radar is Z2, the installation direction or position of the millimeter-wave radar and the laser radar is adjusted, and the horizontal / vertical central axes L1 and L2 of Z1 and Z2 are aligned, and then the overlapping area Zo of Z1 and Z2 is taken as the detection area; specifically, the first preset detection range and the second preset detection range both include a horizontal range and a vertical range, Figure 2 (a) is a schematic diagram of the horizontal range of Z1 and the horizontal range of Z2. Figure 2 (b) is a schematic diagram of the vertical range of Z1 and the vertical range of Z2. Figure 2 (c) is a schematic diagram of the horizontal range of Z1 and the horizontal range of Z2 after alignment. Figure 2 (d) is a schematic diagram of the vertical range of Z1 and the vertical range of Z2 after alignment.

[0026] In a specific embodiment, in addition to determining the detection area as described above, the calibration operation of the millimeter-wave radar and the laser radar may also include: 1) matching the target information detected by the millimeter-wave radar with the target information detected by the laser radar, for example: using the same target identity (identity, ID) library to identify the target to be tracked in the current detection scene, so that the millimeter-wave radar and the laser radar can know whether the detected target is the same target based on the target ID; 2) time calibration of the millimeter-wave radar and the laser radar, so that the millimeter-wave radar and the laser radar are frame synchronized, and at the same time adjust the frame rate of the millimeter-wave radar so that its detection cycle is greater than the detection cycle of the laser radar, thereby ensuring that the millimeter-wave radar can complete the processing of the current frame of the laser radar before the next frame arrives, so as to ensure the frame synchronization of the millimeter-wave radar and the laser radar.

[0027] It is understandable that in other implementations, other calibration operations besides the above examples may be performed on the millimeter wave radar and the lidar, and the calibration operation may be implemented by conventional methods in radar calibration technology, which is not limited here.

[0028] Step 12: Based on the first tracking result, the detection range of the laser radar in the current detection cycle is adjusted to obtain a first detection range.

[0029] The detection range of the laser radar in the current detection cycle is adjusted according to the first tracking result to obtain the first detection range; specifically, the detection range of the laser radar in the current detection cycle can be adjusted using the azimuth information of the target to be tracked, and the detection range of the laser radar in the current detection cycle is limited, and the detection area that does not include the target to be tracked is removed to obtain the limited first detection range, and then the limited first detection range is used for detection, thereby improving the detection efficiency of the laser radar and ensuring the real-time performance of the target tracking system including millimeter-wave radar and laser radar.

[0030] Step 13: Use the laser radar to detect the target to be tracked in the first detection range to obtain first detection information.

[0031] After the previous detection cycle of the millimeter-wave radar ends, the detection range of the current detection cycle of the laser radar can be adjusted according to the first tracking result, and then the current detection cycle of the laser radar can be synchronously started at the beginning of the current detection cycle of the millimeter-wave radar, and then the laser radar can be used to detect the target to be tracked in the first detection range to obtain the first detection information; specifically, at the beginning of each current detection cycle of the millimeter-wave radar, a frame synchronization signal can be sent to the laser radar to enable the laser radar to start working to synchronously start the detection cycle.

[0032] Furthermore, the first detection information may include point cloud information of the target to be tracked. The laser radar can detect the target to be tracked in the first detection range. Since the laser radar has more precise detection capabilities and higher resolution capabilities than the millimeter-wave radar, the point cloud information of the detected target to be tracked is denser. Therefore, the laser radar can be used to obtain more accurate information about the target to be tracked, and the tracking results of the millimeter-wave radar in the previous detection cycle can be supplemented with precision to achieve better tracking effects. At the same time, detection using the limited first detection range can also improve detection efficiency, improve accuracy and ensure real-time performance.

[0033] Step 14: Update the first tracking result based on the first detection information to obtain a second tracking result of the target to be tracked in the current detection cycle.

[0034] By updating the first tracking result based on the first detection information, a second tracking result of the target to be tracked in the current detection cycle can be obtained; specifically, clustering and tracking processing can be performed according to the point cloud information of the target to be tracked to obtain the second tracking result of the target to be tracked in the current detection cycle, wherein the second tracking result may include information such as the ID, direction, speed or acceleration of the target to be tracked.

[0035] In a specific implementation, the first detection information and the detection information obtained by the millimeter-wave radar in the current detection cycle can also be combined, and then clustering and tracking processing can be performed based on the combined detection information to complement the detection information of the millimeter-wave radar, so as to obtain a more accurate second tracking result, and then the second tracking result can be output to the back-end device for storage, display or detection alarm, etc.

[0036] This embodiment uses a laser radar to detect the target to be tracked in the first detection range, obtains more accurate first detection information, and can compensate for the accuracy of the first tracking result of the millimeter-wave radar detection, so as to obtain a more accurate second tracking result, greatly improving the tracking accuracy of the overall tracking system, and further improving the potential target recognition and classification capabilities; moreover, by limiting the detection range of the laser radar in the current detection cycle to obtain the limited first detection range, and then using the limited first detection range for detection, the detection efficiency of the laser radar can be improved, thereby improving the point cloud output efficiency of the laser radar, while improving the tracking accuracy while also ensuring the real-time performance of the tracking system.

[0037] See also Figure 3 , Figure 3 : is a flow chart of another embodiment of a target tracking method based on millimeter wave radar and laser radar provided by the present application, the method comprising:

[0038] Step 31: Obtain a first tracking result obtained by the millimeter wave radar detecting the monitoring scene in the previous detection cycle.

[0039] Step 31 is the same as the above step 11 and will not be described again.

[0040] In a specific embodiment, the first tracking result may include first angle information and first coordinate information of the target to be tracked, the first angle information is used to indicate the direction of the target to be tracked, the first coordinate information is used to indicate the position of the target to be tracked, the first coordinate information is the coordinate of the target to be tracked in the millimeter wave radar coordinate system, and the first angle information includes a first horizontal angle and a first vertical angle of the target to be tracked in the millimeter wave radar coordinate system; wherein, the millimeter wave radar coordinate system is a coordinate system established by the millimeter wave radar during the detection process, and the following laser radar coordinate system is a coordinate system established by the laser radar during the detection process. The millimeter wave radar coordinate system and the laser coordinate system can generally be spatial rectangular coordinate systems, that is, coordinate systems established by the x-axis, y-axis, and z-axis. The horizontal angle can be the angle between the straight line mapped by the target to be tracked on the xy plane and the x-axis, and the vertical angle can be the angle between the straight line mapped by the target to be tracked on the xz / yz plane and the z-axis.

[0041] Step 32: Select a first reference target group and a second reference target group based on the first angle information.

[0042] A first reference target group and a second reference target group can be selected according to the first angle information in the first tracking result. The first reference target group includes the first target and the second target, and the second reference target group includes the third target and the fourth target. Figure 4 The schematic diagram of the positions of the first target (i.e., Plimin) and the second target (i.e., Plimax) in the target scatter diagram detected by the laser radar is shown in the figure. The first reference target group can be selected according to the first horizontal angle, and the second reference target group can be selected according to the first vertical angle, so that the detection range of the laser radar in the current detection cycle can be adjusted in the horizontal angle and the vertical angle according to the first reference target group and the second reference target group respectively.

[0043] In a specific embodiment, the detection range of the laser radar in the current detection cycle can be adjusted only in the horizontal angle. It is only necessary to obtain the first reference target group and then adjust the horizontal angle range of the detection range based on the first reference target group; or, the detection range of the laser radar in the current detection cycle can be adjusted only in the vertical angle. It is only necessary to obtain the second reference target group and then adjust the vertical angle range of the detection range based on the second reference target group; it can be understood that the specific adjustment method can be selected according to the distribution of the targets to be tracked, and is not limited here. For example: if all / most of the targets to be tracked are distributed in the horizontal direction (i.e., the ground), only the horizontal angle range of the detection range can be adjusted; if all / most of the targets to be tracked are distributed in the vertical direction (such as drones, etc.), only the vertical angle range of the detection range can be adjusted.

[0044] Furthermore, the target to be tracked with the smallest first horizontal angle among all the targets to be tracked in the previous detection cycle can be obtained to obtain the first target; the target to be tracked with the largest first horizontal angle among all the targets to be tracked in the previous detection cycle can be obtained to obtain the second target; the target to be tracked with the smallest first vertical angle among all the targets to be tracked in the previous detection cycle can be obtained to obtain the third target; the target to be tracked with the largest first vertical angle among all the targets to be tracked in the previous detection cycle can be obtained to obtain the fourth target.

[0045] Step 33: Perform coordinate conversion processing on the first reference target group and the second reference target group based on the first coordinate information to obtain second coordinate information and second angle information.

[0046] The second coordinate information and the second angle information are respectively the coordinate information and angle information of the first reference target group and the second reference target group in the laser radar coordinate system. The second angle information may include the second horizontal angle and the second vertical angle of the target to be tracked in the laser radar coordinate system. Since the millimeter wave radar coordinate system and the laser radar coordinate system are different, the coordinate information and angle information of the same target to be tracked in the millimeter wave radar coordinate system and the laser radar coordinate system are different. Therefore, it is necessary to perform coordinate conversion processing on the first reference target group and the second reference target group in the millimeter wave radar coordinate system, so as to use the second coordinate information and the second angle information to adjust the detection range of the current detection cycle of the laser radar.

[0047] Furthermore, the coordinates of the first reference target group and the second reference target group can be transformed according to relevant algorithms in the field of coordinate transformation technology, and the first reference target group and the second reference target group in the millimeter wave radar coordinate system can be mapped to the lidar coordinate system to obtain the second coordinate information and second angle information of the first reference target group and the second reference target group in the lidar coordinate system.

[0048] Step 34: Determine a first detection range based on the second coordinate information and the second angle information.

[0049] The first detection range includes a horizontal detection angle range and a vertical detection angle range. The horizontal detection angle range can be determined using the second angle information of the first target and the second target, and the vertical detection angle range can be determined using the second angle information of the third target and the fourth target.

[0050] Furthermore, the second horizontal angle of the first target and the second horizontal angle of the second target can be determined as the minimum horizontal angle and the maximum horizontal angle respectively; then, the detection horizontal angle range is calculated based on the minimum horizontal angle and the maximum horizontal angle, wherein the detection horizontal angle range may include the minimum detection horizontal angle and the maximum detection horizontal angle, and the difference between the minimum horizontal angle and the preset window value is calculated to obtain the minimum detection horizontal angle; the sum of the minimum horizontal angle and the preset window value is calculated to obtain the maximum detection horizontal angle.

[0051] like Figure 5 As shown, Figure 5 The original detection horizontal angle range [azi_min, azi_max] of the laser radar shown in (a) is limited to Figure 5 The detection horizontal angle range [azi_limin-w, azi_limax+w] shown in (b) can achieve a buffering effect by setting a preset window value, thereby avoiding the phenomenon of missing the target to be tracked at the edge of the detection range and ensuring that the detection effect is not affected. It can be understood that the size of the preset window value can be set according to actual conditions and is not limited here.

[0052] The second angle information of the third target and the fourth target can also be used to determine the detection vertical angle range. Specifically, the second vertical angle of the third target and the second vertical angle of the fourth target can be determined as the minimum vertical angle and the maximum vertical angle, respectively. Then, the detection vertical angle range is calculated based on the minimum vertical angle and the maximum vertical angle. The detection vertical angle range includes the minimum detection vertical angle and the maximum detection vertical angle. The difference between the minimum vertical angle and the preset window value can be calculated to obtain the minimum detection vertical angle. The sum of the minimum vertical angle and the preset window value can be calculated to obtain the maximum detection vertical angle. It can be understood that the size of the preset window value can be set according to actual conditions and is not limited here.

[0053] In a specific implementation, when the first tracking result includes only one target to be tracked, that is, the millimeter-wave radar detects only one target to be tracked in the previous detection cycle, then only the target to be tracked can be subjected to coordinate conversion processing to obtain the second coordinate information and second angle information corresponding to the laser radar coordinate system, and then the second angle information of the target to be tracked can be directly subjected to windowing processing, that is, the difference between the second horizontal angle and the preset window value is calculated to obtain the minimum detection horizontal angle, the sum of the second horizontal angle and the preset window value is calculated to obtain the maximum detection horizontal angle, the difference between the second vertical angle and the preset window value is calculated to obtain the minimum detection vertical angle, and the sum of the second vertical angle and the preset window value is calculated to obtain the maximum detection vertical angle; specifically, taking the second horizontal angle of the target to be tracked as azi 1, the second vertical angle as azi 2, and the preset window value as w as an example, the detection horizontal angle range obtained after limitation can be [azi 1-w, azi1+w], and the detection vertical angle range can be [azi 2-w, azi 2+w].

[0054] In other embodiments, the first point distance between the first target and the second target, and the second point distance between the third target and the fourth target can be calculated based on the second coordinate information and the second angle information, and then the detection range of the current detection cycle of the laser radar can be adjusted according to the first point distance and the second point distance, which is not limited here.

[0055] Step 35: When the current detection cycle of the millimeter wave radar begins, the millimeter wave radar is used to detect the target to be tracked to obtain second detection information.

[0056] The working state of the millimeter-wave radar can be controlled by a clock signal. After the previous detection cycle of the millimeter-wave radar ends, a corresponding high-level / low-level clock signal can be sent to the millimeter-wave radar to enable the millimeter-wave radar to start the current detection cycle, thereby using the millimeter-wave radar to detect the target to be tracked and obtain second detection information.

[0057] Step 36: Determine whether the first tracking result is empty.

[0058] Determine whether the first tracking result is empty. If the first tracking result is empty, it means that the target to be tracked did not appear in the previous detection cycle. In the current detection cycle, there is no need to activate the lidar for accuracy compensation. Only the millimeter-wave radar can be used for detection. Then, the second detection information obtained by the millimeter-wave radar in the current detection cycle is clustered and tracked to update the first tracking result and obtain the second tracking result until the target to be tracked appears in the detection scene.

[0059] Step 37: If the first tracking result is not empty, a frame synchronization signal is sent to the laser radar, so that the laser radar detects the target to be tracked in the first detection range to obtain first detection information.

[0060] When the first tracking result is not empty, it means that the millimeter-wave radar has detected the target to be tracked in the previous detection cycle. At this time, a frame synchronization signal is sent to the laser radar to activate the laser radar, so that the laser radar is used to detect the target to be tracked in the first detection range to obtain first detection information, and then the first detection information is used to compensate for the accuracy of the second detection information obtained by the millimeter-wave radar, and complement the detection information of the millimeter-wave radar to obtain a more accurate second tracking result.

[0061] Furthermore, at the beginning of each detection cycle of the millimeter-wave radar, the above steps 36 to 37 are executed, that is, when the first tracking result is not empty, the millimeter-wave radar needs to send a frame synchronization signal to the laser radar every time it starts a detection cycle, and the tracking result of the millimeter-wave radar in the previous detection cycle is used as the start condition of the laser radar, thereby ensuring the frame synchronization of the millimeter-wave radar and the laser radar, and preventing the millimeter-wave radar from affecting the synchronization of the millimeter-wave radar and the laser radar in the time gap between adjacent detection cycles; it can be understood that the first detection range can also be updated in real time based on the first tracking result obtained by the millimeter-wave radar in the previous detection cycle.

[0062] In a specific implementation, a corresponding driving signal can be generated to the laser radar based on the first detection range obtained in the above steps, so that a micro-electro-mechanical system (MEMS) galvanometer in the laser radar starts to vibrate according to the first detection range, thereby adjusting the detection range of the laser radar to the first detection range; specifically, the driving signal can include an x-axis driving signal and a y-axis driving signal, the x-axis driving signal is used to adjust the horizontal detection angle range of the laser radar, and the y-axis driving signal is used to adjust the vertical detection angle range of the laser radar, and the detection range of the laser radar can be adjusted by adjusting the amplitudes of the x-axis driving signal and the y-axis driving signal; Figure 6 As shown, Figure 6 Figure 3 is a schematic diagram of the amplitude adjustment of the x-axis drive signal, wherein the x-axis drive signal is a sine wave signal. When the laser radar galvanometer reaches the maximum detection angle, the x-axis drive signal provided should be sine wave 1. When the horizontal detection angle is limited, the amplitude of the x-axis drive signal can be reduced and the x-axis drive signal can be adjusted to sine wave 2. The same is true for the y-axis drive signal, which will not be repeated here.

[0063] Step 38: Update the first tracking result based on the first detection information to obtain a second tracking result of the target to be tracked in the current detection cycle.

[0064] The first detection information can be subjected to coordinate transformation to obtain third detection information in the millimeter wave radar coordinate system, and then the target to be tracked can be clustered based on the third detection information and the second detection information to obtain a first clustering result; and then the target to be tracked can be tracked based on the first clustering result to obtain a second tracking result.

[0065] Furthermore, in the process of clustering the target to be tracked according to the third detection information and the second detection information, the third detection information obtained by the lidar can be used as the center point of the clustering, that is, the coordinate information of the target to be tracked in the third detection information is used as the center point. Since the lidar has more accurate detection capabilities than the millimeter wave radar, the detected coordinate information is more accurate, thereby improving the accuracy of the clustering algorithm, and at the same time reducing the time and resource consumption of the clustering algorithm.

[0066] In another specific implementation, the first detection information may be clustered to obtain a second clustering result, and then the target to be tracked may be identified based on the second clustering result to obtain target type information; the second detection information may be clustered based on the target type information to obtain a third clustering result; the target to be tracked may be tracked based on the third clustering result to obtain a second tracking result; it can be understood that the clustering processing, identification processing and tracking processing mentioned in the above steps may be implemented using algorithms / models in the technical field and are not limited here.

[0067] By separately clustering the first detection information of the lidar, combining it with a recognition algorithm to identify the target type, and then feeding it back to subsequent clustering and tracking operations, the algorithm performance and tracking accuracy of target tracking can be improved; specifically, the clustering range in the clustering process of the second detection information and the type database used for tracking processing can be adjusted according to the target type information; for example: based on the second clustering result, the target to be tracked is identified and processed, and the target type of the target to be tracked is an animal. At this time, the animal database can be selected when tracking the target to improve the accuracy of the algorithm while reducing the algorithm time consumption and resource consumption.

[0068] The technical solution adopted in this embodiment can use the more accurate detection information obtained by laser radar detection to perform clustering and tracking operations, which can reduce the time consumption and resource consumption of the clustering algorithm, improve the tracking accuracy of the overall tracking system, and retain the millimeter-wave radar's strong ability to resist severe weather. The detection performance of the millimeter-wave radar and the laser radar are complementary, and the stability of target tracking can be ensured; at the same time, the tracking results of the millimeter-wave radar are used as the start-up conditions of the laser radar to control the working time and working status of the laser radar, and ensure the frame synchronization of the millimeter-wave radar and the laser radar; moreover, the tracking results can also be used to dynamically control the detection range of the laser radar, improve the point cloud output efficiency of the laser radar, save detection time and cost, and thus ensure the real-time performance of the tracking system.

[0069] See also Figure 7 , Figure 7 It is a structural diagram of an embodiment of a target tracking device provided in the present application. The target tracking device 70 includes a memory 71 and a processor 72 connected to each other. The memory 71 is used to store a computer program. When the computer program is executed by the processor 72, it is used to implement the target tracking method based on millimeter wave radar and lidar in the above-mentioned embodiment.

[0070] See also Figure 8 , Figure 8 It is a structural diagram of an embodiment of a computer-readable storage medium provided in the present application. The computer-readable storage medium 80 is used to store a computer program 81. When the computer program 81 is executed by the processor, it is used to implement the target tracking method based on millimeter wave radar and lidar in the above embodiment.

[0071] The computer-readable storage medium 80 may be a server, a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or other media that can store program codes.

[0072] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only illustrative, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0073] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0074] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0075] The above descriptions are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A target tracking method based on millimeter wave radar and laser radar, characterized in that: The method comprises: Acquire a first tracking result obtained by the millimeter wave radar detecting a monitoring scene in a previous detection cycle, where the monitoring scene includes at least one target to be tracked; Adjusting the detection range of the laser radar in the current detection cycle based on the first tracking result to obtain a first detection range; Detecting the target to be tracked in the first detection range by using the laser radar to obtain first detection information; The first tracking result is updated based on the first detection information to obtain a second tracking result of the target to be tracked in the current detection cycle; The first tracking result includes first angle information and first coordinate information of the target to be tracked, the first coordinate information is the coordinate of the target to be tracked in the millimeter-wave radar coordinate system, and the first angle information includes a first horizontal angle and a first vertical angle of the target to be tracked in the millimeter-wave radar coordinate system; the step of adjusting the detection range of the laser radar in the current detection cycle based on the first tracking result to obtain the first detection range includes: Selecting a first reference target group and a second reference target group based on the first angle information; Based on the first coordinate information, coordinate conversion processing is performed on the first reference target group and the second reference target group to obtain second coordinate information and second angle information, where the second coordinate information and the second angle information are coordinate information and angle information of the first reference target group and the second reference target group in a laser radar coordinate system, respectively; The first detection range is determined based on the second coordinate information and the second angle information.

2. The target tracking method based on millimeter wave radar and laser radar according to claim 1 is characterized in that: The first reference target group includes a first target and a second target, and the second reference target group includes a third target and a fourth target; the step of selecting the first reference target group and the second reference target group based on the first angle information includes: Acquire a target to be tracked having the smallest first horizontal angle among all targets to be tracked in the previous detection cycle, and obtain the first target; Acquire the target to be tracked with the largest first horizontal angle among all the targets to be tracked in the previous detection cycle, and obtain the second target; Acquire the target to be tracked with the smallest first vertical angle among all the targets to be tracked in the previous detection cycle to obtain the third target; The target to be tracked having the largest first vertical angle among all the targets to be tracked in the previous detection cycle is obtained to obtain the fourth target.

3. The target tracking method based on millimeter wave radar and laser radar according to claim 2 is characterized in that: The second angle information includes a second horizontal angle and a second vertical angle of the target to be tracked in the laser radar coordinate system, and the first detection range includes a detection horizontal angle range and a detection vertical angle range; the step of adjusting the detection range of the laser radar in the current detection cycle based on the first tracking result to obtain the first detection range includes: Determine the second horizontal angle of the first target and the second horizontal angle of the second target as a minimum horizontal angle and a maximum horizontal angle, respectively; respectively determining the second vertical angle of the third target and the second vertical angle of the fourth target as the minimum vertical angle and the maximum vertical angle; The detection horizontal angle range is calculated based on the minimum horizontal angle and the maximum horizontal angle; The detection vertical angle range is calculated based on the minimum vertical angle and the maximum vertical angle.

4. The target tracking method based on millimeter wave radar and laser radar according to claim 3 is characterized in that: The detection horizontal angle range includes a minimum detection horizontal angle and a maximum detection horizontal angle, the detection vertical angle range includes a minimum detection vertical angle and a maximum detection vertical angle, and the step of calculating the detection horizontal angle range based on the minimum horizontal angle and the maximum horizontal angle includes: Calculate the difference between the minimum horizontal angle and the preset window value to obtain the minimum detection horizontal angle; Calculate the sum of the minimum horizontal angle and the preset window value to obtain the maximum detection horizontal angle; The step of calculating the detection vertical angle range based on the minimum vertical angle and the maximum vertical angle comprises: Calculate the difference between the minimum vertical angle and the preset window value to obtain the minimum detection vertical angle; The sum of the minimum vertical angle and the preset window value is calculated to obtain the maximum detection vertical angle.

5. The target tracking method based on millimeter wave radar and laser radar according to claim 1, characterized in that: The method further comprises: At the beginning of the current detection cycle of the millimeter-wave radar, detecting the target to be tracked by using the millimeter-wave radar to obtain second detection information; Determine whether the first tracking result is empty; If not, a frame synchronization signal is sent to the laser radar, so that the laser radar detects the target to be tracked in the first detection range to obtain the first detection information.

6. The target tracking method based on millimeter wave radar and laser radar according to claim 5, characterized in that: The step of updating the first tracking result based on the first detection information to obtain a second tracking result of the target to be tracked in the current detection cycle includes: Performing coordinate conversion on the first detection information to obtain third detection information in a millimeter wave radar coordinate system; performing clustering processing on the target to be tracked based on the third detection information and the second detection information to obtain a first clustering result; The target to be tracked is tracked based on the first clustering result to obtain the second tracking result.

7. The target tracking method based on millimeter wave radar and laser radar according to claim 5, characterized in that: The step of updating the first tracking result based on the first detection information to obtain a second tracking result of the target to be tracked in the current detection cycle also includes: Performing clustering processing on the first detection information to obtain a second clustering result; Based on the second clustering result, the target to be tracked is identified to obtain target type information; performing clustering processing on the second detection information based on the target type information to obtain a third clustering result; The target to be tracked is tracked based on the third clustering result to obtain the second tracking result.

8. The target tracking method based on millimeter wave radar and laser radar according to claim 1, characterized in that: The method further comprises: The millimeter wave radar and the laser radar are calibrated to determine the detection range.

9. The target tracking method based on millimeter wave radar and laser radar according to claim 8, characterized in that: The step of calibrating the millimeter wave radar and the laser radar to determine the detection range includes: Acquire a first preset detection range of the millimeter wave radar and a second preset detection range of the laser radar; Aligning the perpendicular midline of the first preset detection range with the perpendicular midline of the second preset detection range; The overlap area of ​​the aligned first preset detection range and the aligned second preset detection range is acquired to obtain the detection range.

10. A target tracking device, characterized in that: A memory and a processor connected to each other, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, it is used to implement the target tracking method based on millimeter wave radar and laser radar as described in any one of claims 1-9.

11. A computer-readable storage medium for storing a computer program, characterized in that: When the computer program is executed by a processor, it is used to implement the target tracking method based on millimeter wave radar and laser radar as described in any one of claims 1 to 9.

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