Object Detection Method, Device, Millimeter-Wave Radar, and Storage Medium

Abstract

This application is applicable to the field of millimeter-wave radar technology, and provides a target detection method, device, millimeter-wave radar, and computer-readable storage medium based on millimeter-wave radar. The method includes: performing target detection using a first parameter value of a detection parameter to obtain the number of detected targets; determining a second parameter value corresponding to a target threshold range based on the correspondence between the threshold range and the parameter value of the detection parameter, where the target threshold range is the threshold range to which the number of detected targets belongs; and performing the next target detection using the second parameter value of the detection parameter. This application can adaptively adjust the parameter value of the detection parameter according to the change in the number of detected targets, which can not only ensure accurate detection results but also reduce the data volume, and is beneficial to reducing resource waste, shortening the operation time, and saving device energy consumption.

Description

Technical Field

[0001] This application belongs to the technical field of millimeter-wave radar, and particularly relates to a target detection method, device, millimeter-wave radar and computer-readable storage medium based on millimeter-wave radar. Background Art

[0002] With the development of autonomous vehicles, in-vehicle radars have received increasing attention. Traditional in-vehicle radars include lidar, ultrasonic radar, millimeter-wave radar, etc. Millimeter-wave radar is favored for its advantages such as high resolution, strong anti-interference ability, all-weather operation, and low manufacturing cost.

[0003] Currently, the vast majority of in-vehicle millimeter-wave radars use a single-chip transceiver, usually 4 transmitters and 3 receivers, that is, 12 virtual channels. The in-vehicle radar device transmits a frequency-modulated continuous wave (FMCW) through the transmitting antenna, receives the echo signal reflected after encountering an obstacle through the receiving antenna, converts the echo signal into a digital signal, and outputs the position information of the measured target through a series of signal processing. When the millimeter-wave radar detects a target, it will receive a large amount of data information. A large amount of data means that more storage space, longer calculation time, and slower operating speed are required. To achieve a certain detection accuracy, when the number of receiving antennas and transmitting antennas is fixed, certain parameter values (such as the number of chirps, the number of sampling points, and the sampling frequency) are usually set relatively high. However, when the number of detected targets is small, the relatively high configuration parameters will cause waste of storage resources, computing resources, and calculation time. Summary of the Invention

[0004] The embodiments of this application provide a target detection method, device, millimeter-wave radar and computer-readable storage medium based on millimeter-wave radar, which can select appropriate parameter values for target detection according to the number of detected targets, avoiding resource waste.

[0005] In a first aspect, the embodiments of this application provide a target detection method based on millimeter-wave radar, including:

[0006] Performing target detection using a first parameter value of a detection parameter to obtain the number of detected targets;

[0007] Based on the correspondence between the threshold range and the parameter value of the detection parameter, determining a second parameter value corresponding to the target threshold range, where the target threshold range is the threshold range to which the number of detected targets belongs;

[0008] Performing the next target detection using the second parameter value of the detection parameter.

[0009] Among them, the detection parameters include the number of chirp signals, the number of sampling points, and the sampling frequency, and the first parameter values include the first number of chirp signals, the first number of sampling points, and the first sampling frequency;

[0010] Correspondingly, using the first parameter values of the detection parameters to perform target detection to obtain the number of detected targets includes:

[0011] Transmit a frequency-modulated continuous wave according to the first number of chirp signals and receive the echo signal;

[0012] Sample the echo signal according to the first number of sampling points and the first sampling frequency to obtain sampling data;

[0013] Process the sampling data to obtain the number of detected targets.

[0014] Further, before determining the second parameter values corresponding to the target threshold range based on the correspondence between the threshold range and the parameter values of the sampling parameters, it further includes:

[0015] Create a threshold array, the threshold array is a one-dimensional array, and the value of each element of the threshold array is the number of detected targets;

[0016] Create a parameter array, the parameter array is a two-dimensional array, and the values of multiple elements corresponding to the one-dimensional subscript of the parameter array are the parameter values corresponding to each element of the threshold array;

[0017] Among them, the serial numbers of the one-dimensional subscripts of the threshold array and the parameter array are both used to represent the threshold range;

[0018] Obtain the number of detected targets and the parameter values to be used;

[0019] Store the number of detected targets and the parameter values to be used in the elements with the same serial numbers in the threshold array and the parameter array respectively, to form the correspondence between the number of detected targets, the parameter values, and the threshold range.

[0020] Specifically, creating the threshold array and creating the parameter array includes:

[0021] Create a static threshold array and a corresponding static parameter array to form the correspondence in a static environment;

[0022] And / or,

[0023] Create a dynamic threshold array and a corresponding dynamic parameter array to form the correspondence in a dynamic environment.

[0024] Exemplarily, obtaining the number of detected targets and the parameter values to be used includes:

[0025] When the number of the detected objects to be detected remains unchanged, select the parameter value that minimizes the amount of data in the object detection process as the parameter value to be used.

[0026] It can be understood that the relationship between the number of the detected objects to be detected and the parameter value to be used is positively correlated; the relationship between the number of sampling points and the sampling frequency is positively correlated.

[0027] In a possible implementation manner of the first aspect, after using the first parameter value of the detection parameter to perform object detection and obtaining the number of the detected objects to be detected, it further includes:

[0028] Determine whether the number of the detected objects to be detected is equal to the number of the detected objects obtained in the previous object detection; if so, continue to use the first parameter value of the detection parameter to perform the next object detection;

[0029] If not, determine whether the number of the detected objects to be detected and the number of the detected objects obtained in the previous object detection belong to the same target threshold range; if so, continue to use the first parameter value of the detection parameter to perform the next object detection; otherwise, enter the step: based on the corresponding relationship between the threshold range and the parameter value of the detection parameter, determine the second parameter value corresponding to the target threshold range.

[0030] In a second aspect, an embodiment of the present application provides an object detection device based on a millimeter-wave radar, including:

[0031] An object acquisition module, configured to use the first parameter value of the detection parameter to perform object detection and obtain the number of the detected objects to be detected;

[0032] A parameter search module, configured to determine the second parameter value corresponding to the target threshold range based on the corresponding relationship between the threshold range and the parameter value of the detection parameter, where the target threshold range is the threshold range to which the number of the detected objects to be detected belongs;

[0033] A parameter setting module, configured to use the second parameter value of the detection parameter for the next object detection.

[0034] In a third aspect, an embodiment of the present application provides a millimeter-wave radar, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where when the processor executes the computer program, the method described in any item of the first aspect is implemented.

[0035] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any item of the first aspect is implemented.

[0036] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a millimeter-wave radar, the millimeter-wave radar is caused to execute the method described in any one of the above first aspects.

[0037] It can be understood that for the beneficial effects of the above second aspect to fifth aspect, reference can be made to the relevant descriptions in the above first aspect, which will not be elaborated here.

[0038] The beneficial effect of the embodiment of the present application compared with the prior art is as follows: Based on the number of detected targets, according to the correspondence between the threshold range and the parameter values of the detection parameters, determine the second parameter value corresponding to the target threshold range to which the number of detected targets belongs, and use the second parameter value of the detection parameter for the next target detection. The present application can adaptively adjust the parameter values of the detection parameters according to the change in the number of detected targets, which can not only ensure the accuracy of the detection result, but also reduce the data volume, and is beneficial to reducing resource waste, shortening the operation time, and saving the device energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0040] Figure 1 is a schematic flowchart of a target detection method provided by an embodiment of the present application;

[0041] Figure 2 is a schematic flowchart of establishing a correspondence relationship provided by an embodiment of the present application;

[0042] Figure 3 is a schematic structural diagram of a target detection device provided by an embodiment of the present application;

[0043] Figure 4 is a schematic structural diagram of a millimeter-wave radar provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0045] It should be understood that when used in the specification of this application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0046] It should also be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0047] As used in the specification of this application and the appended claims, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" according to the context. Similarly, the phrases "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" according to the context.

[0048] In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0049] Reference to "one embodiment" or "some embodiments" etc. described in the specification of this application means that in one or more embodiments of this application, the specific features, structures or characteristics described in connection with that embodiment are included. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments" etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0050] The target detection method provided by the embodiments of this application can be applied to the detection scenario of a target by a millimeter-wave radar, and can flexibly adjust detection parameters according to the number of targets to be detected, which can not only ensure the accuracy of the detection result, but also reduce the amount of data to be processed and reduce the waste of time and computing resources.

[0051] Figure 1 is a schematic flowchart of the target detection method provided by an embodiment of this application. As Figure 1 shown, the target detection method based on a millimeter-wave radar includes the following steps:

[0052] S11. Perform target detection using the first parameter value of the detection parameters to obtain the number of detected targets.

[0053] The data volume of the millimeter-wave radar is determined by the following formula:

[0054] Number of sampling points * Number of bytes per sampling point * Number of chirp signals in one frame * Number of frames * Number of receiving antennas * Number of transmitting antennas;

[0055] Therefore, when the model and communication protocol of the millimeter-wave radar are determined, the number of antennas and the number of bytes are relatively fixed. The adjustable detection parameters generally include the number of chirp signals (chirp number), the number of sampling points, and the sampling frequency (number of frames). The first parameter value includes the first number of chirp signals, the first number of sampling points, and the first sampling frequency.

[0056] The RF front-end of the millimeter-wave radar emits frequency-modulated continuous waves (FMCW) at regular time intervals. After the receiving antenna receives the echo signal, it performs mixing and ADC sampling; then, it performs Range FFT, Doppler FFT, CFAR, AOA processing, and clustering tracking on the received data information to obtain the number of detected targets.

[0057] Correspondingly, performing target detection using the first parameter value of the detection parameters to obtain the number of detected targets includes:

[0058] Transmit frequency-modulated continuous waves according to the first number of chirp signals and receive the echo signal; sample the echo signal according to the first number of sampling points and the first sampling frequency to obtain sampled data; process the sampled data to obtain the number of detected targets.

[0059] It should be noted that in this embodiment, the optimal beam width of the radar is plus or minus 15 degrees, aiming to better detect the targets in the direction directly facing the radar and improve the detection accuracy.

[0060] S12. Based on the correspondence between the threshold range and the parameter value of the detection parameters, determine the second parameter value corresponding to the target threshold range.

[0061] Before this, it also includes: establishing the correspondence between the threshold range and the parameter value of the detection parameters. The threshold range is divided according to the number of detected targets, and the detection parameters corresponding to different numbers of detected targets may be different.

[0062] The corresponding relationships include static corresponding relationships and dynamic corresponding relationships. Among them, the static corresponding relationship is used when the detected target is relatively stationary with respect to the millimeter-wave radar. For example, when the vehicle equipped with the millimeter-wave radar and other vehicles are all waiting for the traffic light; the dynamic corresponding relationship is applied when the detected target is in a moving state relative to the millimeter-wave radar. For example, when the vehicle speeds of the vehicle equipped with the millimeter-wave radar and other vehicles are not equal.

[0063] Specifically: The target threshold range is the threshold range to which the number of detected targets belongs. According to the relative state between the millimeter-wave radar and the detected target, in the corresponding static corresponding relationship or dynamic corresponding relationship, based on the number of detected targets detected in step S11, determine the threshold range to which this number belongs as the target threshold range, and obtain the detection parameter corresponding to this target threshold range from the corresponding relationship as the second parameter value.

[0064] Among them, the corresponding relationship between the threshold range and the parameter value of the detection parameter is the corresponding relationship between each threshold range of the number of detected targets stored in advance and the parameter values of the number of chirp signals (chirp number), the number of sampling points, and the sampling frequency (number of frames) to be used.

[0065] As a possible implementation, after using the first parameter value for target detection to obtain the number of detected targets, it further includes: determining whether the number of detected targets is equal to the number of detected targets obtained in the previous target detection; if so, continue to use the first parameter value of the detection parameter for the next target detection; if not, determine whether the number of detected targets and the number of detected targets obtained in the previous target detection belong to the same target threshold range; if so, continue to use the first parameter value of the detection parameter for the next target detection; otherwise, enter the step: based on the corresponding relationship between the threshold range and the parameter value of the detection parameter, determine the second parameter value corresponding to the target threshold range.

[0066] If the number of detected targets increases and the target threshold range where this number is located rises, then correspondingly increase the number of sampling points, the sampling frequency, and / or the chirp number to improve the sampling accuracy of the millimeter-wave radar; if the number of detected targets decreases and the target threshold range where this number is located drops, then correspondingly reduce the number of sampling points, the sampling frequency, and / or the chirp number in one frame, and reduce the amount of received data as much as possible without affecting the detection result, and improve the data calculation ability.

[0067] S13. Use the second parameter value of the detection parameter for the next target detection.

[0068] It should be noted that modifying the parameter values of the detection parameters will affect the ranging and speed measurement capabilities of the millimeter-wave radar to a certain extent. Therefore, when modifying the corresponding parameter values, it is necessary to ensure that the impact on the ranging and speed measurement capabilities of the millimeter-wave radar is as small as possible. When necessary, the amplitude of each parameter value adjustment should be limited so that the parameter values gradually approach the second parameter value during multiple adjustments.

[0069] Through the method provided in this embodiment, the millimeter-wave radar can adaptively configure parameters, adjust the detection parameters according to specific situations, reduce the data volume, and improve the speed of data analysis.

[0070] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0071] Further, on the basis of the above embodiments, this embodiment gives an example of the method for establishing the correspondence between the threshold range and the parameter values of the detection parameters.

[0072] Figure 2 is a schematic flowchart of establishing the correspondence provided by an embodiment of the present application. As Figure 2 shown, establishing the correspondence includes the following steps:

[0073] S21, create a threshold array and a parameter array.

[0074] The threshold array is a one-dimensional array, and the value of each element of the threshold array is the number of detected targets; the parameter array is a one-dimensional array or a two-dimensional array, and the values of multiple elements corresponding to the one-dimensional subscript of the parameter array are the parameter values corresponding to each element of the threshold array; among them, the sequence numbers of the one-dimensional subscripts of the threshold array and the parameter array are both used to represent the threshold range.

[0075] Corresponding to the static correspondence relationship described in the above embodiment, create a static threshold array and the corresponding static parameter array to form the correspondence relationship in the static environment; and / or, corresponding to the dynamic correspondence relationship described in the above embodiment, create a dynamic threshold array and the corresponding dynamic parameter array to form the correspondence relationship in the dynamic environment.

[0076] For example, if the number of elements of the threshold array A is K and the element value N represents the threshold range, then A[K] = {N 1 , N 2 , …, N k}; The number of columns of the corresponding parameter array X depends on the number of detection parameters to be adjusted. The detection parameters include the number of sampling points, the sampling frequency, and the number of Chirps. Therefore, the number of columns of the parameter array X can be 1 to 3 columns; each row of the parameter array X corresponds to a threshold range of the threshold array A; if the parameter values M in each row are respectively: the parameter value in the first column represents the number of sampling points, the parameter value in the second column represents the sampling frequency, and the parameter value in the third column represents the number of Chirps, then the parameter array X is expressed as

[0077] S22, obtain the number of detected targets and the parameter values to be used.

[0078] Specifically, the parameter values to be used corresponding to the number of detected targets can be obtained through experiments. When using a millimeter-wave radar for target detection, by modifying the detection parameters (one or more of the number of sampling points, the sampling frequency, and the number of Chirps) multiple times, and when the number of detected targets remains unchanged, select the parameter values that minimize the amount of data in the target detection process as the parameter values to be used. These parameter values can make the millimeter-wave radar process data at the fastest speed without affecting the detection results.

[0079] Furthermore, determine the parameter values to be used when the number of detected targets is within a certain threshold range.

[0080] It can be understood that the relationship between the number of detected targets and the parameter values to be used is positively correlated; the relationship between the number of sampling points and the sampling frequency is positively correlated.

[0081] In this embodiment, the millimeter-wave radar is applied to target detection in a traffic scenario, and relevant data needs to be collected through experiments based on a large number of application scenarios. The experiments need to include various situations encountered by vehicles during daily use to obtain values in a real application environment.

[0082] S23, store the number of detected targets and the parameter values to be used in the same element serial numbers in the threshold array and the parameter array respectively, to form the corresponding relationship between the number of detected targets, the parameter values, and the threshold range.

[0083] Following the above example, divide the number of detected targets into K threshold ranges and store them in the threshold array A in sequence; according to the number of detected targets and the parameter values to be used obtained in step S22, corresponding to the threshold range N in the threshold array A 1 , store the parameter values to be used in the first column of the parameter array X, corresponding to the threshold range N in the threshold array A 2 , store the parameter values to be used in the second column of the parameter array X, and so on, until the K threshold ranges and the K columns of parameter values correspond one by one.

[0084] For both the static correspondence and the dynamic correspondence, the element values of the threshold array and the parameter array are obtained in the above manner.

[0085] Corresponding to the object detection method described in the above embodiment, Figure 3 FIG. is a schematic structural diagram of an object detection device provided in this embodiment. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown.

[0086] Refer to Figure 3 , the device includes:

[0087] An object acquisition module 31, configured to perform object detection by using a first parameter value of a detection parameter to obtain the number of detected objects;

[0088] A parameter search module 32, configured to determine a second parameter value corresponding to a target threshold range based on the correspondence between the threshold range and the parameter value of the detection parameter, where the target threshold range is the threshold range to which the number of detected objects belongs;

[0089] A parameter setting module 33, configured to use the second parameter value of the detection parameter for the next object detection.

[0090] It should be noted that for the information interaction, execution process, etc. between the above-mentioned device / modules, since they are based on the same concept as the method embodiment of the present application, their specific functions and the technical effects brought thereby can be specifically referred to the method embodiment part, and will not be elaborated here.

[0091] Those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above-mentioned division of each functional unit and module is used as an example for illustration. In practical applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated here.

[0092] Figure 4 FIG. is a schematic structural diagram of a millimeter-wave radar provided in an embodiment of the present application. As Figure 4 shown, the millimeter-wave radar of this embodiment includes: at least one processor 40 ( Figure 4Only one is shown in the figure), a memory 41, and a computer program 42 stored in the memory 41 and executable on the at least one processor 40. When the processor 40 executes the computer program 42, the steps in any of the above method embodiments are implemented.

[0093] Those skilled in the art can understand that Figure 4 This is only an example of the structure of the millimeter-wave radar and does not constitute a limitation thereto. It may include more or fewer components than those shown in the figure, or combine some components, or different components. For example, it may also include a network access device, etc.

[0094] The so-called processor 40 may be a central processing unit (CPU), and this processor 40 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or this processor may also be any conventional processor, etc.

[0095] In some embodiments, the memory 41 may be an internal storage unit of the millimeter-wave radar, such as a hard disk or memory, or may be an external storage device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 41 may also include both an internal storage unit and an external storage device. The memory 41 is used to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program, etc. The memory 41 may also be used to temporarily store data that has been output or will be output.

[0096] The embodiment of the present application also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments can be implemented.

[0097] The embodiment of the present application provides a computer program product, and when the computer program product runs on a mobile terminal, the mobile terminal is caused to execute the steps in the above method embodiments.

[0098] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-described embodiment methods of the present application, a computer program can be used to instruct relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can at least include: any entity or device capable of carrying the computer program code to the photographing device / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0099] In the above embodiments, the descriptions of the various embodiments have their own focuses. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0100] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0101] In the embodiments provided in the present application, it should be understood that the disclosed device / equipment and method can be implemented in other ways. For example, the device / equipment embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in an electrical, mechanical, or other form.

[0102] The unit described as a separation component may or may not be physically separated. The component displayed as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0103] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A target detection method based on millimeter-wave radar, characterized in that, it includes: Performing target detection using the first parameter value of the detection parameter to obtain the number of detected targets; Based on the correspondence between the threshold range and the parameter value of the detection parameter, determining the second parameter value corresponding to the target threshold range, where the target threshold range is the threshold range to which the number of detected targets belongs; Performing the next target detection using the second parameter value of the detection parameter; Before determining the second parameter value corresponding to the target threshold range based on the correspondence between the threshold range and the parameter value of the detection parameter, it further includes: Creating a threshold array, where the threshold array is a one-dimensional array, and the value of each element of the threshold array is the number of detected targets; Creating a parameter array, where the parameter array is a two-dimensional array, and the values of multiple elements corresponding to the one-dimensional subscript of the parameter array are the parameter values corresponding to each element of the threshold array; Wherein, the serial numbers of the one-dimensional subscripts of the threshold array and the parameter array are both used to represent the threshold range; Obtaining the number of detected targets and the parameter value to be used; Storing the number of detected targets and the parameter value to be used in the elements with the same serial number in the threshold array and the parameter array respectively, to form the correspondence between the number of detected targets, the parameter value, and the threshold range.

2. The target detection method according to claim 1, characterized in that, the detection parameter includes the number of chirp signals, the number of sampling points, and the sampling frequency, and the first parameter value includes the first number of chirp signals, the first number of sampling points, and the first sampling frequency; Performing target detection using the first parameter value of the detection parameter to obtain the number of detected targets, including: Transmitting a frequency-modulated continuous wave according to the first number of chirp signals and receiving an echo signal; Sampling the echo signal according to the first number of sampling points and the first sampling frequency to obtain sampling data; Processing the sampling data to obtain the number of detected targets.

3. The target detection method according to claim 2, characterized in that, Creating the threshold array and creating the parameter array includes: Creating a static threshold array and a corresponding static parameter array to form a correspondence in a static environment; and / or, Creating a dynamic threshold array and a corresponding dynamic parameter array to form a correspondence in a dynamic environment.

4. The target detection method according to claim 2, characterized in that, Obtaining the number of detected targets and the parameter value to be used includes: When the number of detected targets remains unchanged, selecting the parameter value that minimizes the data volume in the target detection process as the parameter value to be used.

5. The target detection method according to claim 4, characterized in that: The relationship between the number of detected targets and the parameter value to be used is positively correlated; The relationship between the number of sampling points and the sampling frequency is positively correlated.

6. The target detection method according to claim 1, characterized in that, After performing target detection using the first parameter value to obtain the number of detected targets, it further includes: Determine whether the number of the detected targets is equal to the number of the detected targets obtained in the previous target detection; if so, continue to perform the next target detection using the first parameter value of the detection parameter; If not, determine whether the number of the detected targets and the number of the detected targets obtained in the previous target detection belong to the same target threshold range; if so, continue to perform the next target detection using the first parameter value of the detection parameter; otherwise, enter the step: based on the correspondence between the threshold range and the parameter value of the detection parameter, determine the second parameter value corresponding to the target threshold range.

7. A target detection device based on a millimeter-wave radar, characterized in that it includes: A target acquisition module, configured to perform target detection using the first parameter value of the detection parameter to obtain the number of detected targets; A parameter search module, configured to determine the second parameter value corresponding to the target threshold range based on the correspondence between the threshold range and the parameter value of the detection parameter, where the target threshold range is the threshold range to which the number of the detected targets belongs; A parameter setting module, configured to use the second parameter value of the detection parameter for the next target detection; The target detection device is further configured to: Create a threshold array, where the threshold array is a one-dimensional array, and the value of each element of the threshold array is the number of detected targets; Create a parameter array, where the parameter array is a two-dimensional array, and the values of multiple elements corresponding to the one-dimensional subscript of the parameter array are the parameter values corresponding to each element of the threshold array; Wherein, the serial numbers of the one-dimensional subscripts of the threshold array and the parameter array are both used to represent the threshold range; Obtain the number of detected targets and the parameter value to be used; Store the number of detected targets and the parameter value to be used in the elements with the same serial numbers in the threshold array and the parameter array respectively, to form the correspondence between the number of detected targets, the parameter value and the threshold range.

8. A millimeter-wave radar, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method described in any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that When the computer program is executed by a processor, the method described in any one of claims 1 to 6 is implemented.

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