A radar data processing method, device and equipment for detecting a target and a medium

Abstract

Embodiments of the present application disclose a radar data processing method, device and equipment for detecting a target and a medium. The method comprises: acquiring radar data of the target; wherein the radar data is discrete point data emitted by a radar transmitter, returned by the target and received by a radar receiver; determining a discrete center line of the radar data according to speed information of the radar data; and determining points in the radar data that meet a preset screening condition as feature points of the target based on the discrete center line. The technical solution can effectively improve the accuracy of radar detection, avoid false alarms or multiple alarms of the alarm device, reduce resource waste and improve the safety of ship travel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and in particular to a radar data processing method and device for detecting a target, equipment and a medium. BACKGROUND

[0002] With the development of navigation technology, the navigation demand of various types of ships gradually increases. For example, passenger ships are used for carrying passengers, cargo ships are used for transporting goods, fishing ships are used for catching fish and shrimps, and research ships are used for studying ocean science. Therefore, how to improve the driving safety of the ships is an important problem that needs to be concerned in the navigation process.

[0003] The traditional method is to detect the position or speed information of the ships by using a millimeter wave radar, and then make corresponding alarm measures or risk avoidance measures according to the detected ship information, so as to achieve the purpose of warning the ships or avoiding danger.

[0004] However, there are limitations in detecting ship information by using a millimeter wave radar. For the same detection target, the millimeter wave radar will detect a plurality of scattered discrete points. In this case, the number, position and speed information of the ships cannot be accurately judged according to the detection results only, so that the alarm device cannot make a correct response, and false or multiple alarms are likely to occur. SUMMARY

[0005] The present application provides a radar data processing method and device for detecting a target, equipment and a medium, which can effectively improve the accuracy of radar detection, avoid false or multiple alarms of the alarm device, reduce resource waste, and improve the safety of ship driving.

[0006] According to an aspect of the present application, a radar data processing method for detecting a target is provided, which comprises:

[0007] acquiring radar data of a detection target; wherein the radar data is discrete point data emitted by a radar transmitter, returned by the detection target and received by a radar receiver;

[0008] determining a discrete center line of the radar data according to speed information of the radar data;

[0009] based on the discrete center line, determining points in the radar data that meet a preset screening condition as feature points of the detection target.

[0010] Optionally, determining a discrete center line of the radar data according to speed information of the radar data comprises:

[0011] determining an included angle between the detection target and a radar normal line according to a first direction speed and a second direction speed of the radar data; wherein the first direction and the second direction are not on the same straight line.

[0012] determining a slope of the discrete center line based on the included angle;

[0013] determining the discrete center line of the radar data according to the slope of the discrete center line and the distribution position of each radar data.

[0014] Optionally, the included angle between the detected target and the radar normal line is determined according to the first direction velocity and the second direction velocity of the radar data, including:

[0015] for each radar data, an included angle value of each radar data is determined according to the arctangent value of the ratio of the second direction velocity to the first direction velocity;

[0016] the included angle values of all radar data are averaged to obtain the included angle between the detected target and the radar normal line.

[0017] Optionally, the slope of the discrete center line is determined based on the included angle, including:

[0018] the tangent value of the included angle is taken as the slope of the discrete center line.

[0019] Optionally, the discrete center line of the radar data is determined according to the slope of the discrete center line and the distribution position of each radar data, including:

[0020] selecting a first boundary point and a second boundary point; the first boundary point and the second boundary point are respectively located on both sides of the slope direction of the discrete center line;

[0021] determining a position parameter of the discrete center line according to the midpoint of the line connecting the first boundary point and the second boundary point;

[0022] determining the distribution position of each radar data according to the position parameter;

[0023] according to the distribution position of each radar data, a bisection method calculation is performed based on the first boundary point, the second boundary point and the midpoint of the line to obtain a discrete center line equation in which the distribution position of each radar data meets a preset condition.

[0024] Optionally, the preset condition is that the distribution of radar data on both sides of the discrete center line is 50% respectively.

[0025] Optionally, based on the discrete center line, the points in the radar data that meet the preset screening condition are determined as feature points of the detected target, including:

[0026] determining the points within a preset distance range of the discrete center line as reference points;

[0027] Determine a feature point of the detected target from the reference points based on a radar data distribution of a preset area of each reference point.

[0028] According to another aspect of the present application, a radar data processing device for detecting a target is provided, comprising:

[0029] A radar data acquisition module is configured to acquire radar data of a detected target, wherein the radar data is discrete point data emitted by a radar transmitter, returned by the detected target, and received by a radar receiver;

[0030] A discrete center line determination module is configured to determine a discrete center line of the radar data according to speed information of the radar data;

[0031] A target feature point determination module is configured to determine, based on the discrete center line, a point in the radar data that satisfies a preset screening condition as a feature point of the detected target.

[0032] According to another aspect of the present application, a radar data processing electronic device for detecting a target is provided, comprising:

[0033] At least one processor; and

[0034] A memory in communication connection with the at least one processor; wherein,

[0035] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the radar data processing method for detecting a target according to any one of the embodiments of the present application.

[0036] According to another aspect of the present application, a computer readable storage medium is provided, and the computer readable storage medium stores computer instructions for enabling a processor to execute the radar data processing method for detecting a target according to any one of the embodiments of the present application.

[0037] The technical solution of the embodiments of the present application acquires radar data of a detected target, wherein the radar data is discrete point data emitted by a radar transmitter, returned by the detected target, and received by a radar receiver; determines a discrete center line of the radar data according to speed information of the radar data; and determines, based on the discrete center line, a point in the radar data that satisfies a preset screening condition as a feature point of the detected target. The technical solution can effectively improve the accuracy of radar detection, avoid false alarms or multiple alarms of the alarm device, reduce resource waste, and improve the safety of ship travel.

[0038] It is to be understood that the details set forth herein do not limit the scope of the embodiments of the application to the specific embodiments described. The foregoing detailed description has set forth various embodiments of the devices and / or processes via the use of specific terminology. However, embodiments of the application should not be construed as limited to the foregoing aspects, and the terminology used herein should not be read to limit the claims by implication to specific embodiments. BRIEF DESCRIPTION OF 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 needed to be used in the embodiments description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0040] Figure 1 is a flow chart of a radar data processing method for detecting a target according to an embodiment of the present application;

[0041] Figure 2 is a flow chart of a radar data processing method for detecting a target according to an embodiment of the present application;

[0042] Figure 3 is a structural schematic diagram of a radar data processing system for detecting a target according to an embodiment of the present application;

[0043] Figure 4 is a structural schematic diagram of a radar data processing device for detecting a target according to an embodiment of the present application;

[0044] Figure 5 is a structural schematic diagram of an electronic device for implementing a radar data processing method for detecting a target according to an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the technical personnel in the art better understand the present application scheme, the following will combine the drawings in the embodiments of the present application, and the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only some embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort should be within the scope of protection of the present application.

[0046] It should be noted that the terms "first", "second", "target", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0047] Embodiment one

[0048] Figure 1 A flowchart of a radar data processing method for detecting a target is provided for the first embodiment of the present application. The present embodiment can be applicable to the case of determining the feature points of the detected target based on discrete radar data. The method can be executed by a radar data processing device for detecting a target. The radar data processing device for detecting a target can be realized in the form of hardware and / or software, and can be configured in an electronic device with data processing capability. As shown in the figure, the method comprises: Figure 1

[0049] S110, acquiring radar data of a detected target; wherein the radar data is discrete point data received by a radar receiver after being emitted by a radar transmitter and returned by the detected target.

[0050] Wherein, the detected target can refer to an object entering the radar detection area. For example, the detected target can be an obstacle or a passing ship. The radar data can refer to discrete point data obtained by detecting the detected target by a millimeter wave radar. Wherein, the millimeter wave radar can refer to a radar whose working frequency band is in the millimeter wave (electromagnetic wave with a wavelength of 1-10 millimeters) frequency band. For example, the radar data can include position information, speed information, distance information and azimuth angle information of the detected target.

[0051] Specifically, the millimeter wave radar can include a radar transmitter and a radar receiver. In the present embodiment, when detecting by the millimeter wave radar, the radar transmitter can first emit millimeter waves outward through an antenna, and the radar receiver can receive the reflection signal of the detected target after being returned by the detected target. The reflection signal will be in the form of discrete point cloud, and the discrete point data contained therein is the radar data. It should be noted that according to the detection characteristics of the millimeter wave radar, for the same detected target, the millimeter wave radar can detect multiple discrete points.

[0052] ​S120, determine a discrete center line of the radar data according to speed information of the radar data.

[0053] The speed information can include a speed size and a speed direction. The discrete center line can be a straight line that can represent a centralized distribution trend of the radar data. It should be noted that the radar data is distributed around the discrete center line, and can be located on both sides of the discrete center line or on the discrete center line.

[0054] In this embodiment, the discrete center line equation can be set as y=kx+b, where k and b represent a slope and an intercept of the discrete center line equation, respectively. Then, according to the speed information (including the speed size and the speed direction) of the radar data, the linear fitting of the radar data is performed by solving the values of k and b, so as to determine the discrete center line of the radar data. For example, the least square method, the gradient descent method or the Gauss-Newton method can be used to perform the linear fitting of the radar data, and the fitting method of the discrete center line is not limited in this embodiment.

[0055] S130, determine a point in the radar data that meets a preset screening condition as a feature point of the detection target based on the discrete center line.

[0056] The preset screening condition can be a condition that is preset for screening the radar data. For example, the preset screening condition can be set as the closest to the discrete center line. The feature point can be a point selected from the radar data to represent the detection target. For example, the feature point of the approaching ship can be the center point of the bow, and the feature point of the departing ship can be the center point of the stern.

[0057] In this embodiment, the point in the radar data that meets the preset screening condition can be determined as the feature point of the detection target according to the discrete center line. Alternatively, the point in the radar data that meets the preset screening condition can be determined as the feature point of the detection target based on the discrete center line, including: determining a point within a preset distance range of the discrete center line as a reference point; and determining the feature point of the detection target from the reference point based on the distribution of the radar data in a preset region of each reference point.

[0058] The preset distance can refer to a distance of a discrete point to a discrete center line. The preset distance range can refer to a range of an area meeting the preset distance. For example, assuming that the preset distance is set to 0.2 meters, the preset distance range refers to a range of an area with a distance of less than or equal to 0.2 meters to the discrete center line. The reference point can refer to a discrete point in the preset distance range, that is, a discrete point with a distance of less than or equal to the preset distance to the discrete center line. The preset area can refer to a pre-set area containing a certain reference point. For example, the preset area can be set to a circular area with a distance of less than or equal to 5 centimeters from the reference point, or a rectangular area with a length of 6 centimeters and a width of 4 centimeters and the reference point as the center. It should be noted that the size of the preset distance and the size and shape of the preset area in the embodiment are not limited, and can be flexibly set according to actual application requirements.

[0059] In the embodiment, first, points in the preset distance range of the discrete center line are determined as reference points, and then feature points of the detection target are determined from the reference points according to the radar data distribution of the preset area of each reference point. For example, assuming that the preset distance is 0.2 meters and the preset area is a circular area with a radius of 5 centimeters. First, all discrete points with a distance of less than or equal to 0.2 meters to the discrete center line are found and taken as reference points. Then, for each reference point, a circular preset area with a radius of 5 centimeters and the reference point as the center is determined, that is, each reference point has a corresponding circular preset area. Then, according to the radar data distribution of the preset area of each reference point, the number of discrete points in the preset area of each reference point is counted. Then, from the reference points, a reference point with a distance closest to the millimeter wave radar and the discrete center line and a larger number of discrete points in the preset area is selected as a feature point of the detection target. It should be noted that the reference point with a larger number of discrete points in the preset area is selected to avoid the reference point being an isolated point or a noise point, thereby improving the accuracy of target detection.

[0060] Through such a setting, the scheme can avoid the interference of isolated points or noise points, so that the feature point of the detection target is more representative, thereby improving the accuracy of target detection.

[0061] The technical scheme of the embodiment of the application acquires radar data of a detection target, wherein the radar data is discrete point data emitted by a radar transmitter and received by a radar receiver after being returned by the detection target; a discrete center line of the radar data is determined according to speed information of the radar data; and a point in the radar data meeting a preset screening condition is determined as a feature point of the detection target based on the discrete center line. The technical scheme can effectively improve the accuracy of radar detection, avoid false alarms or multiple alarms of an alarm device, reduce resource waste, and improve the safety of ship travel.

[0062] Embodiment two

[0063] Figure 2 A flow chart of a radar data processing method for detecting a target is provided for the second embodiment of the present application, which is optimized based on the above-mentioned embodiment. The specific optimization is that: determining a discrete center line of the radar data according to speed information of the radar data, comprising: determining an included angle between the target and a radar normal line according to a first direction speed and a second direction speed of the radar data; wherein the first direction and the second direction are not on the same straight line; determining a slope of the discrete center line based on the included angle; and determining the discrete center line of the radar data according to the slope of the discrete center line and a distribution position of each radar data.

[0064] As shown in Figure 2 , the method of the present embodiment specifically comprises the following steps:

[0065] S210, acquiring radar data of a target; wherein the radar data is discrete point data emitted by a radar transmitter, returned by the target and received by a radar receiver.

[0066] S220, determining an included angle between the target and a radar normal line according to a first direction speed and a second direction speed of the radar data; wherein the first direction and the second direction are not on the same straight line.

[0067] The first direction and the second direction can respectively be two component speed directions of decomposing a speed vector of the target. Specifically, the first direction and the second direction form an included angle, and the included angle is not equal to an integer multiple of a straight angle, i.e. the first direction and the second direction are not on the same straight line. The first direction speed and the second direction speed can respectively be the speed of the first direction and the second direction. The radar normal line can be a bisector of a radar detection angle. The included angle between the target and the radar normal line can be an included angle between a straight line connecting the target and the radar and the radar normal line. In particular, if the target is in the direction of the radar normal line, the included angle between the target and the radar normal line is 0.

[0068] In the present embodiment, the direction of the radar normal line can be taken as the first direction, and any direction not on the same straight line as the first direction can be taken as the second direction, for example, the included angle between the first direction and the second direction is 60 degrees. In particular, the direction perpendicular to the first direction can be taken as the second direction, i.e. the included angle between the first direction and the second direction is 90 degrees. After determining the first direction and the second direction, the speed vector is decomposed into the first direction and the second direction according to the speed information of the radar data to obtain the first direction speed and the second direction speed, and then the included angle between the target and the radar normal line can be obtained according to the first direction speed, the second direction speed and the included angle between the first direction and the second direction by using the trigonometric function relationship.

[0069] It should be noted that if the first direction is perpendicular to the second direction, the angle between the detection target and the radar normal line can be directly obtained by using the inverse tangent function of the first direction speed and the second direction speed; if the first direction is not perpendicular to the second direction, the angle between the detection target and the radar normal line can be first converted to the first direction and the direction perpendicular to the first direction according to the angle between the first direction and the second direction based on the trigonometric function relationship, and then the angle between the detection target and the radar normal line is solved based on the converted direction.

[0070] In this embodiment, the angle between the detection target and the radar normal line is determined according to the first direction speed and the second direction speed of the radar data, which includes: for each radar data, the angle value of each radar data is determined according to the inverse tangent value of the ratio of the second direction speed to the first direction speed; and the average of the angle values of all radar data is taken to obtain the angle between the detection target and the radar normal line.

[0071] This embodiment can be applied to the case where the first direction is perpendicular to the second direction. In this embodiment, for each radar data, the angle value of each radar data can be first determined according to the inverse tangent value of the ratio of the second direction speed to the first direction speed, and then the average of the angle values of all radar data is taken to obtain the angle between the detection target and the radar normal line. For example, assuming that the number of radar data is num, the first direction speed is xspeed, and the second direction speed is yspeed, the angle value of each radar data can be calculated by the formula angle=arctan(yspeed / xspeed), and then the angle between the detection target and the radar normal line can be calculated by the formula ave_angle=(∑angle) / num. Wherein, angle represents the angle value of each radar data, ∑angle represents the sum of the angle values of each radar data, and ave_angle represents the average of the angle values of all radar data, that is, the angle between the detection target and the radar normal line.

[0072] By such a setting, the angle between the detection target and the radar normal line can be quickly obtained according to the inverse tangent value of the ratio of the second direction speed to the first direction speed in the case where the first direction is perpendicular to the second direction.

[0073] S230, determining the slope of the discrete center line based on the angle.

[0074] The slope of the discrete center line can be used to represent the inclination degree of the discrete center line relative to the first direction. It can be understood that the greater the slope is, the greater the inclination degree is. In this embodiment, after the angle between the detection target and the radar normal line is determined, the first direction can be taken as the reference direction to determine the slope of the discrete center line. Specifically, the equation of the discrete center line can be set as y=k×x+b, and the value of the slope k is solved according to the angle between the detection target and the radar normal line.

[0075] Optionally, the slope of the discrete center line is determined based on the included angle, including: taking a tangent value of the included angle as the slope of the discrete center line. In the embodiment, the slope of the discrete center line can be calculated by the formula k=tan(ave_angle).

[0076] The scheme can quickly determine the slope of the discrete center line through the formula.

[0077] S240, determining the discrete center line of the radar data according to the slope of the discrete center line and the distribution positions of the radar data.

[0078] In the embodiment, the value of the slope k has been determined according to the discrete center line equation y=kx+b, and only the value of b needs to be determined to determine the discrete center line of the radar data. Optionally, the discrete center line of the radar data is determined according to the slope of the discrete center line and the distribution positions of the radar data, including: selecting a first boundary point and a second boundary point; the first boundary point and the second boundary point are located on the two sides of the slope direction of the discrete center line; determining a position parameter of the discrete center line according to a midpoint of a line connecting the first boundary point and the second boundary point; determining the distribution positions of the radar data according to the position parameter; and performing a dichotomy calculation based on the first boundary point, the second boundary point and the midpoint of the line to obtain the discrete center line equation in which the distribution positions of the radar data meet a preset condition.

[0079] The first boundary point and the second boundary point can be two discrete points located on the left and right sides of the slope direction of the discrete center line and farthest from the discrete center line. The position parameter can be the value of b in the discrete center line equation y=kx+b. The preset condition can be a preset distribution condition of the radar data. For example, the preset condition can be set according to the distance of each discrete point to the discrete center line, or the preset condition can be set according to the proportion of the number of discrete points on the two sides of the discrete center line, and the setting method of the preset condition is not limited in the embodiment. Optionally, the preset condition is that the distribution of the radar data on the two sides of the discrete center line is 50% respectively, that is, the total number of the radar data distributed on the two sides of the discrete center line is the same. In this way, the discrete center line can be determined as the center line of the detection target, which helps to better determine the feature points of the detection target.

[0080] In the embodiment, first, two discrete points located on the left and right sides of the slope direction of the discrete center line and farthest from the discrete center line are selected as the first boundary point and the second boundary point respectively, and then the coordinates of the two boundary points are determined according to the position information of the first boundary point and the second boundary point, and the coordinates of the midpoint of the line connecting the two boundary points are determined. Specifically, assuming that the coordinates of the first boundary point and the second boundary point are (x1, y1) and (x2, y2) respectively, the coordinates of the midpoint of the line connecting the two boundary points can be calculated by averaging the two boundary points, that is, the coordinates of the midpoint of the line connecting the two boundary points can be expressed as By substituting the coordinates and the k value obtained above into the discrete center line equation y=k×x+b, the b value, that is, the position parameter of the discrete center line, can be obtained.

[0081] In the embodiment, after the position parameter of the discrete center line is determined, the specific expression of the discrete center line equation y=k×x+b can be obtained, that is, the discrete center line can be determined. Then the distribution positions of the radar data near the discrete center line can be determined. According to the distribution positions of the radar data, the bisection method is used based on the first boundary point, the second boundary point and the midpoint of the line connecting the two boundary points to obtain the discrete center line equation whose distribution positions of the radar data meet the preset condition.

[0082] Specifically, assuming that the preset condition is that the distribution of the radar data on both sides of the discrete center line is 50% respectively. First, the midpoint coordinate m1 of the line connecting the first boundary point and the second boundary point is calculated , and the b value obtained according to m1 is recorded as b1. It is judged whether the distribution positions of the radar data near the discrete center line y=k×x+b1 thus determined meet the preset condition. If the preset condition is met, b1 is directly determined as b; if the preset condition is not met, the distribution of the radar data on both sides of the discrete center line is further judged, and the b value and the discrete center line are calculated according to the bisection method. Assuming that the preset condition is not met, and the radar data on the left and right sides of the discrete center line accounts for 70% and 30% respectively, indicating that the radar data on the left side of the discrete center line is more. At this time, the midpoint coordinate m2 can be calculated according to the first boundary point coordinate (x1, y1) and m1 . And b2 is obtained according to m2, and then the discrete center line y=k×x+b2 is obtained.

[0083] It is further judged whether the distribution positions of the radar data near the discrete center line y=k×x+b2 meet the preset condition. If the preset condition is met, b2 is directly determined as b. Assuming that the preset condition is not met, and the radar data on the left and right sides of the discrete center line accounts for 40% and 60% respectively, which can indicate that the radar data on the right side of the discrete center line is more. At this time, the midpoint coordinate m3 can be calculated according to m1 and m2, that is, And according to m3, b3 is solved, and then the discrete center line y=kx+b3 is obtained. Then it is judged whether the distribution position of each radar data near the discrete center line y=kx+b3 meets the preset condition. If it meets the preset condition, b3 is directly determined as b, and if it does not meet the preset condition, the above dichotomy process is repeated.

[0084] The scheme can determine the optimal b value through dichotomy, so as to determine the optimal discrete center line.

[0085] S250, based on the discrete center line, the points in the radar data that meet the preset screening condition are determined as feature points of the detection target.

[0086] The technical scheme of the embodiment of the application determines the included angle between the detection target and the radar normal line according to the first direction velocity and the second direction velocity of the radar data, wherein the first direction and the second direction are not on the same straight line; determines the slope of the discrete center line based on the included angle; and determines the discrete center line of the radar data according to the slope of the discrete center line and the distribution position of each radar data. The technical scheme can effectively improve the accuracy of radar detection, avoid false alarms or multiple alarms of the alarm device, reduce resource waste, and improve the safety of ship travel.

[0087] Figure 3 A structural schematic diagram of a radar data processing system for detecting a target provided by the second embodiment of the application is shown in FIG. 2. Figure 3 As shown in the figure, the radar data processing system can include a solar panel, a storage battery, a radar and camera integrated machine, a controller, an audible and visual alarm, and a flash lamp. The system can provide power through the solar panel and the storage battery. The radar and camera integrated machine can be a device integrating a millimeter wave radar and a camera, including a radar module and a video module, and can be used to detect a target. Specifically, the radar data, pictures, or video data detected by the radar and camera integrated machine can be processed through the radar module and the video module respectively. The controller can be used to control each component in the system. The audible and visual alarm can include a flash lamp and a loudspeaker.

[0088] In this embodiment, the ship can be used as a navigation mark, and a warning area is set in advance. The radar data of the detection target is obtained by detecting the detection target through the radar and video integrated machine. Then, the feature points of the detection target are obtained by processing the radar data through the radar module. Then, a corresponding warning scheme is implemented according to the position and speed of the feature points. Specifically, the warning scheme can be set as follows: according to the distance change rate or the positive and negative state of the relative speed of the detection target, it is judged whether the detection target is approaching or moving away from the navigation mark; if the detection target does not enter the warning area or the detection target is moving away from the navigation mark, the flash light is controlled to flash at a normal frequency to drive away the birds; if the detection target enters the first warning area but does not enter the second warning area, the strobe light is turned on until the detection target moves away and the strobe light is turned off; if the detection target enters the second warning area, the strobe light and the loudspeaker are turned on, the video module of the radar and video integrated machine is notified to take 2 photos and record a 10-second short video for evidence collection, and the position of the detection target is recorded continuously until the detection target moves away and the position recording is stopped, and the strobe light and the loudspeaker are turned off. The staff can confirm the detection target of the dangerous approach or even collision with the navigation mark event according to the alarm information and the evidence collection information of the system.

[0089] It should be noted that in the prior art, multiple sensor fusion is often used for detection target detection, but because there are differences in time and data frequency among various equipment manufacturers, the timeliness of data fusion is poor, and the information of the detection target cannot be reported in time. The radar and video integrated machine can effectively avoid the above situation. By sharing a clock source, the two kinds of data can be integrated in the same device, so the real-time performance of the data layer is high and the delay is relatively small. In addition, most of the current ships are equipped with an automatic ship identification system, which is expensive and complex to install. Even some small fishing boats cannot be installed and used due to lack of power supply. The system is cheap, easy to install and maintain, and can be powered by solar energy and storage batteries, thereby solving the power supply problem and having stronger universality.

[0090] Embodiment three

[0091] Figure 4 A structure diagram of a radar data processing device for a detection target provided in the third embodiment of the present application. The device can execute the radar data processing method for a detection target provided in any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method. As shown in the figure, the device comprises: Figure 4

[0092] The radar data acquisition module 410 is configured to acquire radar data of a detection target. The radar data is discrete point data emitted by a radar transmitter and received by a radar receiver after being returned by the detection target.

[0093] ​The discrete center line determination module 420 is configured to determine a discrete center line of the radar data according to speed information of the radar data.

[0094] The target feature point determination module 430 is configured to determine, based on the discrete center line, a point in the radar data that meets a preset screening condition as a feature point of the detection target.

[0095] Optionally, the discrete center line determination module 420 comprises:

[0096] The included angle determination unit is configured to determine an included angle between the detection target and a radar normal line according to a first direction speed and a second direction speed of the radar data, wherein the first direction and the second direction are not on the same straight line.

[0097] The slope determination unit is configured to determine a slope of the discrete center line based on the included angle.

[0098] The discrete center line determination unit is configured to determine the discrete center line of the radar data according to the slope of the discrete center line and distribution positions of the radar data.

[0099] Optionally, the included angle determination unit is configured to:

[0100] For each radar data, an included angle value of each radar data is determined according to an inverse tangent value of a ratio of the second direction speed to the first direction speed.

[0101] The included angle values of all the radar data are averaged to obtain the included angle between the detection target and the radar normal line.

[0102] Optionally, the slope determination unit is configured to:

[0103] The tangent value of the included angle is taken as the slope of the discrete center line.

[0104] Optionally, the discrete center line determination unit is configured to:

[0105] First and second boundary points are selected, and the first and second boundary points are located on two sides of a slope direction of the discrete center line, respectively.

[0106] A position parameter of the discrete center line is determined according to a midpoint of a line connecting the first boundary point and the second boundary point.

[0107] Distribution positions of the radar data are determined according to the position parameter.

[0108] According to the distribution positions of the radar data, a dichotomy calculation is performed based on the first boundary point, the second boundary point and the midpoint of the line to obtain a discrete center line equation in which the distribution positions of the radar data meet a preset condition.

[0109] Optionally, the preset condition is that the distribution of the radar data on both sides of the discrete center line is 50% respectively.

[0110] Optionally, the target feature point determination module 430 is specifically configured to:

[0111] determine the points within the preset distance range of the discrete center line as reference points;

[0112] determine the feature points of the detected target from the reference points based on the distribution of the radar data of the preset region of each reference point.

[0113] The radar data processing device for detecting a target provided by the embodiment of the present application can execute the radar data processing method for detecting a target provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0114] Embodiment four

[0115] Figure 5 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0116] As shown in Figure 5 The electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which are communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0117] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0118] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the radar data processing method of detecting a target.

[0119] In some embodiments, the radar data processing method of detecting a target can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the radar data processing method of detecting a target described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the radar data processing method of detecting a target by any other appropriate means, such as by means of firmware.

[0120] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0121] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package and partially on a remote machine or entirely on a remote machine or server.

[0122] In the context of the present application, a computer readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium can be a machine readable signal medium. More specific examples of a machine readable storage medium will include one or more lines of a program of instructions in a transitory signal form, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0123] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0124] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0125] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0126] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in sequence, or executed in different orders, as long as the desired results of the technical solutions of the present disclosure can be achieved, and the present disclosure is not limited herein.

[0127] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of processing radar data for detecting a target, the method comprising: The method comprises: acquiring radar data of a detection target; wherein the radar data is discrete point data emitted by a radar transmitter, returned by the detection target, and received by a radar receiver; determining a discrete center line of the radar data according to speed information of the radar data; determining, based on the discrete center line, points in the radar data that meet a preset screening condition as feature points of the detection target; determining a discrete center line of the radar data according to speed information of the radar data, comprising: determining an included angle between the detection target and a radar normal line according to a first direction speed and a second direction speed of the radar data; wherein the first direction and the second direction are not on the same straight line; determining a slope of the discrete center line based on the included angle; determining the discrete center line of the radar data according to the slope of the discrete center line and distribution positions of each radar data; determining an included angle between the detection target and a radar normal line according to a first direction speed and a second direction speed of the radar data, comprising: for each radar data, determining an included angle value of each radar data according to an inverse tangent value of a ratio of the second direction speed to the first direction speed; taking a mean value of the included angle values of all radar data to obtain the included angle between the detection target and the radar normal line.

2. The method of claim 1, wherein, determining a slope of the discrete center line based on the included angle, comprising: taking a tangent value of the included angle as the slope of the discrete center line.

3. The method of claim 1, wherein, determining the discrete center line of the radar data according to the slope of the discrete center line and distribution positions of each radar data, comprising: selecting a first boundary point and a second boundary point; the first boundary point and the second boundary point are respectively located on two sides of a slope direction of the discrete center line; determining a position parameter of the discrete center line according to a midpoint of a line connecting the first boundary point and the second boundary point; determining distribution positions of each radar data according to the position parameter; determining, according to the distribution positions of each radar data, a discrete center line equation in which the distribution positions of each radar data meet a preset condition, by bisection calculation based on the first boundary point, the second boundary point, and the midpoint of the line.

4. The method of claim 3, wherein, The preset condition is that the distribution of the radar data on both sides of the discrete center line is each 50%.

5. The method of claim 1, wherein, determining, based on the discrete center line, points in the radar data that meet a preset screening condition as feature points of the detection target, comprising: determining points within a preset distance range of the discrete center line as reference points; determining, from the reference points, the feature points of the detection target based on radar data distribution of a preset region of each reference point.

6. A radar data processing apparatus for detecting a target, characterized by The device comprises: a radar data acquisition module, configured to acquire radar data of a detection target; wherein the radar data is discrete point data emitted by a radar transmitter, returned by the detection target, and received by a radar receiver; a discrete center line determination module, configured to determine a discrete center line of the radar data according to speed information of the radar data; a target feature point determination module, configured to determine, based on the discrete center line, points in the radar data that meet a preset screening condition as feature points of the detection target; the discrete center line determination module, comprising: The included angle determination unit is configured to determine an included angle between the detected target and a radar normal line according to the first direction velocity and the second direction velocity of the radar data, wherein the first direction and the second direction are not on the same line. The slope determination unit is configured to determine a slope of the discrete center line based on the included angle. The discrete center line determination unit is configured to determine a discrete center line of the radar data according to the slope of the discrete center line and the distribution positions of the radar data. The included angle determination unit is configured to: For each radar data, determine an included angle value of each radar data according to an inverse tangent value of a ratio of the second direction velocity to the first direction velocity. Take a mean value of the included angle values of all the radar data to obtain the included angle between the detected target and the radar normal line.

7. Radar data processing electronics for detecting a target, characterized in that The electronic device comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the radar data processing method of the detected target according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are used to enable the processor to execute the radar data processing method of the detected target according to any one of claims 1-5 when executed.

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