Guardrail detection method and device of vehicle-mounted millimeter-wave radar based on Hough transform

Abstract

The present invention provides a guardrail detection method and system of a vehicle-mounted millimeter-wave radar based on Hough transform, which belongs to the technical field of automatic detection of road guardrails. The detection method includes: determining the original point trace of the radar according to the vehicle speed and the echo information of the radar; filtering the moving targets on the road according to the original point trace; converting the original point trace into the vehicle coordinate system point trace according to the installation angle of the radar; determining the step and range of the slope and intercept of the guardrail according to the driving characteristics of the vehicle on the actual road; determining the slope and intercept of the road guardrail by using the Hough transform method according to the vehicle coordinate system point trace; judging whether the difference in the slope of the guardrails on both sides is less than or equal to the first threshold, and whether the difference in the intercept of the guardrails on both sides is less than or equal to the second threshold; in the case of judging that the difference in the slope of the guardrails on both sides is less than or equal to the first threshold, and the difference in the intercept of the guardrails on both sides is less than or equal to the second threshold, fitting the slope and intercept into lines.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic detection of road guardrails, and in particular to a guardrail detection method and device of a vehicle-mounted millimeter-wave radar based on Hough transform. Background Art

[0002] The vehicle-mounted millimeter-wave radar transmits millimeter waves through the antenna, receives the target reflection signal, and quickly and accurately obtains the physical environment information around the car body (such as the relative distance, relative speed, angle, direction of movement, etc. between the car and other objects) after post-processing. Then, it tracks and identifies the target according to the detected object information, and then combines the dynamic information of the car body for data fusion, and finally performs intelligent processing through the central processing unit. After making a reasonable decision, it informs or warns the driver in various ways such as sound, light and touch, or actively intervenes in the car in time, so as to ensure the safety and comfort of the driving process and reduce the probability of accidents. The millimeter-wave radar can realize the functions of advanced driver assistance systems (ADAS) such as adaptive cruise control, forward collision warning, blind spot detection, parking aid, lane change assistant, autonomous cruise control (ACC), etc.

[0003] Guardrails are the most common scene on actual roads. They have obvious features, usually long lines or strips, and are composed of green belts, metal railings and other components. When a vehicle is driving along the road, the guardrail may become a potential dangerous target and issue a warning, interfering with the driver's judgment and reducing driving comfort. Unlike traditional camera images that identify guardrails based on pixels, millimeter-wave radar identification of guardrails depends on the radar's distance, speed, and angular resolution. Radars with fewer pixels, lower point quality, and more interference are more difficult to identify. Therefore, vehicle-mounted millimeter-wave radars urgently need to find a simple method with high accuracy, low computational complexity, and good real-time performance to identify guardrails or green belts. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a guardrail detection method and device for a vehicle-mounted millimeter-wave radar based on Hough transform, which can accurately detect guardrails on both sides of the road.

[0005] In order to achieve the above object, an embodiment of the present invention provides a guardrail detection method of a vehicle-mounted millimeter-wave radar based on Hough transform, comprising:

[0006] Determining the original point trace of the radar according to the vehicle speed and the radar echo information;

[0007] filtering the moving objects on the road according to the original point traces;

[0008] Converting the original point trace into a vehicle coordinate system point trace in a vehicle coordinate system with the vehicle as the origin according to the installation angle of the radar;

[0009] Determine the step and range of the slope and intercept of the guardrail according to the driving characteristics of the vehicle on the actual road;

[0010] Determine the slope and intercept of the guardrails on both sides of the road using the Hough transform method according to the vehicle coordinate system point trace;

[0011] Determine whether the difference in slopes of the guardrails on both sides is less than or equal to a first threshold, and whether the difference in intercepts of the guardrails on both sides is less than or equal to a second threshold;

[0012] When it is determined that the difference in the slopes of the guardrails on both sides is less than or equal to a first threshold, and the difference in the intercepts of the guardrails on both sides is less than or equal to a second threshold, the slopes and intercepts are fitted into lines to obtain fitting trajectories of the guardrails on both sides.

[0013] Optionally, filtering the moving target on the road according to the original point trace includes:

[0014] Obtaining the speed frequency distribution of all points in any frame of the original points;

[0015] The speed with the highest frequency is selected as the actual vehicle speed;

[0016] The moving objects on the road are filtered according to the actual vehicle speed and the original point traces.

[0017] Optionally, converting the original point trace into a vehicle coordinate system point trace in a vehicle coordinate system with the vehicle as the origin according to the installation angle of the radar comprises:

[0018] According to formula (1) and formula (2), the vehicle coordinate system point trajectory is determined.

[0019] , (1)

[0020] , (2)

[0021] in, , is the position coordinate of the point track of the original point track in the vehicle coordinate system, is the target distance corresponding to the original point trace, is the index number, is the angle in the original point trace, is the installation angle of the radar.

[0022] Optionally, determining the step and range of the slope and intercept of the guardrail according to the actual driving characteristics of the vehicle on the road includes:

[0023] The slope is determined to be in the range , the starting value of the slope is -1, the final value of the slope is 1, and the step of the slope is 0.01.

[0024] Optionally, determining the step and range of the slope and intercept of the guardrail according to the actual driving characteristics of the vehicle on the road includes:

[0025] In the case that the road is a two-way eight-lane road, the maximum value of the intercept is determined to be 15 m, and the step of the intercept is 0.1 m.

[0026] Optionally, determining the slope and intercept of the guardrails on both sides of the road by using a Hough transform method according to the vehicle coordinate system point trace includes:

[0027] The intercept is calculated according to formula (3) for any slope within the slope range:

[0028] , (3)

[0029] in, is the intercept distance of the guardrail to the vehicle, , is the index number, Indicates rounding to the nearest integer. Corresponding indivual , is the number of all target points in the original point trace that are stationary relative to the road;

[0030] Determine whether the calculated absolute value of the intercept is less than or equal to the maximum value of the intercept;

[0031] When the calculated absolute value of the intercept is less than or equal to the maximum value of the intercept, the slope The index number of The sum of the current intercept and the maximum value is recorded as the subscript and stored in a two-dimensional voting array;

[0032] Statistics , In the case of, the maximum value of the two-dimensional voting array, and the slope and intercept of the guardrail on one side are calculated according to formula (4) and formula (5),

[0033] , (4)

[0034] , (5)

[0035] in, is the slope of the guardrail on one side, The index number corresponding to the maximum value of the two-dimensional voting array The value of is the step of the slope, is the initial value of the slope, is the intercept of the guardrail on one side, The maximum value of the two-dimensional voting array corresponds to The value of is the maximum value of the intercept, is the step of the intercept;

[0036] Statistics In the case of , the maximum value of the two-dimensional voting array is obtained, and the slope and intercept of the guardrail on the other side are calculated according to formula (6) and formula (7),

[0037] , (6)

[0038] , (7)

[0039] in, is the slope of the guardrail on the other side, The index number corresponding to the maximum value of the two-dimensional voting array The value of is the intercept of the guardrail on the other side, The maximum value of the two-dimensional voting array corresponds to The value of .

[0040] Optionally, the detection method further comprises:

[0041] When it is determined that the difference in the slopes of the guardrails on both sides is greater than the first threshold and / or the difference in the intercepts of the guardrails on both sides is greater than the second threshold, it is determined whether the number of corresponding points in the two-dimensional voting arrays of the guardrails on both sides is greater than or equal to the voting number threshold;

[0042] When it is determined that the number of corresponding points in the two-dimensional voting array of the guardrail on either side is greater than or equal to the voting number threshold, the slope and intercept of the guardrail on the corresponding side are output;

[0043] When it is determined that the number of corresponding points in the two-dimensional voting array of the guardrails on both sides is less than the voting number threshold, it is determined that the current guardrail is discontinuous or does not exist.

[0044] Optionally, fitting the slope and the intercept into a line to obtain fitting trajectories of the guardrails on both sides includes:

[0045] An averaging method and / or a smoothing filtering method is used to generate a fitting trajectory of the guardrail.

[0046] On the other hand, the present invention also provides a guardrail detection device of a vehicle-mounted millimeter-wave radar based on Hough transform, wherein the detection device includes a processor connected to the radar of the vehicle and configured to execute any of the detection methods described above.

[0047] On the other hand, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, wherein the instructions are used to be read by a machine so that the machine executes any of the detection methods described above.

[0048] Through the above technical solution, the guardrail detection method and device of the vehicle-mounted millimeter-wave radar based on Hough transform of the present invention converts the original static point traces in the original radar coordinate system to the vehicle coordinate system according to the installation angle of the radar on the vehicle, and then combines the Hough transform method to identify the fitting trajectory of the guardrails on both sides. Compared with the prior art, on the one hand, the present invention introduces the installation angle of the radar to achieve accurate coordinate system conversion; on the other hand, for the converted coordinates, the Hough transform method is introduced, which greatly simplifies the algorithm steps and improves the operating efficiency of the detection method.

[0049] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0051] Figure 1 is a flow chart of a guardrail detection method of a vehicle-mounted millimeter-wave radar based on Hough transform according to an embodiment of the present invention;

[0052] Figure 2 is a schematic diagram of the relative positions of a radar and a vehicle according to one embodiment of the present invention;

[0053] Figure 3 is a schematic diagram of a fitting trajectory according to an embodiment of the present invention;

[0054] Figure 4 It is a schematic diagram of an actual fitting trajectory of a detection method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0056] like Figure 1 FIG. 1 is a flow chart of a method for detecting guardrails of a vehicle-mounted millimeter-wave radar based on Hough transform according to an embodiment of the present invention. Figure 1 In the present invention, the detection method may include:

[0057] In step S10, the original trace of the radar is determined according to the vehicle speed and the radar echo information;

[0058] In step S11, the moving objects on the road are filtered according to the original point traces;

[0059] In step S12, the original point trace is converted into a vehicle coordinate system point trace in a vehicle coordinate system with the vehicle as the origin according to the installation angle of the radar;

[0060] In step S13, the step and range of the slope and intercept of the guardrail are determined according to the driving characteristics of the vehicle on the actual road;

[0061] In step S14, the slope and intercept of the guardrails on both sides of the road are determined by using the Hough transform method according to the vehicle coordinate system point trace;

[0062] In step S15, it is determined whether the difference in slopes of the guardrails on both sides is less than or equal to a first threshold, and whether the difference in intercepts of the guardrails on both sides is less than or equal to a second threshold;

[0063] In step S16, when it is determined that the difference in the slopes of the guardrails on both sides is less than or equal to a first threshold, and the difference in the intercepts of the guardrails on both sides is less than or equal to a second threshold, the slopes and intercepts are fitted as lines to obtain fitting line fitting trajectories of the guardrails on both sides.

[0064] In this Figure 1 In the method shown, step S10 can be used to determine the original point trace of the radar according to the vehicle speed and the echo information of the radar. In this embodiment, the relative position relationship between the radar and the vehicle can be as follows: Figure 2 As shown. Figure 2 In the example, the radar is installed near the rear of the vehicle. There is an installation angle between the radar and the vehicle coordinate system. , radar and target points The straight-line distance between The angle between the line between the radar and the target point and the normal line of the radar front can be expressed as the angle The original trace can be a trace of multiple target points in the radar's own coordinate system. In addition, the original trace is composed of multiple frames of traces, where the number of traces (target points) in each frame can be .

[0065] Step S11 is used to filter moving targets on the road according to the original point traces. Specifically, to determine which target points in the original point traces belong to stationary target points relative to the ground, it is necessary to first use the moving object as a reference system, mark the target points in the original point traces that are equal to the relative speed of the moving object as stationary target points, and mark the target points whose relative speed to the moving object is constantly changing or unequal as moving targets. In the original point traces of a frame, the speed of the vehicle is the most intuitive reference object. Therefore, the speed of the vehicle can be used as a reference system to determine the stationary target point. For the vehicle speed, it can be read directly from the vehicle controller of the vehicle. In the case where the vehicle speed cannot be read from the vehicle controller, it is also possible to first obtain the speed frequency distribution of all the points in any frame of the original point traces; then select the speed with the highest frequency as the actual vehicle speed (vehicle speed); finally, filter the moving targets on the road according to the actual vehicle speed and the original point traces.

[0066] Step S12 can be used to convert the original point trace into a vehicle coordinate system point trace in a vehicle coordinate system with the vehicle as the origin according to the installation angle of the radar. Specifically, the vehicle coordinate system point trace can be determined according to formula (1) and formula (2):

[0067] , (1)

[0068] , (2)

[0069] in, , is the position coordinate of the point track of the original point track in the vehicle coordinate system, is the target distance corresponding to the original point trace, is the index number, is the angle in the original point trace, is the installation angle of the radar.

[0070] Step S13 can determine the slope and intercept steps and ranges of the guardrail according to the driving characteristics of the vehicle on the actual road. Specifically, on the actual road, the inclination angle of the vehicle with the guardrails on both sides during driving generally does not exceed 45°, that is, the absolute value of the inclination angle Then the slope between the two The value range is , that is, the starting value of the slope can be -1, and the final value can be 1. The step of the slope can be 0.01. For the intercept, in the case of a two-way eight-lane road, the farthest intercept is 4 lanes, and the maximum value of the intercept can be determined to be 4*3.75=15m, and the step of the intercept can be 0.1m.

[0071] The above method sets the step and range for the slope and intercept, so that in the subsequent algorithm operation, the step can be searched step by step, which reduces the traversal calculation amount of the algorithm and improves the speed of identifying targets such as guardrails.

[0072] Step S14 can be used to determine the slope and intercept of the guardrails on both sides of the road using the Hough transform method according to the vehicle coordinate system point trace. Specifically, in this embodiment, the Hough transform method can include the following steps:

[0073] In step S20, the intercept is calculated for any slope within the slope range according to formula (3):

[0074] , (3)

[0075] in, is the intercept distance of the guardrail to the vehicle, , is the index number, Indicates rounding to the nearest integer. Corresponding indivual , ( ) is the number of all target points in the original point trace that are stationary relative to the road;

[0076] In step S21, it is determined whether the calculated absolute value of the intercept is less than or equal to the maximum value of the intercept;

[0077] In step S22, if the absolute value of the calculated intercept is less than or equal to the maximum value of the intercept, the slope The index number of The sum of the current intercept and the maximum value is recorded as the subscript and stored in the two-dimensional voting array ( or )middle;

[0078] In step S23, statistics are , In the case of , the maximum value of the two-dimensional voting array is obtained, and the slope and intercept of the guardrail on one side are calculated according to formula (4) and formula (5).

[0079] , (4)

[0080] , (5)

[0081] in, is the slope of the guardrail on one side, The index number corresponding to the maximum value of the two-dimensional voting array The value of is the step of slope, is the initial value of the slope, is the intercept of the guardrail on one side, The maximum value of the two-dimensional voting array corresponds to The value of is the maximum value of the intercept, is the step of the intercept;

[0082] In step S24, statistics are In the case of , the maximum value of the two-dimensional voting array is obtained, and the slope and intercept of the guardrail on the other side are calculated according to formula (6) and formula (7).

[0083] , (6)

[0084] , (7)

[0085] in, is the slope of the guardrail on the other side, The index number corresponding to the maximum value of the two-dimensional voting array The value of is the intercept of the guardrail on the other side, The maximum value of the two-dimensional voting array corresponds to The value of .

[0086] Step S15 can be used to determine whether the difference in the slopes of the guardrails on both sides is less than or equal to the first threshold, and whether the difference in the intercepts of the guardrails on both sides is less than or equal to the second threshold. Step S14 calculates the slopes and intercepts of the guardrails on both sides. Considering the characteristics of the guardrails on both sides of the road, the slopes and intercepts of the two are close to each other. Therefore, the accuracy of the currently calculated trajectory of the guardrails on both sides can be determined by calculating the difference in slopes and intercepts.

[0087] In step S16, when it is determined that the difference in the slopes of the guardrails on both sides is less than or equal to the first threshold, and the difference in the intercepts of the guardrails on both sides is less than or equal to the second threshold, the slope and the intercept are fitted as lines to obtain a fitting trajectory of the fitting lines of the guardrails on both sides. Although the method of fitting based on the slope and intercept can be in various forms known to those skilled in the art, in a preferred example of the present invention, considering the characteristics of multiple frames of the original trajectory, an averaging method or a smoothing filtering method can be used to generate the fitting trajectory. Taking the averaging method as an example, assuming that the slope and intercept results of the current frame are and , then the fitting trajectory can be generated according to formula (8) and formula (9),

[0088] , (8)

[0089] , (9)

[0090] in, and are the slope and intercept after fitting, is the number of slopes or intercepts. Its fitting trajectory is as follows Figure 3 The actual guardrail detection effect is shown in Figure 4 shown.

[0091] On the contrary, when it is judged that the difference in the slopes of the guardrails on both sides is greater than the first threshold value and / or the difference in the intercepts of the guardrails on both sides is greater than the second threshold value, it means that the current guardrail may be unilateral or the current guardrail is discontinuous or does not exist. Then, it can be judged whether the number of corresponding points in the two-dimensional voting arrays of the guardrails on both sides is greater than or equal to the voting number threshold, so as to determine whether the current guardrail is unilateral. When it is judged that the number of corresponding points in the two-dimensional voting array of the guardrails on either side is greater than or equal to the voting number threshold, it means that the current guardrail is unilateral, so the slope and intercept of the guardrail on the corresponding side can be output. On the contrary, when it is judged that the number of corresponding points in the two-dimensional voting array of the guardrails on both sides is less than the voting number threshold, it means that the guardrails on both sides are discontinuous or do not exist.

[0092] On the other hand, the present invention also provides a guardrail detection device of a vehicle-mounted millimeter-wave radar based on Hough transform, wherein the detection device includes a processor connected to the radar of the vehicle and configured to execute any of the detection methods described above.

[0093] On the other hand, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, wherein the instructions are used to be read by a machine so that the machine executes any of the detection methods described above.

[0094] Through the above technical solution, the guardrail detection method and device of the vehicle-mounted millimeter-wave radar based on Hough transform of the present invention converts the original static point traces in the original radar coordinate system to the vehicle coordinate system according to the installation angle of the radar on the vehicle, and then combines the Hough transform method to identify the fitting trajectory of the guardrails on both sides. Compared with the prior art, on the one hand, the present invention introduces the installation angle of the radar to achieve accurate coordinate system conversion; on the other hand, for the converted coordinates, the Hough transform method is introduced, which greatly simplifies the algorithm steps and improves the operating efficiency of the detection method.

[0095] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0096] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0097] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0098] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1The steps for the functions specified in one or more boxes.

[0099] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0100] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0101] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0102] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0103] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A guardrail detection method for vehicle-mounted millimeter-wave radar based on Hough transform, characterized in that: The detection method comprises: Determining the original point trace of the radar according to the vehicle speed and the radar echo information; filtering moving objects on the road according to the original point traces; Converting the original point trace into a vehicle coordinate system point trace in a vehicle coordinate system with the vehicle as the origin according to the installation angle of the radar; Determine the step and range of the slope and intercept of the guardrail according to the driving characteristics of the vehicle on the actual road; Determine the slope and intercept of the guardrails on both sides of the road using the Hough transform method according to the vehicle coordinate system point trace; Determine whether the difference in slopes of the guardrails on both sides is less than or equal to a first threshold, and whether the difference in intercepts of the guardrails on both sides is less than or equal to a second threshold; When it is determined that the difference in the slopes of the guardrails on both sides is less than or equal to a first threshold, and the difference in the intercepts of the guardrails on both sides is less than or equal to a second threshold, the slopes and intercepts are fitted into lines to obtain fitting trajectories of the guardrails on both sides.

2. The detection method according to claim 1, characterized in that: Filtering the moving target on the road according to the original point traces includes: Obtaining the speed frequency distribution of all points in any frame of the original points; The speed with the highest frequency is selected as the actual vehicle speed; The moving objects on the road are filtered according to the actual vehicle speed and the original point traces.

3. The detection method according to claim 1, characterized in that: Converting the original point trace into a vehicle coordinate system point trace in a vehicle coordinate system with the vehicle as the origin according to the installation angle of the radar comprises: According to formula (1) and formula (2), the vehicle coordinate system point trajectory is determined. ，（1） ，（2） in, , is the position coordinate of the point track of the original point track in the vehicle coordinate system, is the target distance corresponding to the original point trace, is the index number, is the angle in the original point trace, is the installation angle of the radar.

4. The detection method according to claim 1, characterized in that: Determining the steps and ranges of the slope and intercept of the guardrail according to the actual vehicle driving characteristics on the road includes: The slope is determined to be in the range , the starting value of the slope is -1, the final value of the slope is 1, and the step of the slope is 0.

01.

5. The detection method according to claim 1, characterized in that: Determining the steps and ranges of the slope and intercept of the guardrail according to the actual vehicle driving characteristics on the road includes: In the case that the road is a two-way eight-lane road, the maximum value of the intercept is determined to be 15 m, and the step of the intercept is 0.1 m.

6. The detection method according to claim 1, characterized in that: Determining the slope and intercept of the guardrails on both sides of the road by using the Hough transform method according to the vehicle coordinate system point trace includes: The intercept is calculated according to formula (3) for any slope within the slope range: ，（3） in, is the intercept distance of the guardrail to the vehicle, , is the index number, Indicates rounding to the nearest integer. Corresponding indivual , is the number of all target points in the original point trace that are stationary relative to the road; Determine whether the calculated absolute value of the intercept is less than or equal to the maximum value of the intercept; When the calculated absolute value of the intercept is less than or equal to the maximum value of the intercept, the slope The index number of The sum of the current intercept and the maximum value is recorded as the subscript and stored in a two-dimensional voting array; Statistics , In the case of, the maximum value of the two-dimensional voting array, and the slope and intercept of the guardrail on one side are calculated according to formula (4) and formula (5), ，（4） ，（5） in, is the slope of the guardrail on one side, The index number corresponding to the maximum value of the two-dimensional voting array The value of is the step of the slope, is the initial value of the slope, is the intercept of the guardrail on one side, The maximum value of the two-dimensional voting array corresponds to The value of is the maximum value of the intercept, is the step of the intercept; Statistics In the case of , the maximum value of the two-dimensional voting array is obtained, and the slope and intercept of the guardrail on the other side are calculated according to formula (6) and formula (7), ，（6） ，（7） in, is the slope of the guardrail on the other side, The index number corresponding to the maximum value of the two-dimensional voting array The value of is the intercept of the guardrail on the other side, The maximum value of the two-dimensional voting array corresponds to The value of .

7. The detection method according to claim 6, characterized in that: The detection method further comprises: When it is determined that the difference in the slopes of the guardrails on both sides is greater than the first threshold and / or the difference in the intercepts of the guardrails on both sides is greater than the second threshold, it is determined whether the number of corresponding points in the two-dimensional voting arrays of the guardrails on both sides is greater than or equal to the voting number threshold; When it is determined that the number of corresponding points in the two-dimensional voting array of the guardrail on either side is greater than or equal to the voting number threshold, the slope and intercept of the guardrail on the corresponding side are output; When it is determined that the number of corresponding points in the two-dimensional voting array of the guardrails on both sides is less than the voting number threshold, it is determined that the current guardrail is discontinuous or does not exist.

8. The detection method according to claim 1, characterized in that: Fitting the slope and the intercept into a line to obtain the fitting trajectory of the guardrails on both sides includes: An averaging method and / or a smoothing filtering method is used to generate a fitting trajectory of the guardrail.

9. A guardrail detection device for vehicle-mounted millimeter-wave radar based on Hough transform, characterized in that: The detection device comprises a processor, which is connected to a radar of a vehicle and is configured to execute the detection method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and the instructions are used to be read by a machine so that the machine executes the detection method according to any one of claims 1 to 8.

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