Radar measurement data processing method and device

Abstract

The present invention discloses a radar measurement data processing method and device, wherein the method includes: obtaining a radar speed range Doppler map and moving target point cloud data of a measurement area at the current moment; comparing a plurality of signal power values corresponding to a plurality of range gates in parallel, and obtaining a moving target information area set of the measurement area at the current moment according to the comparison result; clustering the moving target point cloud data to obtain first moving target motion information of the measurement area at the current moment; filtering the first moving target motion information according to the moving target information area set at the current moment to obtain second moving target motion information. The present invention obtains a moving target information area set of the measurement area at the current moment through the comparison result, and obtains the first moving target motion information using a clustering method. The first moving target motion information is filtered according to the moving target information area set at the current moment, thereby obtaining more effective second moving target motion information, thereby reducing the false alarm rate of radar target detection in complex environments.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a radar measurement data processing method and device. Background Art

[0002] Millimeter-wave radar is currently being adopted by modern security strategies in the intelligent security field due to its ability to accurately detect objects regardless of weather conditions, such as day or night, fog, and dust. As a key sensor in the entire security system, millimeter-wave radar can detect moving targets in the environment. Most security threats are moving targets, and their measurements often merge with environmental measurements, making them difficult to distinguish.

[0003] Security radars are typically installed in busy areas with high foot traffic and complex environments. The radar's measurement data is contaminated by complex noise, including various physical interferences, false target interference, and radial target interference. Physical interference in the environment includes interference caused by targets of widely varying shapes and sizes. False target interference is caused by the complex electromagnetic environment at the measurement site, which generates spurious data.

[0004] In summary, there is an urgent need for a radar measurement data processing method to solve the problems existing in the above-mentioned prior art. Summary of the Invention

[0005] An embodiment of the present invention provides a radar measurement data processing method for obtaining more effective moving target motion information and reducing the false alarm rate of radar target detection in complex environments. The method includes:

[0006] Obtaining a radar speed range Doppler map and moving target point cloud data of the measurement area at the current moment; the radar speed range Doppler map includes: a plurality of range gates and a plurality of signal power values corresponding to the plurality of range gates;

[0007] Comparing the plurality of signal power values corresponding to the plurality of range gates in parallel, and obtaining a moving target information area set of the measurement area at the current moment according to the comparison results;

[0008] Clustering the moving target point cloud data to obtain first moving target motion information in the measurement area at a current moment;

[0009] The first moving target motion information is filtered according to the moving target information area set to obtain second moving target motion information.

[0010] An embodiment of the present invention further provides a device for processing radar measurement data to obtain more effective moving target motion information and reduce the false alarm rate of radar target detection in complex environments. The device includes:

[0011] An acquisition module is used to obtain a radar speed range Doppler map and moving target point cloud data of the measurement area at the current moment; the radar speed range Doppler map includes: a plurality of range gates and a plurality of signal power values corresponding to the plurality of range gates;

[0012] The processing module is configured to compare the multiple signal power values corresponding to the multiple range gates in parallel, and obtain a moving target information region set of the measurement area at the current moment based on the comparison results; cluster the moving target point cloud data to obtain first moving target motion information of the measurement area at the current moment; and filter the first moving target motion information based on the moving target information region set to obtain second moving target motion information.

[0013] An embodiment of the present invention further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned radar measurement data processing method when executing the computer program.

[0014] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned radar measurement data processing method is implemented.

[0015] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the above-mentioned radar measurement data processing method is implemented.

[0016] In an embodiment of the present invention, a radar speed range Doppler map and moving target point cloud data of a measurement area at the current moment are obtained, multiple signal power values corresponding to multiple range gates are compared in parallel, a moving target information area set of the measurement area at the current moment is obtained based on the comparison results, the moving target point cloud data is clustered to obtain first moving target motion information of the measurement area at the current moment, and the first moving target motion information is filtered based on the moving target information area set at the current moment to obtain second moving target motion information. Compared with the technical solutions for radar measurement data processing in the prior art, the first moving target motion information is obtained based on the moving target point cloud data using a clustering method by comparing multiple signal power values corresponding to multiple range gates in parallel. Finally, the first moving target motion information is filtered based on the moving target information area set at the current moment to obtain more effective second moving target motion information, thereby reducing the false alarm rate of radar target detection in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0018] Figure 1 It is the system framework of the radar measurement data processing method in an embodiment of the present invention;

[0019] Figure 2 A schematic flow chart of the radar measurement data processing method provided by the present invention;

[0020] Figure 3 A schematic flow chart of the radar measurement data processing method provided by the present invention;

[0021] Figure 4 A schematic flow chart of the radar measurement data processing method provided by the present invention;

[0022] Figure 5 This is a structural diagram of the radar measurement data processing device provided by the present invention. DETAILED DESCRIPTION

[0023] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0024] The radar measurement data processing method provided by the embodiment of the present invention can be applied to Figure 1 In the system architecture shown, the system architecture includes a radar 100 and a server 200 .

[0025] Specifically, the radar 100 is used to obtain the radar speed range Doppler map and moving target point cloud data of the measurement area at the current moment.

[0026] It should be noted that the radar speed range Doppler map (Range Dopple Matrix, RDM) is an effective means for radar to extract multi-target information. By processing the multi-cycle sequence and echo information sent by the radar in the fast time dimension and the slow time dimension, the radar speed range Doppler map can be obtained, and then the range and speed information of multiple targets can be extracted.

[0027] In the embodiment of the present invention, the radar speed range Doppler map includes: a plurality of range gates and a plurality of signal power values corresponding to the plurality of range gates respectively.

[0028] The server 200 is configured to compare the multiple signal power values corresponding to the multiple range gates in parallel, and obtain a moving target information area set of the measurement area at the current moment according to the comparison results.

[0029] Furthermore, the moving target point cloud data is clustered to obtain first moving target motion information of the measurement area at the current moment; and the first moving target motion information is filtered according to the moving target information area set to obtain second moving target motion information.

[0030] In a possible implementation, the storage device of the server 200 uses a data storage disk, which can store the established speed, distance, angle, and RDM graph data models and supports scalability.

[0031] It should be noted that Figure 1 This is only an example of the system architecture of an embodiment of the present invention, and the present invention does not make any specific limitation to this.

[0032] Based on the system architecture shown above, Figure 2 A schematic flow chart of a radar measurement data processing method according to an embodiment of the present invention is shown in FIG. Figure 2 As shown, the method includes:

[0033] Step 201: Obtain the radar speed range Doppler map and moving target point cloud data of the measurement area at the current moment.

[0034] It should be noted that the radar speed range Doppler map (Range Dopple Matrix, RDM) is an effective means for radar to extract multi-target information. By processing the multi-cycle sequence and echo information sent by the radar in the fast time dimension and the slow time dimension, the radar speed range Doppler map can be obtained, and then the range and speed information of multiple targets can be extracted.

[0035] In the embodiment of the present invention, the radar speed range Doppler map includes: a plurality of range gates and a plurality of signal power values corresponding to the plurality of range gates respectively.

[0036] Specifically, after obtaining the radar speed-range-Doppler map of the measurement area at the current moment, the radar speed-range-Doppler map is preprocessed.

[0037] In a possible implementation, background noise in the RDM image is filtered out based on a preset threshold.

[0038] In the embodiment of the present invention, the moving target point cloud data is measurement data consisting of velocity V, distance R, and angle θ. The distance is the distance between the moving target and the radar, and the angle is the angle formed by the line connecting the moving target and the radar and the normal to the radar.

[0039] In step 202, a plurality of signal power values corresponding to a plurality of range gates are compared in parallel, and a moving target information region set of the measurement region at the current moment is obtained according to the comparison results.

[0040] It should be noted that the range gate is a set distance range on the coordinate axis whose physical meaning is distance in the RDM diagram.

[0041] Step 203: cluster the moving target point cloud data to obtain the first moving target motion information of the measurement area at the current moment.

[0042] In a possible implementation, the moving target point cloud data is clustered using an adaptive clustering algorithm to obtain the first moving target motion information of the measurement area at the current moment.

[0043] It should be noted that a clustering algorithm is a statistical analysis algorithm for studying classification problems. For example, the embodiment of the present invention may adopt a K-Means clustering algorithm, a DBSCAN clustering algorithm, and the like.

[0044] The above solution uses a clustering method to obtain the first moving target motion information based on the moving target point cloud data of the radar's distance, speed and azimuth angle, thereby improving the accuracy and precision of the first moving target motion information.

[0045] In the embodiment of the present invention, the first moving target motion information includes first moving target position information and first moving target speed information.

[0046] Step 204 : Filter the first moving target motion information according to the moving target information region set to obtain second moving target motion information.

[0047] The above scheme, on the one hand, compares multiple signal power values corresponding to multiple range gates in parallel, and based on the comparison results, obtains a moving target information region set within the measurement area at the current moment. On the other hand, a clustering method is used based on the moving target point cloud data to obtain first moving target motion information. Finally, the first moving target motion information is filtered based on the current moving target information region set, thereby obtaining more effective second moving target motion information and reducing the false alarm rate of radar target detection in complex environments.

[0048] In the embodiment of the present invention, the radar speed range Doppler map further includes: a plurality of speed gates and a plurality of signal power values corresponding to the plurality of speed gates respectively.

[0049] It should be noted that the speed gate is a set speed range on the coordinate axis whose physical meaning is speed in the RDM diagram.

[0050] Furthermore, in step 202 of the embodiment of the present invention, the steps are as follows: Figure 3 As shown, the details are as follows:

[0051] Step 301 : Compare the signal power values corresponding to the respective range gates within a preset distance range to obtain a first peak value within the preset distance range.

[0052] Step 302 : Compare the signal power values corresponding to the respective speed gates within a preset speed range to obtain a second peak value within the preset speed range.

[0053] Step 303: Determine a moving target information region set in the measurement area at the current moment based on the first peak value and the second peak value.

[0054] The above scheme obtains the moving target information area set at the current moment by comparing multiple distance segments in parallel and filtering according to speed characteristics, thereby improving the effectiveness of the second moving target motion information and further improving the accuracy of the second moving target motion information.

[0055] In step 301 of the embodiment of the present invention, the steps are as follows: Figure 4 As shown, the details are as follows:

[0056] Step 401: Compare the signal power values corresponding to the respective range gates within a preset distance range to obtain a first candidate peak within the preset distance range.

[0057] For example, the horizontal axis of an RDM graph represents speed, which includes multiple speed gates. The vertical axis represents distance, which includes multiple range gates. The speed gates and range gates divide the RDM graph into multiple data units.

[0058] Specifically, with each data unit in the RDM diagram as the center, calculate whether the signal power value corresponding to this data unit is the maximum value within the range of 1 meter before and after. If so, the signal power value corresponding to this data unit is the peak value within the range of 1 meter before and after.

[0059] Specifically, the data in row i and column j of the RDM diagram is represented by S ij , within a preset distance range, such as 1 meter, there are k range gates, and the calculation formula is as follows:

[0060] S Max,k =Max[S i-k,j ,S i-k+1,j ,…,S i,j ,S i+1,j ,…,S i+k,j ]

[0061] Among them, S Max,k is the peak value data in the jth speed gate among the k range gates. Further, calculate S ij Is it equal to S Max,k , if so, then the current data S ijis the first candidate peak, otherwise the current data S ij Not the first candidate peak.

[0062] In the above solution, the signal power values corresponding to the respective range gates are compared within a preset distance range to obtain a first candidate peak value S′ within the preset distance range.

[0063] Step 402 : Determine whether the range gate corresponding to each candidate peak in the first candidate peak satisfies a preset condition.

[0064] In the embodiment of the present invention, based on the range resolution of the radar and the outline characteristics of the moving target, it can be inferred that the signal of the moving target in the RDM diagram is greater than one range gate, so the peaks appear continuously.

[0065] For example, the range resolution of the radar is 0.1 meters, and the length of a car is 5 meters, which is much longer than a range gate.

[0066] Step 403: Filter out candidate peaks that do not meet preset conditions to obtain a first peak.

[0067] Furthermore, in the embodiment of the present invention, a peak value that does not appear continuously is also an invalid measurement. The specific formula is as follows:

[0068]

[0069] Where a is the threshold parameter, which can define the range of a range gates before and after the i-th range gate in the current RDM map. S″ ij is an element in S'. In the embodiment of the present invention, S' that meets the preset conditions ij Keep S′ that does not meet the preset conditions ij Set to zero to obtain the data set S″.

[0070] The above solution performs filtering based on the outline characteristics of the moving target, thereby improving the effectiveness of the second moving target motion information.

[0071] In step 302 of the embodiment of the present invention, based on the calculation result of the first peak value, it is calculated whether the signal power value corresponding to each data unit is the maximum value within the speed range Δv. If so, the measurement data is retained; otherwise, the measurement data is filtered out.

[0072] Specifically, based on the first peak S in the RDM graph obtained in step 301, ij Then calculate whether it is a peak value within the speed range Δv, that is, within t speed gates. The calculation formula is as follows:

[0073] S Max,t =Max[S i,j-t ,S i,j-t+1 ,…,S i,j,S i,j+1 ,…,S i,j+t ]

[0074] Among them, S Max,t for t The peak data of the i-th range gate in the velocity gate. Further, calculate S ij Is it equal to S Max,t , if so, then S ij is the second peak.

[0075] Specifically, in step 303, a set of candidate moving target information regions of the measurement area at the current moment is determined based on the first peak value and the second peak value;

[0076] Obtain the candidate moving target information area set for the first N moments within a set time period;

[0077] Wherein, N is a positive integer;

[0078] The candidate moving target information region set of the measurement area at the current moment is screened according to the candidate moving target information region sets at the previous N moments to obtain the moving target information region set of the measurement area at the current moment.

[0079] The above scheme obtains the moving target information area set at the current moment by comparing multiple distance segments in parallel and filtering according to speed characteristics, thereby improving the effectiveness of the second moving target motion information and further improving the accuracy of the second moving target motion information.

[0080] In the embodiment of the present invention, the candidate moving target information area set of the measurement area at the current moment is screened based on the candidate moving target information area sets of the previous N moments to obtain the moving target information area set of the measurement area at the current moment.

[0081] Specifically, if a candidate moving target information region in the set of candidate moving target information regions at the current moment exists in the previous N moments, then the candidate moving target information region is the moving target information region at the current moment.

[0082] In the embodiment of the present invention, the candidate moving target information region set includes a candidate moving target position set and a candidate moving target speed set.

[0083] Specifically, calculate the candidate moving target position set R′ that existed in the previous N moments k-1 And the candidate moving target velocity set V′ k-1 .

[0084] Furthermore, the range gates of each signal power value in S″ and the candidate moving target position set R′ are calculated. k-1 The difference between each data and the speed gate where each signal power value is located and the candidate moving target speed set V′k-1 If the difference is less than the preset threshold, the signal power value in S″ is a valid value, otherwise it is set to zero.

[0085] The specific calculation formula is as follows:

[0086]

[0087] Where S″′ is S″ ij Elements in .

[0088] The above scheme filters the candidate moving target information area set of the measurement area at the current moment based on the candidate moving target information area set of the previous N moments to obtain the moving target information area set of the measurement area at the current moment. Probabilistic superposition is performed based on the information of the previous N moments, thereby improving the accuracy of the candidate moving target information area set at the current moment and improving the effectiveness of the second moving target motion information.

[0089] Furthermore, the embodiment of the present invention performs coordinate transformation on the moving target point cloud data before clustering the moving target point cloud data.

[0090] In the embodiment of the present invention, the moving target point cloud data consists of velocity V, distance R, and angle θ. Here, distance R is the distance between the moving target and the radar, and angle θ is the angle formed by the line connecting the moving target and the radar and the normal to the radar.

[0091] In a possible implementation, the moving target point cloud data in polar coordinates is converted into moving target point cloud data in a rectangular coordinate system through coordinate conversion.

[0092] Specifically, extract the dataset {ρ1,…,ρ j ,…,ρ m}, where ρ j =[R j ,V j ,θ j ], j = 1…m.

[0093] Furthermore, the data set {Z1,…,Z j ,…,Z m}, where Z j =[x j ,y j ,v j ], x j is ρ j The polar coordinates are converted into Cartesian coordinates on the X axis, y j is ρ j Convert polar coordinates to Cartesian coordinates on the Y axis.

[0094] Furthermore, the embodiment of the present invention filters the first moving target motion information according to the moving target information region set to obtain the second moving target motion information.

[0095] Specifically, all moving targets obtained based on the cluster analysis of the moving target point cloud data are traversed one by one to determine whether the moving target is in the moving target information area set. If so, the moving target point cloud data is marked as valid data, namely, the second moving target motion information.

[0096] In the embodiment of the present invention, the validity of each moving target measurement point Z′ is calculated based on the distance between the radar detection area where each moving target is located and the radar antenna and the speed of the moving target. The calculation formula is as follows:

[0097]

[0098] Among them, Z′ i The i-th measurement point in the moving target measurement point set, x′ i is Z′ i The horizontal coordinate position in y′ i is Z′ i The vertical coordinate position in the i is Z′ i The speed in .

[0099] The above solution first processes the radar's velocity-range Doppler map, traversing the Doppler data within each range gate to eliminate background noise. Then, through parallel comparison of multiple range gates, a set of moving target information regions for the current measurement area is obtained based on the contour and velocity characteristics. Based on the moving target point cloud data of radar range, velocity, and azimuth, a clustering method is used to obtain primary moving target motion information. Finally, this primary moving target motion information is filtered based on the set of moving target information regions, resulting in more effective secondary moving target motion information and reducing the false alarm rate of radar target detection in complex environments.

[0100] The embodiment of the present invention further provides a radar measurement data processing device, as described in the following embodiments. Figure 5 As shown, the device may include:

[0101] An acquisition module 501 is configured to acquire a radar speed-range-Doppler map and moving target point cloud data of a measurement area at a current moment; the radar speed-range-Doppler map includes: a plurality of range gates and a plurality of signal power values corresponding to the plurality of range gates;

[0102] Processing module 502 is configured to compare the multiple signal power values corresponding to the multiple range gates in parallel, and obtain a moving target information region set for the measurement area at the current moment based on the comparison results; cluster the moving target point cloud data to obtain first moving target motion information for the measurement area at the current moment; and filter the first moving target motion information based on the moving target information region set to obtain second moving target motion information.

[0103] Furthermore, the radar speed range Doppler map further includes: a plurality of speed gates and a plurality of signal power values corresponding to the plurality of speed gates, and the processing module 502 is specifically configured to:

[0104] Comparing the signal power values corresponding to the respective range gates within a preset distance range to obtain a first peak value within the preset distance range;

[0105] Comparing the signal power values corresponding to the respective speed gates within a preset speed range to obtain a second peak value within the preset speed range;

[0106] A moving target information region set of the measurement area at the current moment is determined according to the first peak value and the second peak value.

[0107] Furthermore, the processing module 502 is specifically configured to:

[0108] Determine a set of candidate moving target information regions in the measurement area at the current moment according to the first peak value and the second peak value;

[0109] Obtain the candidate moving target information area set for the first N moments within a set time period; where N is a positive integer;

[0110] The candidate moving target information region set of the measurement area at the current moment is screened according to the candidate moving target information region sets of the previous N moments to obtain the moving target information region set of the measurement area at the current moment.

[0111] Furthermore, the processing module 502 is specifically configured to:

[0112] Comparing the signal power values corresponding to the respective range gates within a preset distance range to obtain a first candidate peak within the preset distance range;

[0113] Determining whether the range gate corresponding to each candidate peak in the first candidate peak meets a preset condition;

[0114] Candidate peaks that do not meet the preset condition are filtered out to obtain the first peak.

[0115] Furthermore, the processing module 502 is specifically configured to:

[0116] The moving target point cloud data is clustered by an adaptive clustering algorithm to obtain the first moving target motion information of the measurement area at the current moment.

[0117] Since the principle of solving the problem by the device is similar to that of the radar measurement data processing method, the implementation of the device can refer to the implementation of the radar measurement data processing method, and the repeated parts will not be repeated.

[0118] An embodiment of the present invention further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned radar measurement data processing method when executing the computer program.

[0119] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned radar measurement data processing method is implemented.

[0120] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the above-mentioned radar measurement data processing method is implemented.

[0121] In an embodiment of the present invention, a radar speed range Doppler map and moving target point cloud data of the measurement area at the current moment are obtained, multiple signal power values corresponding to multiple range gates are compared in parallel, and a moving target information area set of the measurement area at the current moment is obtained based on the comparison results. The moving target point cloud data is clustered to obtain first moving target motion information of the measurement area at the current moment. The first moving target motion information is filtered based on the moving target information area set at the current moment to obtain second moving target motion information. Compared with the technical solutions for radar measurement data processing in the prior art, multiple signal power values corresponding to multiple range gates are compared in parallel, and a moving target information area set of the measurement area at the current moment is obtained based on the comparison results. Based on the radar point cloud data, a clustering method is used to obtain various types of moving targets. Finally, various types of moving targets are filtered based on the moving target information area set at the current moment, thereby obtaining a more effective moving target measurement data set and reducing the false alarm rate of radar target detection in complex environments.

[0122] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0123] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, 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 produce 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 flowcharts and / or block diagrams. 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.

[0124] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work 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 The function specified in one or more boxes.

[0125] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0126] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A radar measurement data processing method, characterized in that: include: Obtaining a radar speed range Doppler map and moving target point cloud data of the measurement area at the current moment; the radar speed range Doppler map includes: a plurality of range gates and a plurality of signal power values corresponding to the plurality of range gates; Comparing the plurality of signal power values corresponding to the plurality of range gates in parallel, and obtaining a moving target information area set of the measurement area at the current moment according to the comparison results; Clustering the moving target point cloud data to obtain first moving target motion information in the measurement area at a current moment; filtering the first moving target motion information according to the moving target information region set to obtain second moving target motion information; The radar speed range Doppler map further includes: a plurality of speed gates and a plurality of signal power values respectively corresponding to the plurality of speed gates, and the plurality of signal power values respectively corresponding to the plurality of range gates are compared in parallel. A moving target information area set of the measurement area at the current moment is obtained according to the comparison result, including: Comparing the signal power values corresponding to the respective range gates within a preset distance range to obtain a first peak value within the preset distance range; Comparing the signal power values corresponding to the respective speed gates within a preset speed range to obtain a second peak value within the preset speed range; A moving target information region set of the measurement area at the current moment is determined according to the first peak value and the second peak value.

2. The radar measurement data processing method according to claim 1, characterized in that: Determining a moving target information region set of a measurement area at a current moment based on the first peak value and the second peak value includes: Determine a set of candidate moving target information regions in the measurement area at the current moment according to the first peak value and the second peak value; Obtain the candidate moving target information area set for the first N moments within a set time period; where N is a positive integer; The candidate moving target information region set of the measurement area at the current moment is screened according to the candidate moving target information region sets of the previous N moments to obtain the moving target information region set of the measurement area at the current moment.

3. The radar measurement data processing method according to claim 1, characterized in that: Comparing the signal power values corresponding to the respective range gates within a preset distance range to obtain a first peak value within the preset distance range includes: Comparing the signal power values corresponding to the respective range gates within a preset distance range to obtain a first candidate peak within the preset distance range; Determining whether the range gate corresponding to each candidate peak in the first candidate peak meets a preset condition; Candidate peaks that do not meet the preset condition are filtered out to obtain the first peak.

4. The radar measurement data processing method according to claim 1, characterized in that: Clustering the moving target point cloud data to obtain first moving target motion information of the measurement area at the current moment includes: The moving target point cloud data is clustered by an adaptive clustering algorithm to obtain the first moving target motion information of the measurement area at the current moment.

5. A radar measurement data processing device, characterized in that: include: An acquisition module is used to obtain a radar speed range Doppler map and moving target point cloud data of the measurement area at the current moment; the radar speed range Doppler map includes: a plurality of range gates and a plurality of signal power values corresponding to the plurality of range gates; a processing module, configured to compare in parallel the multiple signal power values corresponding to the multiple range gates, and obtain a moving target information area set of the measurement area at a current moment according to the comparison results; Clustering the moving target point cloud data to obtain first moving target motion information of the measurement area at a current moment; filtering the first moving target motion information according to the moving target information area set to obtain second moving target motion information; The radar speed range Doppler map further includes: a plurality of speed gates and a plurality of signal power values corresponding to the plurality of speed gates, and the processing module is specifically configured to: Comparing the signal power values corresponding to the respective range gates within a preset distance range to obtain a first peak value within the preset distance range; Comparing the signal power values corresponding to the respective speed gates within a preset speed range to obtain a second peak value within the preset speed range; A moving target information region set of the measurement area at the current moment is determined according to the first peak value and the second peak value.

6. The radar measurement data processing device according to claim 5, characterized in that: The processing module is specifically used for: Determine a set of candidate moving target information regions in the measurement area at the current moment according to the first peak value and the second peak value; Obtain the candidate moving target information area set for the first N moments within a set time period; where N is a positive integer; The candidate moving target information region set of the measurement area at the current moment is screened according to the candidate moving target information region sets of the previous N moments to obtain the moving target information region set of the measurement area at the current moment.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 4 is implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

9. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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