A method of millimeter wave radar sensor data processing

Abstract

The application discloses a millimeter wave radar sensor data processing method, which comprises the following steps: obtaining current frame message information of a target radar; analyzing the current frame message information to obtain a target ID and corresponding analysis information, and filling the target ID and the corresponding analysis information into a pre-established information storage matrix; selecting a target ID meeting a preset condition from the information storage matrix, and taking analysis information corresponding to the target ID meeting the preset condition as current frame output information. The target ID and the corresponding analysis information are obtained by analyzing the message information, and are filled into the information storage matrix correspondingly, and then the target ID meeting the preset condition is selected from the information storage matrix to obtain the output information, so that the message information is effectively collected and arranged, and the convenience of radar tracking and target information acquisition is improved.

Description

Technical Field

[0001] This invention relates to the field of automotive radar technology, and in particular to a method for processing millimeter-wave radar sensor data. Background Technology

[0002] Millimeter-wave radar, with its low cost and long detection range, is widely used in mass-produced vehicles to detect the position and movement of surrounding vehicles and people. However, because a single CAN message can only contain a limited amount of information, millimeter-wave radar distributes multiple pieces of information belonging to the same target across different messages to transmit more target information. This approach greatly complicates subsequent target tracking and information acquisition.

[0003] Therefore, it is necessary to propose a solution to improve the convenience of radar tracking and acquiring target information. Summary of the Invention

[0004] The main objective of this invention is to provide a millimeter-wave radar sensor data processing method, which aims to improve the convenience of radar tracking and acquiring target information.

[0005] To achieve the above objectives, the present invention provides a millimeter-wave radar sensor data processing method, the millimeter-wave radar sensor data processing method comprising: acquiring the current frame message information of the target radar;

[0006] The current frame message information is parsed to obtain the target ID and the corresponding parsing information, and the target ID and the corresponding parsing information are filled into a pre-established information storage matrix.

[0007] Select a target ID that matches the preset conditions from the information storage matrix, and use the parsed information corresponding to the target ID that matches the preset conditions as the output information of the current frame.

[0008] Optionally, before the step of parsing the message information to obtain parsed information and filling the parsed information into a pre-established information storage matrix, the method further includes:

[0009] The information storage matrix is ​​set to a preset number of rows and a preset number of columns;

[0010] The content corresponding to each column of the preset number of columns is set, wherein the content corresponding to each column includes a valid flag bit, a count flag bit, and each information bit;

[0011] Set the content corresponding to each of the preset number of rows.

[0012] Optionally, the step of parsing the current frame message information to obtain parsed information and filling the parsed information into a pre-established information storage matrix includes:

[0013] The current frame message information is parsed to obtain parsed information, wherein the parsed information includes a target ID, and one or more of the longitudinal distance, lateral distance, longitudinal velocity, and lateral velocity corresponding to the target ID;

[0014] The valid flag bit corresponding to the target ID is recorded as a preset value, and the counting flag bit corresponding to the target ID is reset to zero.

[0015] The parsed information is filled into the information storage matrix according to the corresponding content of each column.

[0016] Optionally, the step of selecting a target ID that matches a preset condition from the information storage matrix and using the parsed information corresponding to the target ID that matches the preset condition as the output information of the current frame includes:

[0017] Sequentially determine whether the valid flag bits corresponding to each target ID in the information storage matrix conform to the preset value;

[0018] If the valid flag bit corresponding to the target ID meets the preset value, then the parsing information corresponding to the target ID will be used as the output information of the current frame.

[0019] Optionally, the step of using the parsed information corresponding to the target ID as the current frame output information if the valid flag bit corresponding to the target ID meets the preset value further includes:

[0020] If the valid flag bit corresponding to the target ID meets the preset value, then the counting flag bit corresponding to the target ID is incremented to obtain the accumulated counting flag bit.

[0021] Optionally, after the step of accumulating the count flag corresponding to the target ID to obtain the accumulated count flag if the valid flag bit corresponding to the target ID meets the preset value, the method further includes:

[0022] Determine whether the accumulated count flag exceeds a preset threshold;

[0023] If the accumulated count flag exceeds the preset threshold, then both the valid flag and the count flag corresponding to the target ID are reset to zero, and the parsing information corresponding to the target ID is cleared.

[0024] Optionally, after the step of selecting a target ID that matches the preset conditions from the information storage matrix and using the parsed information corresponding to the target ID that matches the preset conditions as the output information of the current frame, the method further includes:

[0025] The process involves acquiring the next frame message information from the target radar, parsing the current frame message information to obtain the target ID and corresponding parsing information, filling the target ID and corresponding parsing information into a pre-established information storage matrix, and subsequent steps to obtain the next frame output information.

[0026] Furthermore, to achieve the above objectives, the present invention also provides a data processing apparatus, the data processing apparatus comprising:

[0027] The acquisition module is used to acquire the current frame message information of the target radar;

[0028] The parsing module is used to parse the current frame message information to obtain the target ID and the corresponding parsing information, and fill the target ID and the corresponding parsing information into a pre-established information storage matrix;

[0029] The output module is used to select a target ID that matches the preset conditions from the information storage matrix, and use the parsed information corresponding to the target ID that matches the preset conditions as the output information of the current frame.

[0030] In addition, to achieve the above objectives, the present invention also provides a terminal device, the terminal device including a memory, a processor, and a data processing program stored in the memory and executable on the processor, wherein the data processing program, when executed by the processor, implements the steps of the millimeter-wave radar sensor data processing method as described above.

[0031] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium storing a data processing program, which, when executed by a processor, implements the steps of the millimeter-wave radar sensor data processing method as described above.

[0032] This invention proposes a millimeter-wave radar sensor data processing method. The method acquires the current frame message information of a target radar; parses the current frame message information to obtain the target ID and its corresponding parsed information, and fills the target ID and its corresponding parsed information into a pre-established information storage matrix; selects a target ID from the information storage matrix that matches preset conditions, and uses the parsed information corresponding to the target ID that matches the preset conditions as the current frame output information. By parsing the message information to obtain the target ID and its corresponding parsed information, filling them into the information storage matrix, and then selecting the target ID that meets the preset conditions from the information storage matrix to obtain the output information, the method achieves effective collection and organization of message information, thereby improving the convenience of radar tracking and acquiring target information. Attached Figure Description

[0033] Figure 1This is a schematic diagram of the functional modules of the terminal device to which the data processing device of the present invention belongs;

[0034] Figure 2 This is a flowchart illustrating an exemplary embodiment of the millimeter-wave radar sensor data processing method of the present invention.

[0035] Figure 3 for Figure 2 A schematic diagram of the specific process of step S30 in the embodiment;

[0036] Figure 4 This is a schematic diagram of the data processing flow of a millimeter-wave radar sensor in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the information storage matrix constructed in an embodiment of the present invention.

[0038] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0040] The main solution of this invention is as follows: First, acquire the current frame message information of the target radar; second, parse the current frame message information to obtain the target ID and its corresponding parsing information, and fill the target ID and its corresponding parsing information into a pre-established information storage matrix; third, select a target ID from the information storage matrix that matches preset conditions, and use the parsing information corresponding to the target ID that matches the preset conditions as the current frame output information. By parsing the message information to obtain the target ID and its corresponding parsing information, and filling them into the information storage matrix, and then selecting the target ID that meets the preset conditions from the information storage matrix to obtain the output information, effective collection and organization of message information is achieved, thereby improving the convenience of radar tracking and acquiring target information.

[0041] Specifically, refer to Figure 1 , Figure 1 This is a schematic diagram of the functional modules of the terminal device to which the data processing device of the present invention belongs. The data processing device can be a device capable of data processing, independent of the terminal device, and can be carried on the terminal device in hardware or software form. The terminal device can be a smart mobile terminal with data processing capabilities, such as a mobile phone or tablet computer, or it can be a fixed terminal device or server with data processing capabilities.

[0042] In this embodiment, the terminal device to which the data processing device belongs includes at least an output module 110, a processor 120, a memory 130, and a communication module 140.

[0043] The memory 130 stores the operating system and data processing program. The data processing device can store the current frame message information of the acquired target radar, the target ID obtained by parsing the current frame message information, the corresponding parsing information, and the pre-established information storage matrix in the memory 130. The output module 110 can be a display screen, etc. The communication module 140 can include a WIFI module, a mobile communication module, and a Bluetooth module, etc., and communicates with external devices or servers through the communication module 140.

[0044] When the data processing program in memory 130 is executed by the processor, it performs the following steps:

[0045] Obtain the current frame message information of the target radar;

[0046] The current frame message information is parsed to obtain the target ID and the corresponding parsing information, and the target ID and the corresponding parsing information are filled into a pre-established information storage matrix.

[0047] Select a target ID that matches the preset conditions from the information storage matrix, and use the parsed information corresponding to the target ID that matches the preset conditions as the output information of the current frame.

[0048] Furthermore, when the data processing program in memory 130 is executed by the processor, it also performs the following steps:

[0049] The information storage matrix is ​​set to a preset number of rows and a preset number of columns;

[0050] The content corresponding to each column of the preset number of columns is set, wherein the content corresponding to each column includes a valid flag bit, a count flag bit, and each information bit;

[0051] Set the content corresponding to each of the preset number of rows.

[0052] Furthermore, when the data processing program in memory 130 is executed by the processor, it also performs the following steps:

[0053] The current frame message information is parsed to obtain parsed information, wherein the parsed information includes a target ID, and one or more of the longitudinal distance, lateral distance, longitudinal velocity, and lateral velocity corresponding to the target ID;

[0054] The valid flag bit corresponding to the target ID is recorded as a preset value, and the counting flag bit corresponding to the target ID is reset to zero.

[0055] The parsed information is filled into the information storage matrix according to the corresponding content of each column.

[0056] Furthermore, when the data processing program in memory 130 is executed by the processor, it also performs the following steps:

[0057] Sequentially determine whether the valid flag bits corresponding to each target ID in the information storage matrix conform to the preset value;

[0058] If the valid flag bit corresponding to the target ID meets the preset value, then the parsing information corresponding to the target ID will be used as the output information of the current frame.

[0059] Furthermore, when the data processing program in memory 130 is executed by the processor, it also performs the following steps:

[0060] If the valid flag bit corresponding to the target ID meets the preset value, then the counting flag bit corresponding to the target ID is incremented to obtain the accumulated counting flag bit.

[0061] Furthermore, when the data processing program in memory 130 is executed by the processor, it also performs the following steps:

[0062] Determine whether the accumulated count flag exceeds a preset threshold;

[0063] If the accumulated count flag exceeds the preset threshold, then both the valid flag and the count flag corresponding to the target ID are reset to zero, and the parsing information corresponding to the target ID is cleared.

[0064] Furthermore, when the data processing program in memory 130 is executed by the processor, it also performs the following steps:

[0065] The process involves acquiring the next frame message information from the target radar, parsing the current frame message information to obtain the target ID and corresponding parsing information, filling the target ID and corresponding parsing information into a pre-established information storage matrix, and subsequent steps to obtain the next frame output information.

[0066] This embodiment, through the above-described scheme, specifically acquires the current frame message information of the target radar; parses the current frame message information to obtain the target ID and its corresponding parsed information, and fills the target ID and its corresponding parsed information into a pre-established information storage matrix; selects a target ID that matches preset conditions from the information storage matrix, and uses the parsed information corresponding to the target ID that matches the preset conditions as the current frame output information. By parsing the message information to obtain the target ID and its corresponding parsed information, and filling them into the information storage matrix accordingly, and then selecting the target ID that meets the preset conditions from the information storage matrix to obtain the output information, the effective collection and organization of message information is achieved, thereby improving the convenience of radar tracking and acquiring target information.

[0067] Based on, but not limited to, the terminal device architecture described above, embodiments of the method of the present invention are proposed.

[0068] The subject executing the method in this embodiment can be a data processing device or a terminal device, etc. This embodiment takes a data processing device as an example.

[0069] Reference Figure 2 , Figure 2 This is a flowchart illustrating an exemplary embodiment of the millimeter-wave radar sensor data processing method of the present invention. The millimeter-wave radar sensor data processing method includes:

[0070] Step S10: Obtain the current frame message information of the target radar;

[0071] Millimeter-wave radar, with its low cost and long detection range, is widely used in mass-produced vehicles to detect the position and movement of surrounding vehicles and people. However, since a single CAN message can only contain a limited amount of information, millimeter-wave radar distributes multiple pieces of information belonging to the same target across different messages to transmit more target information. To improve the ease of subsequent target tracking and information acquisition, this message information needs to be effectively organized.

[0072] Specifically, the current frame message information sent by the millimeter-wave radar sensor is obtained. The current frame message information includes the position and movement information of surrounding targets such as vehicles, people or obstacles currently detected by the radar sensor.

[0073] Step S20: Parse the current frame message information to obtain the target ID and the corresponding parsing information, and fill the target ID and the corresponding parsing information into the pre-established information storage matrix;

[0074] Furthermore, after obtaining the current frame message information of the target radar, the current frame message information can be parsed to obtain the target ID of the detected object and its corresponding valid flag bits, count flag bits, longitudinal distance from the object to the radar, lateral distance, longitudinal velocity, and lateral velocity of the object. Before this, an information storage matrix needs to be initially set up for information storage, classification, and updating. The parsed target ID of the detected object and its corresponding parsed information can then be filled into this information storage matrix, and data operations can be performed on the information storage matrix, specifically including:

[0075] The information storage matrix is ​​set to a preset number of rows and a preset number of columns;

[0076] The content corresponding to each column of the preset number of columns is set, wherein the content corresponding to each column includes a valid flag bit, a count flag bit, and each information bit;

[0077] Set the content corresponding to each of the preset number of rows.

[0078] Specifically, the number of rows and columns of the information storage matrix is ​​first set. In this embodiment of the invention, the matrix is ​​initially set to have 256 rows and 9 columns. The 256 rows of the matrix correspond to the 8-bit word length of the object ID stored by the millimeter-wave radar, ranging from 0 to 255. That is, each row of the matrix represents an ID. The contents of the 9 columns of the matrix are the ID value, valid flag, count flag, longitudinal distance x of the object from the millimeter-wave radar, lateral distance y of the object from the millimeter-wave radar, longitudinal velocity x_v of the object, and lateral velocity y_v of the object.

[0079] Furthermore, by parsing the current frame message information, the target ID of the detected object and the corresponding parsed information are obtained, including:

[0080] The current frame message information is parsed to obtain parsed information, wherein the parsed information includes a target ID, and one or more of the longitudinal distance, lateral distance, longitudinal velocity, and lateral velocity corresponding to the target ID;

[0081] The valid flag bit corresponding to the target ID is recorded as a preset value, and the counting flag bit corresponding to the target ID is reset to zero.

[0082] The parsed information is filled into the information storage matrix according to the corresponding content of each column.

[0083] The current frame message information is parsed to obtain the target ID of the detected object and the corresponding longitudinal and lateral distances from the object to the radar, as well as the longitudinal and lateral velocities of the object. Then, the valid flag bit corresponding to the target ID parsed in the message is set to 1, and the counting flag bit is set to 0, which can be used to indicate that the information corresponding to the target ID has been updated. At the same time, the target ID and the corresponding parsed information are filled into the corresponding positions in the information storage matrix. Each frame message can only contain partial information, such as only position information or only velocity information. Therefore, only the information contained in the message needs to be updated, and other information remains unchanged.

[0084] Step S30: Select a target ID that matches the preset conditions from the information storage matrix, and use the parsed information corresponding to the target ID that matches the preset conditions as the output information of the current frame.

[0085] Furthermore, when the valid flag bit in the information storage matrix is ​​equal to 1, it indicates that the information at that position is a valid value. Therefore, the parsed information corresponding to the target ID can be used as the output information of the current frame.

[0086] Then, the next frame message information is obtained, parsed, and filled into the information storage matrix to obtain the next frame output information. 5. In this process, after each received message information, the count flag on all IDs with valid flag bit valid=1 is incremented by 1. After several accumulations, if the value of the count flag exceeds the preset threshold, it means that the information of that ID has not been updated multiple times, and the corresponding information can be cleaned up. This realizes the updating, cleaning, and validity judgment of different ID information. The preset threshold can be dynamically set according to the frequency of data reading.

[0087] 0 In this embodiment, the current frame message information of the target radar is obtained; the current frame message is processed...

[0088] The text information is parsed to obtain the target ID and its corresponding parsing information, and the target ID and its corresponding parsing information are filled into a pre-established information storage matrix; target IDs that match preset conditions are selected from the information storage matrix, and the parsing information corresponding to the target IDs that match the preset conditions is then processed.

[0089] This process outputs information for the current frame. By parsing the message information, the target ID and corresponding parsed information are obtained, and then filled into the information storage matrix. Subsequently, the target ID that meets the preset conditions is selected from the information storage matrix to obtain the output information. This achieves effective collection and organization of message information, thereby improving the convenience of radar tracking and acquiring target information.

[0090] Reference Figure 3 , Figure 3 for Figure 2 A schematic flowchart of step S30 in this embodiment. This embodiment is based on...

[0091] In the above Figure 2 In the embodiment shown, step S30 includes: step S301, sequentially determining the valid target IDs corresponding to each target ID in the information storage matrix.

[0092] Does the position conform to the preset value?

[0093] The valid flag bit corresponding to each target ID in the information storage matrix is ​​sequentially determined to be a preset value. In this embodiment of the invention, the preset value is recorded as 1. If valid = 1, it means that the information of the target ID is valid information.

[0094] 5. Step S302: If the valid flag bit corresponding to the target ID meets the preset value, then the parsing information corresponding to the target ID is used as the output information of the current frame.

[0095] If valid=1 for the target ID, it means that the information corresponding to the ID is valid. Therefore, the parsed information corresponding to the ID, including the longitudinal distance and lateral distance from the object to the radar, the longitudinal velocity and lateral velocity of the object, can be used as the output information of the current frame.

[0096] 0. In addition, the counting flag is incremented based on the result of the valid flag judgment, which can be used for information cleaning judgment, specifically including:

[0097] If the valid flag bit corresponding to the target ID meets the preset value, then the counting flag bit corresponding to the target ID is incremented to obtain the accumulated counting flag bit.

[0098] Specifically, during each round of message information acquisition, the count flag corresponding to the target ID with valid=1 needs to be incremented by 1 to obtain the accumulated count flag, which is used for the subsequent cleanup information judgment process, i.e.:

[0099] Determine whether the accumulated count flag exceeds a preset threshold;

[0100] If the accumulated count flag exceeds the preset threshold, then both the valid flag and the count flag corresponding to the target ID are reset to zero, and the parsing information corresponding to the target ID is cleared.

[0101] In each round of obtaining output information through the acquired message information, a cleanup judgment is required, that is, to determine whether the accumulated count flag exceeds a preset threshold. This preset threshold can be dynamically set according to the frequency of data reading. In this embodiment of the invention, the preset threshold is 20. That is, when the count value is greater than 20, it means that the parsing information of the corresponding object ID has not been updated in the 20 readings. Then the valid flag of the ID can be recorded as 0, that is, the information corresponding to the ID is invalid information and will not be output. At the same time, the count flag of the ID is recorded as 0, and all corresponding information is cleaned up.

[0102] This embodiment, through the above scheme, specifically determines whether the valid flag bits corresponding to each target ID in the information storage matrix meet the preset value; if the valid flag bits corresponding to the target ID meet the preset value, the parsed information corresponding to the target ID is used as the output information of the current frame. The validity of the target ID information is determined by the valid flag bits, and the update status of the target ID information is determined by the counting flag bits, thereby achieving information organization, classification, and updating.

[0103] Furthermore, embodiments of the present invention also propose a data processing apparatus, the data processing apparatus comprising:

[0104] The acquisition module is used to acquire the current frame message information of the target radar;

[0105] The parsing module is used to parse the current frame message information to obtain the target ID and the corresponding parsing information, and fill the target ID and the corresponding parsing information into a pre-established information storage matrix;

[0106] The output module is used to select a target ID that matches the preset conditions from the information storage matrix, and use the parsed information corresponding to the target ID that matches the preset conditions as the output information of the current frame.

[0107] Reference Figure 4 , Figure 4 This is a schematic diagram illustrating the data processing flow of a millimeter-wave radar sensor in an embodiment of the present invention, such as... Figure 4 As shown, the data processing method for millimeter-wave radar sensors includes the following steps:

[0108] (1) Initially set up a 256*n information storage matrix, where n>3, for information storage, classification and updating;

[0109] (2) After the system reads a frame of millimeter-wave radar message information, a series of data operations are performed on the information storage matrix to realize the updating, cleaning and validity judgment of different ID information;

[0110] (3) Read the information corresponding to all IDs that are valid as displayed in the information storage matrix, and output them as the target information recently acquired by the millimeter-wave radar.

[0111] (4) Wait for the millimeter-wave radar to send the next frame of information, and repeat steps 2-4.

[0112] As a preferred option, the information storage matrix size is chosen to be 256×n. The number of rows in the matrix is ​​256 because the object ID storage word length of the millimeter-wave radar is 8 bits, ranging from 0 to 255. Therefore, each row of the matrix represents an ID. The number of columns n in the matrix includes the target ID value, the valid flag and the count flag used for information validity judgment and update judgment, as well as other target information that needs to be organized. These can be customized. The first three columns are the information that must be present, so n>3.

[0113] As a preferred option, a valid flag is added to the information processing matrix to indicate whether the information corresponding to the ID is valid, in order to determine whether the information needs to be read / cleaned.

[0114] As a preferred option, a count flag is added to the information processing matrix to determine whether the information corresponding to the ID needs to be deemed invalid due to a long period of no updates.

[0115] Preferably, after reading a frame of millimeter-wave radar message information, the count flag of all valid IDs is incremented by 1; the count flag corresponding to the IDs contained in the message is set to 0; the valid flag corresponding to the IDs contained in the message is set to 1; the information contained in the message is filled into columns 4-n according to the positions guided by the IDs; the count flag of all IDs is retrieved, and if count > m, the valid flag and count flag of that ID are set to 0, and all information is cleared, where m can be dynamically set according to the frequency of data reading.

[0116] Specifically, the specific implementation methods for each step include:

[0117] Step 1: Initially set up a 256*9 information storage matrix for information storage, classification, and updating.

[0118] Step 11, refer to Figure 5 , Figure 5 This is a schematic diagram of the information storage matrix constructed in an embodiment of the present invention, such as... Figure 5 As shown, the 256th row of the matrix corresponds to the range of object IDs detected by the millimeter-wave radar, 0-255, meaning that each row of the matrix represents an ID.

[0119] Step 12: The contents of the 9 columns of the matrix are ID value, valid flag, count flag, longitudinal distance x of the object from the millimeter-wave radar, lateral distance y of the object from the millimeter-wave radar, longitudinal velocity x_v of the object, and lateral velocity y_v of the object.

[0120] Step 2: When the system reads a frame of millimeter-wave radar message information, it performs data operations on the information storage matrix.

[0121] Step 21: Upon receiving a message, increment the count flag by 1 for all IDs with valid=1;

[0122] Step 22: Parse the radar message content, set the count flag corresponding to the object ID parsed in the message to 0, set the corresponding valid flag to 1, and fill in the information contained in the message into the corresponding position according to the ID. Each frame of the message can only contain part of the information, such as only position information or only speed information. Therefore, only the information contained in the message needs to be updated, and other information remains unchanged.

[0123] Step 23: Retrieve the count flag for all IDs. If count > 20, set the valid flag and count flag for that ID to 0 and clear all information.

[0124] Step 3: Read the information corresponding to all IDs with valid=1 in the information storage matrix and use them as the target information recently acquired by the millimeter-wave radar.

[0125] Step 31: When the valid flag is equal to 1, it indicates that the information at that position is a valid value, so it is output.

[0126] Step 4: Wait for the millimeter-wave radar to send the next frame of information, and repeat steps 2-4.

[0127] In this embodiment, an information storage matrix is ​​constructed, and a valid flag and a count flag are added to each ID. These two flags work together during information acquisition and parsing to determine the validity of the detected information, thus enabling information organization, classification, and updating. This data processing method effectively organizes and updates information transmitted by millimeter-wave radar, enabling the tracking and updating of the position and motion state of the same object. Furthermore, the method is simple to implement, requires low computing power, and can be easily embedded into low-computing-power platforms.

[0128] Furthermore, this embodiment of the invention also proposes a terminal device, which includes a memory, a processor, and a data processing program stored in the memory and executable on the processor. When the data processing program is executed by the processor, it implements the steps of the millimeter-wave radar sensor data processing method described above.

[0129] Since this data processing program employs all the technical solutions of all the foregoing embodiments when executed by the processor, it has at least all the beneficial effects brought about by all the technical solutions of all the foregoing embodiments, which will not be elaborated here.

[0130] Furthermore, embodiments of the present invention also propose a computer-readable storage medium storing a data processing program, which, when executed by a processor, implements the steps of the millimeter-wave radar sensor data processing method described above.

[0131] Since this data processing program employs all the technical solutions of all the foregoing embodiments when executed by the processor, it has at least all the beneficial effects brought about by all the technical solutions of all the foregoing embodiments, which will not be elaborated here.

[0132] Compared to existing technologies, the millimeter-wave radar sensor data processing method proposed in this invention acquires the current frame message information of the target radar; parses the current frame message information to obtain the target ID and corresponding parsed information, and fills the target ID and corresponding parsed information into a pre-established information storage matrix; selects a target ID that matches preset conditions from the information storage matrix, and uses the parsed information corresponding to the target ID that matches the preset conditions as the current frame output information. By parsing the message information to obtain the target ID and corresponding parsed information, and filling them into the information storage matrix accordingly, and then selecting the target ID that meets preset conditions from the information storage matrix to obtain the output information, the method achieves effective collection and organization of message information, thereby improving the convenience of radar tracking and acquiring target information.

[0133] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0134] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0135] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, controlled terminal, or network device, etc.) to execute the methods of each embodiment of this application.

[0136] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method of millimeter wave radar sensor data processing, characterized by, The millimeter-wave radar sensor data processing method includes the following steps: Obtain the current frame message information of the target radar; Set the information storage matrix to a preset number of rows and columns; The content corresponding to each column of the preset number of columns is set, wherein the content corresponding to each column includes a valid flag bit, a count flag bit, and each information bit; Set the content corresponding to each of the preset number of rows; The current frame message information is parsed to obtain the target ID and the corresponding parsing information, and the target ID and the corresponding parsing information are filled into a pre-established information storage matrix, including: The current frame message information is parsed to obtain parsed information, wherein the parsed information includes a target ID, and one or more of the longitudinal distance, lateral distance, longitudinal velocity, and lateral velocity corresponding to the target ID; The valid flag bit corresponding to the target ID is recorded as a preset value, and the counting flag bit corresponding to the target ID is reset to zero, wherein the preset value is recorded as 1; The parsed information is filled into the information storage matrix according to the corresponding content of each column, wherein each frame of the message contains only part of the parsed information; Select a target ID that matches the preset conditions from the information storage matrix, and use the parsed information corresponding to the target ID that matches the preset conditions as the output information of the current frame; The counting flags corresponding to all target IDs whose valid flag bits in the information storage matrix meet the preset values ​​are accumulated to obtain the accumulated counting flag bits; Determine whether the accumulated count flag exceeds a preset threshold; if the accumulated count flag exceeds the preset threshold, then reset both the valid flag and the count flag of the target ID corresponding to the count flag to zero, and clear the parsing information corresponding to the target ID. When the accumulated count flag exceeds the preset threshold, it indicates that the parsing information of the corresponding target ID has not been updated during multiple consecutive message readings.

2. The millimeter wave radar sensor data processing method of claim 1, wherein, The step of selecting a target ID that matches a preset condition from the information storage matrix and using the parsed information corresponding to the target ID that matches the preset condition as the output information of the current frame includes: Sequentially determine whether the valid flag bits corresponding to each target ID in the information storage matrix conform to the preset value; If the valid flag bit corresponding to the target ID meets the preset value, then the parsing information corresponding to the target ID will be used as the output information of the current frame.

3. The millimeter wave radar sensor data processing method of claim 1, wherein, The step of selecting a target ID that matches the preset conditions from the information storage matrix and using the parsed information corresponding to the target ID that matches the preset conditions as the output information of the current frame further includes: The process involves acquiring the next frame message information from the target radar, parsing the current frame message information to obtain the target ID and corresponding parsing information, filling the target ID and corresponding parsing information into a pre-established information storage matrix, and subsequent steps to obtain the next frame output information.

4. A data processing apparatus, characterized by, The data processing device includes: The acquisition module is used to acquire the current frame message information of the target radar; The parsing module is used to set the information storage matrix to a preset number of rows and columns; set the corresponding content of each column of the preset number of columns, wherein the corresponding content of each column includes a valid flag bit, a count flag bit, and each information bit; set the corresponding content of each row of the preset number of rows; parse the current frame message information to obtain the target ID and the corresponding parsing information, and fill the target ID and the corresponding parsing information into the pre-established information storage matrix, including: parsing the current frame message information to obtain parsing information, wherein the parsing information includes the target ID, and one or more of the longitudinal distance, lateral distance, longitudinal velocity, and lateral velocity corresponding to the target ID; setting the valid flag bit corresponding to the target ID to a preset value, and setting the count flag bit corresponding to the target ID to zero, wherein the preset value is set to 1; filling the parsing information into the information storage matrix according to the corresponding content of each column, wherein each frame message only contains part of the parsing information; The output module is used to select a target ID that matches the preset conditions from the information storage matrix, and use the parsed information corresponding to the target ID that matches the preset conditions as the output information of the current frame; The counting flags corresponding to all target IDs whose valid flag bits in the information storage matrix meet the preset values ​​are accumulated to obtain the accumulated counting flag bits; Determine whether the accumulated count flag exceeds a preset threshold; if the accumulated count flag exceeds the preset threshold, then reset both the valid flag and the count flag of the target ID corresponding to the count flag to zero, and clear the parsing information corresponding to the target ID. When the accumulated count flag exceeds the preset threshold, it indicates that the parsing information of the corresponding target ID has not been updated during multiple consecutive message readings.

5. A terminal device, characterized by, The terminal device includes a memory, a processor, and a data processing program stored in the memory and executable on the processor. When the data processing program is executed by the processor, it implements the steps of the millimeter-wave radar sensor data processing method as described in any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a data processing program, which, when executed by a processor, implements the steps of the millimeter-wave radar sensor data processing method as described in any one of claims 1-3.

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