Dangerous area early warning method, device, equipment and medium based on microwave radar

Abstract

The present invention discloses a dangerous area early warning method, device, equipment and medium based on microwave radar. The method comprises: determining the current radar image of the radar detection area, and determining the target attribute information of the early warning target entering the radar detection area based on the current radar image, wherein the target attribute information includes the speed information, position information and size information of the early warning target; determining the relative speed information and relative position information of the early warning target relative to the boundary of the critical section at the current moment based on the target attribute information of the early warning target; and performing early warning control on the early warning target based on the relative speed information and relative position information. The technical solution of the present application accurately obtains the relative speed information and relative position information of the early warning target relative to the boundary of the critical section by analyzing and processing the target attribute information of the early warning target in the current radar image, thereby realizing all-weather early warning protection for the critical section and ensuring timely early warning for nighttime driving safety.

Description

Technical Field

[0001] The present invention relates to the field of safety detection technology, and in particular to a microwave radar-based dangerous area early warning method, device, equipment and medium. Background Art

[0002] As the transportation industry continues to develop towards intelligence, digitalization and informatization, road traffic safety remains a weak link in traffic management. For example, in some areas where development is relatively lagging, traffic facilities, management mechanisms and safety awareness are relatively weak, and there is an even greater need to strengthen road traffic safety management.

[0003] Due to limitations imposed by previous road designs and existing road conditions, some critical sections are close to dangerous areas (such as lakes or cliffs), creating a high risk of accidents and accidental falls. Preventing these falls is accomplished by installing guardrails along critical sections. However, this is a post-accident emergency response measure and is ineffective in effectively preventing these hazards. Summary of the Invention

[0004] The present invention provides a microwave radar-based dangerous area early warning method, device, equipment and medium to achieve all-weather early warning protection for critical road sections and ensure timely early warning for nighttime driving safety.

[0005] According to one aspect of the present invention, a microwave radar-based dangerous area early warning method is provided, the method comprising:

[0006] Determining a current radar image of a radar detection area; the radar detection area includes a critical road section; a boundary of the critical road section is within a preset distance range of a preset danger zone;

[0007] Determining target attribute information of a warning target entering a radar detection area based on the current radar image; the target attribute information includes speed information, position information, and size information of the warning target;

[0008] Determining relative speed information and relative position information of the warning target relative to the critical road section boundary at the current moment based on the target attribute information of the warning target;

[0009] According to the relative speed information and the relative position information, early warning control is performed on the early warning target.

[0010] According to another aspect of the present invention, a microwave radar-based dangerous area early warning device is provided, the device comprising:

[0011] an image determination module, configured to determine a current radar image of a radar detection area; the radar detection area includes a critical road section; a boundary of the critical road section is within a preset distance range of a preset danger zone;

[0012] a first information determination module, configured to determine target attribute information of a warning target entering a radar detection area based on the current radar image; the target attribute information includes speed information, position information, and size information of the warning target;

[0013] A second information determination module is configured to determine relative speed information and relative position information of the warning target relative to the critical road section boundary at a current moment based on the target attribute information of the warning target;

[0014] The early warning module is used to perform early warning control on the early warning target based on the relative speed information and the relative position information.

[0015] According to another aspect of the present invention, an electronic device is provided, comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the dangerous area early warning method based on microwave radar as described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the microwave radar-based dangerous area early warning method described in any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present invention determines the target attribute information of the warning target entering the radar detection area based on the current radar image obtained from the radar detection area, wherein the target attribute information includes the speed information, position information and size information of the warning target; based on the target attribute information of the warning target, determines the relative speed information and relative position information of the warning target relative to the boundary of the critical section at the current moment; finally, based on the relative speed information and relative position information, performs warning control on the warning target. The technical solution of this application analyzes and processes the target attribute information of the warning target in the current radar image to accurately obtain the relative speed information and relative position information of the warning target relative to the boundary of the critical section, thereby realizing all-weather warning protection for the critical section and ensuring timely warning of nighttime driving safety.

[0021] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a flowchart of a dangerous area early warning method based on microwave radar according to the first embodiment of the present invention;

[0024] Figure 2 Schematic diagram of a structure for determining relative speed information and relative position information of a warning target relative to a critical road section boundary applicable to an embodiment of the present invention;

[0025] Figure 3 This is a flowchart of a dangerous area early warning method based on microwave radar according to an embodiment of the present invention;

[0026] Figure 4 This is a schematic structural diagram of a microwave radar-based dangerous area early warning device according to a third embodiment of the present invention;

[0027] Figure 5 The figure is a schematic structural diagram of an electronic device for implementing the microwave radar-based dangerous area early warning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Example 1

[0031] Figure 1 This is a flowchart of a microwave radar-based dangerous area warning method provided in the first embodiment of the present invention. This embodiment can be applied to image detection of warning targets on critical sections to obtain information about the warning targets, and then to issue warnings to the warning targets to ensure their safety. This method can be executed by a microwave radar-based dangerous area warning device, which can be implemented in the form of hardware and / or software. The microwave radar-based dangerous area warning device can be configured in any electronic device with network communication capabilities. Figure 1 As shown, the method includes:

[0032] S110. Determine a current radar image of a radar detection area; wherein the radar detection area includes a critical road section, and a boundary of the critical road section is within a preset distance range of a preset danger area.

[0033] The current radar image can be formed by a radar transmitter transmitting radio waves into the radar detection area and a receiver receiving scattered echoes. The current radar image can be divided into a number of small squares, each of which is referred to as a pixel. By analyzing and processing the information at each pixel, the characteristics of the corresponding detection location within the radar detection area can be obtained, thereby determining the information of the warning target. For example, by analyzing and processing the position, color, and brightness of each pixel in the current radar image, the presence of the warning target on a critical road section can be accurately determined. Critical road sections can be road sections within a preset distance from a danger zone, such as those near water or cliffs. Danger zones can include areas such as water (lakes, rivers), cliffs, and so on.

[0034] In one feasible embodiment, determining a current radar image of a radar detection area includes:

[0035] The microwave radar is used to perform radar scanning on the warning target entering the radar detection area at the current moment to obtain a current radar image including the warning target at the current moment.

[0036] The value of each pixel in the current radar image is used to describe the signal strength of the radar reflection wave when the radar scans toward the detection position point. The current radar image is a grayscale image.

[0037] Among them, a grayscale image can be an image with only one sampled color for each pixel, usually displayed as a grayscale from the darkest black to the brightest white. Pure white in a grayscale image represents that the color light here is at the highest brightness, and the brightness level is 255. The brightness level of the darkest black in a grayscale image is 0, that is, the grayscale value of a grayscale image is 0-255.

[0038] Specifically, the radar detection area of the microwave radar is configured at the critical section of the road. After the microwave radar scans the radar detection area at the current moment, the grayscale value of each pixel point is filled in the lookup table to determine the values of each pixel point corresponding to each pixel point in the current radar image, and then the current radar image represented by the grayscale image is accurately obtained, so that the target attribute information of the warning target can be accurately determined through the different pixel point values in the current radar image.

[0039] This technical solution uses microwave radar to scan the warning targets entering the radar detection area, thereby obtaining an accurate current radar image, which facilitates subsequent processing of the current radar image and realizes accurate warning control of the warning targets entering the radar detection area.

[0040] S120. Determine target attribute information of the warning target entering the radar detection area based on the current radar image; wherein the target attribute information includes speed information, position information, and size information of the warning target.

[0041] Among them, the target attribute information can be used to reflect the status and shape of the warning target. For example, the speed information and position information of the warning target can reflect the status of the warning target, such as approaching a water area or moving forward normally; the size information of the warning target can reflect the shape of the warning target, such as the length, width and height of the warning target.

[0042] Specifically, when the warning target enters the radar detection area, the microwave radar quickly obtains the current radar image and analyzes and processes the current radar image to accurately obtain the target attribute information of the warning target, so as to accurately obtain the relative speed information and relative position information.

[0043] In a feasible embodiment, determining target attribute information of a warning target entering a radar detection area based on a current radar image may include the following steps A1-A2:

[0044] Step A1: Separate the background and foreground in the current radar image to obtain a target radar image after background removal.

[0045] Step A2: Determine target attribute information of the warning target entering the radar detection area based on the target radar image.

[0046] Among them, the foreground pixels in the target radar image are used to describe the warning targets entering the radar detection area, and the warning targets include pedestrians, vehicles and animals.

[0047] The background may be an image of an inherent object in the corresponding radar detection area in the radar image, such as a road or a building in the radar detection area, etc. The foreground may be a warning target in the corresponding radar detection area in the radar image.

[0048] Specifically, after the current radar image is acquired through the microwave radar, the values of each pixel in the current radar image are analyzed and processed to separate the background and foreground of the current radar image, and obtain the target radar image after background removal, so as to facilitate the accurate acquisition of target attribute information of the warning target entering the radar detection area based on the target radar image.

[0049] This technical solution separates the background and foreground in the current radar image to obtain a target radar image with the background removed, making the position and speed of the warning target in the radar image more accurate, thereby more accurately determining the target attribute information of the warning target entering the radar detection area.

[0050] In a feasible embodiment, separating the background and foreground in the current radar image to obtain a target radar image after background removal may include the following steps B1-B3:

[0051] Step B1: Determine a preset number of previous radar images collected in the radar detection area before the current radar image.

[0052] Step B2: performing cumulative averaging on a preset number of previous radar images to obtain a cumulative average image corresponding to each previous radar image.

[0053] Step B3: Separate the background and foreground in the current radar image based on the accumulated average image to obtain a target radar image after background removal.

[0054] The preset number may be the number of radar images required to be acquired by scanning the radar detection area before acquiring the current radar image, determined based on actual needs. The previous radar image includes a radar image acquired within a short period of time before acquiring the current radar image or a radar image acquired by closing the radar detection area.

[0055] Specifically, a microwave radar is used to scan the radar detection area to obtain a preset number of previous radar images, and each image can be recorded as F. Then, the preset number of previous radar images are cumulatively averaged to obtain the cumulative average image of the previous radar image. Next, obtain the current radar image obtained by scanning the radar detection area through the microwave radar at the current moment. Because the warning target in the current radar image does not appear in the previous radar image, the cumulative average image of the previous radar image is obtained. It can be used as the background image of the radar image. Then, the background and foreground in the current radar image can be separated based on the cumulative average image of the previous radar image to accurately obtain the target radar image after background removal.

[0056] This technical solution makes the accumulated average image of the previous radar images more accurate by performing image cumulative averaging on a preset number of previous radar images. This allows the background and foreground in the current radar image to be separated based on the accumulated average image of the previous radar images, thereby obtaining an accurate radar image of the target after background removal, which is conducive to more accurate acquisition of target attribute information of the warning target in the subsequent period.

[0057] In a feasible embodiment, separating the background and foreground in the current radar image based on the cumulative average image to obtain a target radar image after background removal may include the following steps C1-C2:

[0058] Step C1: Perform image difference processing on the current radar image and the cumulative average image of each previous radar image to obtain an image after image difference processing.

[0059] Step C2: Binarizing the image after image difference processing to separate the background and foreground in the current radar image to obtain a target radar image after background removal.

[0060] Image difference processing can be performed by taking the difference between two similar images. Binarization processing can be performed by making each pixel in an image have only two possible values or grayscale states, that is, the grayscale value of any pixel in the image is either 0 or 255, representing black and white respectively.

[0061] Specifically, when the image cumulative average of the preset number of previous radar images is obtained, the cumulative average image of the previous radar image is obtained. After that, the current radar image F is obtained, and the current radar image and the cumulative average image of the previous radar image are subjected to image difference processing to obtain the image F after image difference processing. Δ , which can be expressed as:

[0062]

[0063] Where F is the grayscale image of the current radar image.

[0064] Next, the image F after image difference processing Δ Perform binarization processing, that is, F Δ The pixel value of each pixel in the image is converted to 0 or 255, and the pixel value of 0 is the background, and the pixel value of 255 is the foreground. Therefore, the background and foreground in the current radar image can be separated according to the image after image difference processing after binarization, thereby obtaining the target radar image after background removal.

[0065] The image F after image difference processing can be calculated by the following formula Δ Perform binarization processing:

[0066]

[0067] Among them, f ij ' is the grayscale value of the corresponding pixel after the radar image is binarized, is the grayscale value of the corresponding pixel in the radar image, T is the preset grayscale value, and the preset grayscale value can be the critical value for converting the grayscale value of the corresponding pixel in the radar image to 0 or 255. When the grayscale value of the corresponding pixel in the radar image is greater than or equal to the preset grayscale value, the grayscale value of the corresponding pixel is converted to 255, otherwise it is converted to 0.

[0068] This technical solution performs image difference processing on the cumulative average image of the current radar image and the previous radar image to obtain an image after image difference processing, and then performs binarization processing on the image after image difference processing to separate the background and foreground in the current radar image to obtain a target radar image after background removal. This achieves accurate separation of the background and foreground of the current radar image, making the target radar image after background removal more accurate, and can achieve more accurate acquisition of target attribute information of the warning target.

[0069] S130: Determine the relative speed information and relative position information of the warning target relative to the critical road section boundary at the current moment based on the target attribute information of the warning target.

[0070] The relative speed information may be the speed of the warning target relative to the critical section boundary, and the relative position information may be the coordinates and distance information of the warning target relative to the critical section boundary.

[0071] Specifically, since the warning control is carried out on the warning target passing through the critical section, after the target attribute information of the warning target is accurately obtained, it is necessary to determine the relative speed information and relative position information of the warning target relative to the boundary of the critical section based on the target attribute information of the warning target, so as to achieve accurate warning of the warning target.

[0072] In a feasible embodiment, determining the relative speed information and relative position information of the warning target relative to the critical section boundary at the current moment based on the target attribute information of the warning target may include the following steps D1-D2:

[0073] Step D1, determining the critical section boundary position of the critical section within the radar detection area;

[0074] Step D2: Determine the relative speed and relative position of the warning target along the reference direction relative to the critical section boundary at the current moment based on the target attribute information of the warning target; when extending along the reference direction to the intersection of the critical section boundary, the reference direction is perpendicular to the tangent of the critical section boundary at the intersection.

[0075] The position of the critical section boundary includes determining the critical section boundary curve in a radar coordinate system by fitting the radar after scanning the cone anchor points pre-set on the critical section boundary through radar.

[0076] The structural diagram of the method for determining the relative speed information and relative position information of the warning target relative to the critical section boundary applicable to the embodiment of the present invention is shown in FIG. Figure 2 , 1 is the reference direction, 2 is the tangent line to the warning target center point, 3 is the direction of travel of the critical section boundary, 4 is the critical section boundary, and 5 is the critical section boundary. Reference direction 1 can be the direction perpendicular to the tangent line 2 to the warning target center point and toward the critical section boundary 4.

[0077] Specifically, microwave radar is used to scan the cone anchor points on the critical section boundary to obtain the position information of each cone anchor point. Then, the critical section boundary curve in the radar coordinate system is determined based on the position information of each cone anchor point. The critical section boundary curve has a one-to-one correspondence with each position point on the critical section boundary position, so each position point on the critical section boundary position can be determined through the critical section boundary curve. The target attribute information of the warning target is obtained, including the speed information, position information and size information of the warning target. Then, based on the speed information and size information of the warning target and the corresponding position point of the critical section boundary position, the relative speed v′ of the warning target relative to the critical section boundary along the reference direction is accurately determined. At the same time, based on the position information and size information of the warning target and the corresponding position point of the critical section boundary position, the relative position d of the warning target relative to the critical section boundary along the reference direction is accurately determined. y .

[0078] This technical solution accurately determines and analyzes the target attribute information of the warning target and the critical section boundary position of the critical section within the determined radar detection area, thereby accurately obtaining the relative speed and relative position of the warning target along the reference direction relative to the critical section boundary at the current moment.

[0079] In a feasible embodiment, determining the relative speed and relative position of the warning target along the reference direction relative to the critical section boundary at the current moment based on the target attribute information of the warning target may include the following steps E1-E3:

[0080] Step E1: Determine the travel angle between the vertical direction of the reference direction and the travel direction of the warning target.

[0081] Step E2: Based on the target attribute information of the warning target, determine the relative speed of the warning target along the reference direction relative to the critical section boundary, the center position of the warning target, and the distance from the center position along the reference direction to the critical section boundary at the current moment.

[0082] Step E3: Determine the relative position of the front end of the warning target near the critical section boundary along the reference direction relative to the critical section boundary based on the size information, travel angle, and distance from the center position to the critical section boundary along the reference direction of the warning target.

[0083] For details, see Figure 2 , obtain the target attribute information of the warning target, then the center point of the warning target can be determined based on the target attribute information, and then the tangent line 2 of the center point of the warning target can be determined, then the vertical direction of the tangent line of the center point of the warning target can be determined as the reference direction 1, then the travel angle between the vertical direction of the reference direction and the travel direction of the warning target is the angle θ between the tangent line of the center point of the warning target and the travel direction of the critical section boundary. At the same time, the target attribute information of the warning target is analyzed and calculated to obtain the relative speed of the warning target along the reference direction relative to the critical section boundary, the center position of the warning target, and the distance y′ from the center position along the reference direction to the critical section boundary at the current moment. Finally, the size information of the warning target, the travel angle θ, and the distance y′ from the center position along the reference direction to the critical section boundary are calculated to obtain the accurate relative position d of the front end of the warning target near the critical section boundary along the reference direction relative to the critical section boundary. y , that is, relative position information, can be expressed by the following formula:

[0084]

[0085] This technical solution, by analyzing and calculating the target attribute information of the warning target, accurately obtains the relative speed of the warning target along the reference direction relative to the critical section boundary, the center position of the warning target, the distance from the center position along the reference direction to the critical section boundary, and the size information of the warning target at the current moment, and then calculates the size information, the travel angle, and the distance from the center position along the reference direction to the critical section boundary of the warning target to obtain the accurate relative position of the traveling front end of the warning target close to the critical section boundary along the reference direction relative to the critical section boundary, thereby realizing the accurate acquisition of the relative speed information and relative position information of the warning target relative to the critical section boundary at the current moment.

[0086] S140: Perform early warning control on the warning target based on the relative speed information and the relative position information.

[0087] Specifically, after accurately obtaining the relative speed information and relative position information of the warning target relative to the critical section boundary, accurate warning control of the warning target can be performed through the calculation results.

[0088] In a feasible embodiment, performing early warning control on the warning target based on the relative speed information and the relative position information may include the following steps F1-F2:

[0089] Step F1: estimating the travel time required for the warning target to intersect with the critical road section boundary at the current moment based on the relative speed information and the relative position information;

[0090] Step F2: Determine whether the warning target has a risk of falling into water in the critical section based on the travel time required for the warning target to intersect with the boundary of the critical section.

[0091] The travel time is the time it takes for the warning target to approach the boundary of the critical road section.

[0092] Specifically, the travel time t is estimated based on the distance y′ from the center position along the reference direction to the critical section boundary and the relative speed information v′, that is, Then, by comparing the travel time with the threshold time, when the travel time t is less than the threshold time, it means that the warning target will soon approach the critical road section boundary, and there is a risk of falling into the water. Warning is necessary. However, when the warning target is a car with relatively large size information, using y′ will increase the travel time. Under the same threshold time, it will misjudge whether there is a risk of falling into the water. Therefore, it is necessary to use relative position information d y The estimated travel time t is calculated with the relative speed information v′, that is, Then compare the travel time with the threshold time. When the travel time t is less than the threshold time, there is a risk of falling into the water, and an early warning, such as an audible and visual warning, needs to be issued in time.

[0093] This technical solution uses relative speed information and relative position information to accurately calculate the travel time, and then can accurately control the warning target based on the judgment of the travel time.

[0094] The technical solution of the embodiment of the present invention is to obtain a current radar image of the radar detection area based on the acquired radar image and perform binary image processing on the current radar image to obtain an accurate target radar image with background removed, and then accurately determine the target attribute information of the warning target entering the radar detection area by analyzing and processing the target radar image, wherein the target attribute information includes the speed information, position information and size information of the warning target; then the target attribute information of the warning target is calculated to accurately determine the relative speed information and relative position information of the warning target relative to the critical section boundary at the current moment; finally, based on the relative speed information and relative position information, the accurate travel time is obtained, and by judging the travel time, accurate warning control of the warning target is achieved. The technical solution of this application analyzes and processes the target attribute information of the warning target in the current radar image to accurately obtain the relative speed information and relative position information of the warning target relative to the critical section boundary, thereby achieving all-weather warning protection for critical sections and ensuring timely warning of night driving safety.

[0095] Example 2

[0096] Figure 3 This is a flowchart of a dangerous area warning method based on microwave radar provided by an embodiment of the present invention. This embodiment describes in detail the target attribute information of the warning target entering the radar detection area based on the target radar image in the above embodiment. Figure 3 As shown, the method includes:

[0097] S210: Determine a current radar image in the radar detection area, separate the background and foreground in the current radar image, and obtain a target radar image after background removal.

[0098] S220: Perform edge detection on the target radar image to obtain an edge detection map of the target radar image.

[0099] Specifically, a target radar image is acquired, and edge detection is performed on the target radar image to distinguish real and potential edges in the target radar image, thereby obtaining an accurate edge detection map of the target radar image.

[0100] In a feasible embodiment, performing edge detection on the target radar image to obtain an edge detection map of the target radar image may include the following steps G1-G2:

[0101] Step G1: Perform morphological processing on the target radar image to obtain a processed radar image; the foreground of the target radar image corresponds to the warning target and is segmented into different areas due to the separation of the foreground and the background.

[0102] Step G2: performing Gaussian smoothing on the processed radar image, and performing edge detection on the Gaussian smoothed radar image to obtain an edge detection map of the target radar image.

[0103] Specifically, when acquiring a target radar image, the warning target area may be divided into different sub-areas during this process. Therefore, it is necessary to perform morphological processing on the target radar image to obtain a processed radar image, and then perform Gaussian smoothing on the processed radar image to eliminate noise caused by radar detection. Finally, edge detection is performed on the processed radar image after Gaussian smoothing to accurately distinguish the edges of the warning target in the target radar image, thereby accurately obtaining an edge detection map of the target radar image.

[0104] This technical solution performs morphological processing on the target radar image to obtain a processed radar image, so that the processed radar image can more accurately represent the warning target area. In addition, Gaussian smoothing is performed on the processed radar image to further eliminate some small noise points caused by radar detection, further enhancing the accuracy of the image. Finally, edge detection is performed on the Gaussian smoothed processed radar image to obtain an edge detection map of the target radar image, which is conducive to subsequently obtaining accurate target attribute information of the warning target through the edge detection map.

[0105] In a feasible embodiment, performing morphological processing on the target radar image to obtain a processed radar image may include the following steps H1-H2:

[0106] Step H1: Perform a morphological dilation operation on the target radar image to obtain an expanded radar image; the morphological dilation operation is used to eliminate internal holes and / or gaps between different areas of the foreground corresponding to the warning target that are segmented.

[0107] Step H2: Perform a morphological erosion operation on the expanded radar image to obtain an eroded radar image, which serves as the processed radar image.

[0108] Specifically, since the warning target area may be divided into different sub-areas during the target radar image formation process, a morphological dilation operation is performed on the target radar image to obtain a dilated radar image in order to eliminate internal holes and / or gaps between adjacent sub-areas corresponding to the warning target area. Since the area becomes larger after dilation, a morphological erosion operation is performed on the dilated radar image to obtain a eroded radar image. This restores the area to its pre-dilation state, allowing the processed radar image to more accurately represent the warning target area.

[0109] This technical solution performs a morphological dilation operation on the target radar image to obtain an expanded radar image, eliminating internal holes and / or gaps between different sub-regions corresponding to the foreground and adjacent regions. The expanded radar image is then subjected to a morphological erosion operation to obtain an eroded radar image, which serves as the processed radar image. This restores the image area to its pre-dilation state, allowing for a more accurate representation of the warning target area and facilitating subsequent analysis of the warning target area.

[0110] S230 , determining the warning target described by the foreground pixel points in the target radar image and the position information and speed information of the warning target based on the edge detection map of the target radar image.

[0111] Specifically, the current radar image is obtained, and the foreground and background in the current radar image are separated to obtain a target radar image with the background removed. Then, edge detection is performed on the target radar image to obtain an edge detection map. Based on the edge detection map, the position information and speed information of the warning target corresponding to the foreground of the target radar image are obtained. At the same time, the warning target can also be accurately analyzed and processed to achieve accurate acquisition of the target attribute information of the warning target.

[0112] In a feasible embodiment, determining the warning target described by the foreground pixel points in the target radar image and the position information and speed information of the warning target based on the edge detection map of the target radar image may include the following steps I1-I3:

[0113] Step I1: extracting the outer boundary inflection point position of the foreground corresponding to the warning target of the target radar image based on the edge detection map of the target radar image; the outer boundary inflection point position is described by the row and column identifier of the pixel point corresponding to the outer boundary inflection point.

[0114] Step I2: Determine the geometric center position of the warning target based on the inflection point position of the outer boundary of the warning target corresponding to the foreground of the target radar image.

[0115] Step I3: Determine the position and speed information of the warning target based on the geometric center position of the warning target.

[0116] Specifically, an edge detection map of the target radar image is obtained, and the outer boundary inflection point of the warning target in the foreground of the target radar image is extracted based on the edge detection map to obtain the location of the outer boundary inflection point. The outer boundary inflection point extraction method can adopt any method in the prior art and is not limited in the embodiments of the present invention. The location of the outer boundary inflection point can be expressed as follows:

[0117]

[0118] Among them, D i represents the coordinate set of the outer boundary inflection points of the i-th target area, Represents the row and column geometric pixel coordinates of the mth inflection point on the outer boundary of the i-th target region.

[0119] Then, according to the position of the inflection point of the outer boundary of the warning target area in the foreground of the target radar image, the geometric center position of the warning target area is calculated. For example, the maximum and minimum values of the row geometric pixel coordinates of the m inflection points of the outer boundary of the i-th warning target area are summed, and then half of the sum is used as the row pixel coordinate r of the geometric center position of the warning target area. i Similarly, sum the maximum and minimum values of the column geometric pixel coordinates of the m inflection points on the outer boundary of the i-th warning target area, and then use half of the sum as the column pixel coordinate c of the geometric center position of the warning target area. i , that is, the geometric center position of the warning target area can be expressed as:

[0120]

[0121] Since one pixel represents a square area with a side length of Δ meters, and the origin of the Cartesian coordinate system is located at the center of the image, (r i ,c i ) corresponding Cartesian coordinates:

[0122]

[0123] Then the geometric center position of the warning target area is converted into the corresponding Cartesian coordinate system coordinate set:

[0124] X={(x 1 ,y 1 ),(x 2 ,y 2 ),…,(x n ,y n )

[0125] The set of Cartesian coordinate system coordinates is then clustered to obtain the set X′ of Cartesian coordinate system coordinates corresponding to the geometric center position of the clustered warning target area, thereby avoiding inaccurate position and speed information of the warning target due to inaccurate coordinate positions.

[0126] This technical solution determines the geometric center position of the warning target area based on the inflection point position of the outer boundary of the warning target area in the foreground of the target radar image extracted from the edge detection map of the target radar image. Then, based on the geometric center position of the warning target area, the position information and speed information of the warning target are accurately obtained, thereby avoiding the inability to timely carry out warning control of the warning target due to errors in the position information and speed information of the warning target.

[0127] S240 , determining the size information of the warning target described by the foreground pixel in the target radar image according to the value of each foreground pixel in the target radar image.

[0128] The pixel value is used to describe the signal strength of the radar reflection wave when the radar scans toward the detection position corresponding to the pixel.

[0129] Specifically, the value of each pixel point in the target radar image is used to describe the signal strength of the radar reflection wave when the radar scans the detection position point corresponding to the pixel point. Therefore, the outline of the warning target can be constructed based on the value of each pixel point in the target radar image, and the size information of the warning target can be accurately obtained.

[0130] In a feasible embodiment, determining the size information of the warning target described by the foreground pixel in the target radar image based on the value of each foreground pixel in the target radar image may include the following steps J1-J3:

[0131] Step J1: Determine the radar position and detection angle of the radar detection area including the critical road section.

[0132] Step J2: Generate the outline of the foreground pixel points corresponding to the warning target based on the values of each foreground pixel point in the target radar image, as well as the radar position and detection angle.

[0133] Step J3: Based on the generated contour shape, determine the size information of the warning target described by the foreground pixel points.

[0134] Specifically, the radar position and detection angle of the radar detection area corresponding to the warning target area are obtained, because the pixel points of the signal intensity of different radar reflection waves in the target radar image can reflect the distance between the radar position and the warning target. Then, by calculating the radar position, detection angle of the radar detection area corresponding to the warning target area and the values of each pixel point in the target radar image, the outline of the pixel point can be constructed, and finally the size information of the warning target corresponding to the warning target area can be accurately obtained.

[0135] This technical solution accurately constructs the outline of the pixel points in the warning target area by taking the values of each pixel point in the target radar image and the radar position and detection angle of the radar detection area. Based on the constructed pixel point outline shape, the size information of the warning target area corresponding to the warning target is determined, ensuring the accuracy of the size information.

[0136] S250. Determine the relative speed information and relative position information of the warning target relative to the critical road section boundary at the current moment based on the target attribute information of the warning target, and then perform warning control on the warning target based on the relative speed information and relative position information.

[0137] The technical solution of the embodiment of the present invention determines a current radar image of a radar detection area and separates the foreground and background of the current radar image to accurately obtain a target radar image with the background removed. Morphological processing, Gaussian smoothing, and edge detection are then performed on the target radar image to eliminate internal holes and / or gaps between neighboring regions corresponding to the foreground, as well as possible noise points in the image. The boundary position of the warning target area is accurately determined, so that the image can more accurately represent the warning target area. Target attribute information of the warning target entering the radar detection area can be accurately obtained based on the target radar image, where the target attribute information includes speed information, position information, and size information of the warning target. Based on the target attribute information of the warning target, the relative speed information and relative position information of the warning target relative to the critical section boundary at the current moment are calculated. Finally, based on the relative speed information and relative position information, warning control is performed on the warning target, thereby achieving all-weather warning protection for critical sections and ensuring safe and timely warnings for nighttime driving.

[0138] Example 3

[0139] Figure 4 This is a schematic diagram of the structure of a dangerous area warning device based on microwave radar according to the third embodiment of the present invention. Figure 4 As shown, the device includes:

[0140] The image determination module 310 is used to determine the current radar image of the radar detection area; the radar detection area includes critical road sections.

[0141] The first information determination module 320 is used to determine target attribute information of the warning target entering the radar detection area based on the current radar image; wherein the target attribute information includes speed information, position information and size information of the warning target.

[0142] The second information determination module 330 is configured to determine the relative speed information and relative position information of the warning target relative to the critical road section boundary at the current moment based on the target attribute information of the warning target.

[0143] The early warning module 340 is used to perform early warning control on the early warning target based on the relative speed information and the relative position information.

[0144] Optionally, the image determination module is specifically used to:

[0145] Performing radar scanning on the warning target entering the radar detection area at the current moment by using the microwave radar to obtain a current radar image including the warning target at the current moment;

[0146] The value of each pixel in the current radar image is used to describe the signal strength of the radar reflection wave when the radar scans toward the detection position point. The current radar image is a grayscale image.

[0147] Optionally, the first information determination module is specifically configured to:

[0148] Separate the background and foreground in the current radar image to obtain a target radar image after background removal;

[0149] Determining target attribute information of the warning target entering the radar detection area based on the target radar image;

[0150] The foreground pixels in the target radar image are used to describe the warning targets entering the radar detection area, and the warning targets include pedestrians, vehicles and animals.

[0151] Optionally, the first information determination module includes an image separation unit, specifically configured to:

[0152] Determining a preset number of previous radar images acquired in the radar detection area before the current radar image; the previous radar images include radar images acquired within a proximate time period before the current radar image is acquired or radar images acquired while the radar detection area is closed;

[0153] Performing image cumulative averaging on a preset number of previous radar images to obtain a cumulative average image corresponding to each previous radar image;

[0154] The background and foreground in the current radar image are separated based on the cumulative average image to obtain the target radar image after background removal.

[0155] Optionally, the image separation unit includes a first image processing unit, specifically configured to:

[0156] Performing image difference processing on the current radar image and the cumulative average image of each previous radar image to obtain an image after image difference processing;

[0157] By performing binarization on the image after image difference processing, the background and foreground in the current radar image are separated to obtain the target radar image after background removal.

[0158] Optionally, the first information determination module includes an information determination unit, specifically configured to:

[0159] Performing edge detection on the target radar image to obtain an edge detection map of the target radar image;

[0160] According to the edge detection map of the target radar image, the warning target described by the foreground pixel points in the target radar image and the position information and speed information of the warning target are determined;

[0161] Based on the values of each foreground pixel in the target radar image, the size information of the warning target described by the foreground pixel in the target radar image is determined; the pixel value is used to describe the signal strength of the radar reflection wave when the radar scans toward the detection position corresponding to the pixel.

[0162] Optionally, the information determining unit includes a second image processing unit, specifically configured to:

[0163] Performing morphological processing on the target radar image to obtain a processed radar image; the foreground of the target radar image corresponding to the warning target is segmented into different areas due to the separation of the foreground and the background;

[0164] Gaussian smoothing is performed on the processed radar image, and edge detection is performed on the Gaussian smoothed radar image to obtain an edge detection map of the target radar image.

[0165] Optionally, the second image processing unit includes a morphological processing unit, specifically configured to:

[0166] Performing a morphological dilation operation on the target radar image to obtain an expanded radar image; the morphological dilation operation is used to eliminate internal holes and / or gaps between different regions of the foreground corresponding to the warning target segmented;

[0167] A morphological erosion operation is performed on the expanded radar image to obtain an eroded radar image, which is used as the processed radar image.

[0168] Optionally, the information determining unit includes a location information determining unit, specifically configured to:

[0169] Extracting the outer boundary inflection point position of the foreground of the target radar image corresponding to the warning target according to the edge detection map of the target radar image; the outer boundary inflection point position is described by the row and column identifier of the pixel point corresponding to the outer boundary inflection point;

[0170] Determining the geometric center position of the warning target based on the position of the outer boundary inflection point of the warning target corresponding to the foreground of the target radar image;

[0171] According to the geometric center position of the warning target, the position information and speed information of the warning target are determined.

[0172] Optionally, the information determining unit includes a size information determining unit, specifically configured to:

[0173] Determining a radar position and detection angle in a radar detection area including a critical road section;

[0174] Generate the outline of the foreground pixel points corresponding to the warning target based on the values of each foreground pixel point in the target radar image, as well as the radar position and detection angle;

[0175] Based on the generated contour shape, the size information of the warning target described by the foreground pixel point is determined.

[0176] Optionally, the second information determination module is specifically configured to:

[0177] Determine the critical section boundary position of the critical section within the radar detection area;

[0178] Based on the target attribute information of the warning target, the relative speed and relative position of the warning target along the reference direction relative to the critical section boundary at the current moment are determined; when extending along the reference direction to the intersection of the critical section boundary, the reference direction is perpendicular to the tangent of the critical section boundary at the intersection.

[0179] Optionally, the position of the critical section boundary includes determining a critical section boundary curve in a radar coordinate system by fitting after scanning a cone anchor point pre-set on the critical section boundary through radar.

[0180] Optionally, the second information determination module includes an information processing unit, specifically configured to:

[0181] determining an angle between a vertical direction of the reference direction and a moving direction of the warning target;

[0182] Based on the target attribute information of the warning target, determine the relative speed of the warning target along the reference direction relative to the critical section boundary, the center position of the warning target, and the distance from the center position to the critical section boundary along the reference direction at the current moment;

[0183] Based on the size information of the warning target, the travel angle and the distance from the center position to the critical section boundary along the reference direction, the relative position of the front end of the warning target close to the critical section boundary along the reference direction relative to the critical section boundary is determined.

[0184] Optional early warning module, specifically used for:

[0185] Based on the relative speed information and the relative position information, the time required for the warning target to intersect with the boundary of the critical road section at the current moment is estimated;

[0186] Based on the travel time required for the warning target to intersect with the boundary of the critical section, it is determined whether the warning target has a risk of falling into water in the critical section.

[0187] The microwave radar-based dangerous area warning device provided in the embodiment of the present invention can execute the microwave radar-based dangerous area warning method provided in any embodiment of the present invention mentioned above, and has the corresponding functions and beneficial effects of executing the microwave radar-based dangerous area warning method. For detailed process, please refer to the relevant operations of the microwave radar-based dangerous area warning method in the aforementioned embodiment.

[0188] Example 4

[0189] Figure 5 The following is a schematic diagram of the structure of an electronic device that can be used to implement the microwave radar-based dangerous area early warning method according to an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0190] like Figure 5As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0191] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0192] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the microwave radar-based dangerous area early warning method.

[0193] In some embodiments, the microwave radar-based dangerous area warning method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the microwave radar-based dangerous area warning method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute the microwave radar-based dangerous area warning method through any other appropriate means (e.g., via firmware).

[0194] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0195] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0196] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0197] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0198] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0199] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0200] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0201] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A dangerous area early warning method based on microwave radar, characterized in that: include: Determine the current radar image of the radar detection area; The radar detection area includes a critical road section; The boundary of the critical section is within a preset distance range of a preset danger zone; Determining target attribute information of a warning target entering a radar detection area based on the current radar image; The target attribute information includes speed information, position information and size information of the warning target; Determining relative speed information and relative position information of the warning target relative to the critical road section boundary at the current moment based on the target attribute information of the warning target; Performing early warning control on the early warning target based on the relative speed information and the relative position information; Wherein, determining the relative speed information and relative position information of the warning target relative to the critical section boundary at the current moment based on the target attribute information of the warning target includes: Determine the critical section boundary position of the critical section within the radar detection area; Determining the relative speed and relative position of the warning target relative to the critical section boundary along a reference direction at a current moment based on the target attribute information of the warning target; when extending along the reference direction to an intersection point of the critical section boundary, the reference direction is perpendicular to a tangent line of the critical section boundary at the intersection point; The method of determining the relative speed and relative position of the warning target along the reference direction relative to the critical section boundary at the current moment based on the target attribute information of the warning target includes: determining an angle between a vertical direction of the reference direction and a moving direction of the warning target; Determining, based on the target attribute information of the warning target, the relative speed of the warning target along a reference direction relative to the critical section boundary, the center position of the warning target, and the distance from the center position to the critical section boundary along the reference direction at a current moment; Based on the size information of the warning target, the travel angle and the distance from the center position to the critical section boundary along the reference direction, the relative position of the front end of the warning target close to the critical section boundary relative to the critical section boundary along the reference direction is determined.

2. The method according to claim 1, characterized in that Determine the current radar image of the radar detection area, including: Performing radar scanning on the warning target entering the radar detection area at the current moment by using the microwave radar to obtain a current radar image including the warning target at the current moment; The value of each pixel in the current radar image is used to describe the signal strength of the radar reflection wave when the radar scans toward the detection position point. The current radar image is a grayscale image.

3. The method according to claim 1, characterized in that Determining target attribute information of a warning target entering a radar detection area based on the current radar image includes: Separate the background and foreground in the current radar image to obtain a target radar image after background removal; Determining target attribute information of the warning target entering the radar detection area based on the target radar image; The foreground pixels in the target radar image are used to describe the warning targets entering the radar detection area, and the warning targets include pedestrians, vehicles and animals.

4. The method according to claim 3, characterized in that Separate the background and foreground of the current radar image to obtain the target radar image after background removal, including: Determining a preset number of previous radar images acquired in the radar detection area before the current radar image; the previous radar images include radar images acquired within a proximate time period before the current radar image or radar images acquired by closing the radar detection area; Performing image cumulative averaging on a preset number of previous radar images to obtain a cumulative average image corresponding to each previous radar image; The background and foreground in the current radar image are separated based on the cumulative average image to obtain the target radar image after background removal.

5. The method according to claim 4, characterized in that The background and foreground of the current radar image are separated based on the cumulative average image to obtain the target radar image after background removal, including: Performing image difference processing on the current radar image and the cumulative average image of each previous radar image to obtain an image after image difference processing; By performing binarization on the image after image difference processing, the background and foreground in the current radar image are separated to obtain the target radar image after background removal.

6. The method according to claim 3, characterized in that Determining target attribute information of a warning target entering a radar detection area based on the target radar image includes: Performing edge detection on the target radar image to obtain an edge detection map of the target radar image; Determining, based on an edge detection map of the target radar image, a warning target described by foreground pixels in the target radar image and position information and speed information of the warning target; Based on the values of each foreground pixel point in the target radar image, the size information of the warning target described by the foreground pixel point in the target radar image is determined; the pixel point value is used to describe the signal strength of the radar reflection wave when the radar scans toward the detection position point corresponding to the pixel point.

7. The method according to claim 6, characterized in that Performing edge detection on the target radar image to obtain an edge detection map of the target radar image includes: Performing morphological processing on the target radar image to obtain a processed radar image; the foreground of the target radar image corresponding to the warning target is segmented into different areas due to the separation of the foreground and the background; Gaussian smoothing is performed on the processed radar image, and edge detection is performed on the Gaussian smoothed radar image to obtain an edge detection map of the target radar image.

8. The method according to claim 7, characterized in that Performing morphological processing on the target radar image to obtain a processed radar image includes: Performing a morphological dilation operation on the target radar image to obtain an expanded radar image; the morphological dilation operation is used to eliminate internal holes and / or gaps between different regions of the foreground corresponding to the warning target segmented; A morphological erosion operation is performed on the expanded radar image to obtain an eroded radar image, which is used as the processed radar image.

9. The method according to claim 6, characterized in that Determining, based on the edge detection map of the target radar image, the warning target described by the foreground pixel points in the target radar image and the position information and speed information of the warning target, including: Extracting the outer boundary inflection point position of the foreground of the target radar image corresponding to the warning target according to the edge detection map of the target radar image; the outer boundary inflection point position is described by the row and column identifier of the pixel point corresponding to the outer boundary inflection point; Determining the geometric center position of the warning target based on the position of the outer boundary inflection point of the warning target corresponding to the foreground of the target radar image; According to the geometric center position of the warning target, the position information and speed information of the warning target are determined.

10. The method according to claim 6, characterized in that Determining the size information of the warning target described by the foreground pixel in the target radar image based on the value of each foreground pixel in the target radar image includes: Determining a radar position and detection angle in a radar detection area including a critical road section; Generate the outline of the foreground pixel points corresponding to the warning target based on the values of each foreground pixel point in the target radar image, as well as the radar position and detection angle; Based on the generated contour shape, the size information of the warning target described by the foreground pixel point is determined.

11. The method according to claim 1, characterized in that The critical section boundary position includes determining the critical section boundary curve in a radar coordinate system by fitting after scanning a cone anchor point pre-set on the critical section boundary through radar.

12. The method according to claim 1, characterized in that Performing early warning control on the early warning target based on the relative speed information and the relative position information includes: Based on the relative speed information and the relative position information, the time required for the warning target to intersect with the boundary of the critical road section at the current moment is estimated; According to the travel time required for the warning target to intersect with the boundary of the critical section, it is determined whether the warning target has a risk of falling into water in the critical section.

13. A dangerous area early warning device based on microwave radar, characterized in that: include: An image determination module, configured to determine a current radar image of a radar detection area; The radar detection area includes a critical road section; The boundary of the critical section is within a preset distance range of a preset danger zone; A first information determination module is configured to determine target attribute information of a warning target entering a radar detection area based on the current radar image; The target attribute information includes speed information, position information and size information of the warning target; A second information determination module is configured to determine relative speed information and relative position information of the warning target relative to the critical road section boundary at a current moment based on the target attribute information of the warning target; An early warning module is used to perform early warning control on the early warning target based on the relative speed information and the relative position information; The second information determination module is specifically configured to: Determine the critical section boundary position of the critical section within the radar detection area; Determining the relative speed and relative position of the warning target relative to the critical section boundary along a reference direction at a current moment based on the target attribute information of the warning target; when extending along the reference direction to an intersection point of the critical section boundary, the reference direction is perpendicular to a tangent line of the critical section boundary at the intersection point; The second information determination module includes an information processing unit, which is specifically configured to: determining an angle between a vertical direction of the reference direction and a moving direction of the warning target; Determining, based on the target attribute information of the warning target, the relative speed of the warning target along a reference direction relative to the critical section boundary, the center position of the warning target, and the distance from the center position to the critical section boundary along the reference direction at a current moment; Based on the size information of the warning target, the travel angle and the distance from the center position to the critical section boundary along the reference direction, the relative position of the front end of the warning target close to the critical section boundary relative to the critical section boundary along the reference direction is determined.

14. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to execute the microwave radar-based dangerous area early warning method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the microwave radar-based dangerous area early warning method according to any one of claims 1 to 12 when executed.

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