Target motion state determination method, apparatus, and device

Abstract

This application discloses a method, apparatus, and device for determining the motion state of a target, relating to the field of radar detection technology. The method for determining the motion state of a target includes: acquiring target information, including position and velocity information, from at least two detection points detected by a radar sensor; clustering the at least two detection points based on their position information to obtain at least one cluster; calculating the velocity information of the detection points included in the first target cluster for a first target cluster to obtain the true motion velocity component corresponding to the first target cluster; compensating for the true motion velocity component to obtain the absolute motion velocity component corresponding to the first target cluster; generating a motion state discrimination threshold corresponding to the first target cluster based on the position information of the detection points included in the first target cluster; and determining the motion state of the detection points included in the first target cluster based on the absolute motion velocity component and the motion state discrimination threshold. According to the embodiments of this application, the accuracy of motion state determination can be improved.

Description

Technical Field

[0001] This application belongs to the field of radar detection technology, and in particular relates to a method, apparatus and equipment for determining the motion state of a target. Background Technology

[0002] In fields such as robot navigation and intelligent assisted driving, radar with speed measurement capabilities is widely used as a primary means of detecting information about objects around a vehicle. Objects around a vehicle include objects that are stationary relative to the ground (referred to as stationary objects) and objects that are moving relative to the ground (referred to as moving objects).

[0003] In related technologies, when distinguishing objects around a carrier, the theoretical Doppler velocity of the carrier relative to the polar coordinate position of the object relative to the radar sensor is usually calculated. Then, the difference between the theoretical Doppler velocity and the measured Doppler velocity of the object is calculated. If the velocity difference is less than the velocity discrimination threshold, the object is determined to be a stationary object. If the velocity difference is not less than the velocity discrimination threshold, the object is determined to be a moving object.

[0004] However, for larger objects (e.g., cars), the radar sensor will detect different positions of the object due to the size of the object. The azimuth and Doppler velocity of the same object relative to the radar sensor will be different at different positions. It is obviously inaccurate to classify different positions of the same object as the same state by a single velocity discrimination threshold. Summary of the Invention

[0005] This application provides a method, apparatus, and device for determining the motion state of a target, which can solve the problem of poor accuracy in determining the motion state of a target.

[0006] In a first aspect, embodiments of this application provide a method for determining the motion state of a target, including:

[0007] Acquire target information from at least two detection points detected by the radar sensor, wherein the target information includes the position and velocity information of the detection points;

[0008] Based on the location information, cluster at least two detection points to obtain at least one cluster;

[0009] For the first target cluster, the velocity information of the detection points included in the first target cluster is calculated to obtain the real motion velocity components corresponding to the first target cluster, wherein the first target cluster is any one of at least one cluster;

[0010] Compensate the actual motion velocity components corresponding to the first target cluster to obtain the absolute motion velocity components corresponding to the first target cluster;

[0011] Based on the location information of the detection points included in the first target cluster, a motion state discrimination threshold corresponding to the first target cluster is generated;

[0012] The motion state of the detection points included in the first target cluster is determined based on the absolute motion velocity component corresponding to the first target cluster and the motion state discrimination threshold corresponding to the first target cluster.

[0013] Secondly, embodiments of this application provide a target motion state determination device, comprising:

[0014] The acquisition module is used to acquire target information of at least two detection points detected by the radar sensor, wherein the target information includes the position information and velocity information of the detection points;

[0015] The clustering module is used to cluster at least two detection points based on location information to obtain at least one cluster;

[0016] The calculation module is used to calculate the velocity information of the detection points included in the first target cluster for the first target cluster, and obtain the real motion velocity components corresponding to the first target cluster, wherein the first target cluster is any one of at least one cluster;

[0017] The compensation module is used to compensate for the real motion velocity components corresponding to the first target cluster, so as to obtain the absolute motion velocity components corresponding to the first target cluster.

[0018] The generation module is used to generate a motion state discrimination threshold corresponding to the first target cluster based on the position information of the detection points included in the first target cluster;

[0019] The discrimination module is used to determine the motion state of the detection points included in the first target cluster based on the absolute motion velocity component corresponding to the first target cluster and the motion state discrimination threshold corresponding to the first target cluster.

[0020] Thirdly, embodiments of this application provide an electronic device, which includes: a processor and a memory storing computer program instructions; the processor executes the computer program instructions to implement the target motion state determination method of the first aspect.

[0021] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the target motion state determination method of the first aspect.

[0022] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the target motion state determination method as described in the first aspect.

[0023] In this embodiment, the position and velocity information of at least two detection points detected by a radar sensor are acquired. Based on the position information, the at least two detection points are clustered to obtain at least one cluster. For each cluster, the velocity information of the detection points included in the cluster is calculated to obtain the true motion velocity component corresponding to the cluster. The true motion velocity component corresponding to the cluster is compensated to obtain the absolute motion velocity component corresponding to the cluster. Based on the position information of the detection points included in the cluster, a motion state discrimination threshold corresponding to the cluster is generated. Based on the absolute motion velocity component corresponding to the cluster and the motion state discrimination threshold corresponding to the cluster, the motion state of the detection points included in the cluster is determined. In this way, the motion state of each detection point can be determined, improving the accuracy of motion state determination. Furthermore, even if the detection point is in the Doppler blind zone relative to the radar sensor, the motion state of the detection point can still be accurately determined. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating the target motion state determination method provided in the embodiments of this application;

[0026] Figure 2 This is a schematic diagram of the coordinate system of the radar sensor provided in the embodiments of this application;

[0027] Figure 3 This is a schematic diagram of the detection points detected by the radar sensor provided in the embodiments of this application;

[0028] Figure 4 This is a schematic diagram of the clustering results of detection points provided in the embodiments of this application;

[0029] Figure 5 This is a schematic diagram of the target motion state determination device provided in the embodiments of this application;

[0030] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0031] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0033] The target motion state determination method, apparatus, and device provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0034] Figure 1 This is a flowchart illustrating the target motion state determination method provided in an embodiment of this application. Figure 1 As shown, the method for determining the motion state of a target may include:

[0035] S101: Acquire target information from at least two detection points detected by the radar sensor, wherein the target information includes the position information and velocity information of the detection points;

[0036] S102: Based on the location information of the detection points, cluster at least two detection points to obtain at least one cluster;

[0037] S103: For the first target cluster, calculate the velocity information of the detection points included in the first target cluster to obtain the real motion velocity components corresponding to the first target cluster, wherein the first target cluster is any one of at least one cluster;

[0038] S104: Compensate for the real motion velocity components corresponding to the first target cluster to obtain the absolute motion velocity components corresponding to the first target cluster;

[0039] S105: Generate a motion state discrimination threshold corresponding to the first target cluster based on the position information of the detection points included in the first target cluster;

[0040] S106: Determine the motion state of the detection points included in the first target cluster based on the absolute motion velocity component corresponding to the first target cluster and the motion state discrimination threshold corresponding to the first target cluster.

[0041] The specific implementation methods of each of the above steps will be described in detail below.

[0042] In this embodiment, the position and velocity information of at least two detection points detected by a radar sensor are acquired. Based on the position information, the at least two detection points are clustered to obtain at least one cluster. For each cluster, the velocity information of the detection points included in the cluster is calculated to obtain the true motion velocity component corresponding to the cluster. The true motion velocity component corresponding to the cluster is compensated to obtain the absolute motion velocity component corresponding to the cluster. Based on the position information of the detection points included in the cluster, a motion state discrimination threshold corresponding to the cluster is generated. Based on the absolute motion velocity component corresponding to the cluster and the motion state discrimination threshold corresponding to the cluster, the motion state of the detection points included in the cluster is determined. In this way, the motion state of each detection point can be determined, improving the accuracy of motion state determination. Furthermore, even if the detection point is in the Doppler blind zone relative to the radar sensor, the motion state of the detection point can still be accurately determined.

[0043] In some possible implementations of the embodiments of this application, the location information of the detection point in the embodiments of this application can be the polar coordinates (R, θ) of the detection point, where R is the distance of the detection point relative to the radar sensor, and θ is the azimuth angle of the detection point relative to the radar sensor.

[0044] In some possible implementations of the embodiments of this application, the velocity information of the detection point in the embodiments of this application can be the radial Doppler velocity V of the detection point relative to the radar sensor. r .

[0045] This application does not limit the clustering algorithm used to cluster at least two detection points based on location information to obtain at least one cluster. Any available clustering algorithm can be applied to this application, such as K-MEANS algorithm, K-MEDOIDS algorithm, BIRCH algorithm, DBSCAN algorithm, STING algorithm, etc.

[0046] For example, suppose we obtain the position and velocity information of M detection points detected by a radar sensor, where the position information of the i-th detection point is represented in polar coordinates as (R i θ iThe velocity information of the i-th detection point is the radial Doppler velocity V of the i-th detection point relative to the radar sensor. ri. Where i is a positive integer less than or equal to M. Based on the positions of the M detection points, the M detection points are clustered into N clusters. For the j-th cluster, the radial Doppler velocity of the detection points included in the j-th cluster is calculated to obtain the true motion velocity component corresponding to the j-th cluster; the true motion velocity component corresponding to the j-th cluster is compensated to obtain the absolute motion velocity component corresponding to the j-th cluster; based on the position information of the detection points included in the j-th cluster, a motion state discrimination threshold corresponding to the j-th cluster is generated; based on the absolute motion velocity component corresponding to the j-th cluster and the motion state discrimination threshold corresponding to the j-th cluster, the motion state of the detection points included in the j-th cluster is determined, where j is a positive integer less than or equal to N.

[0047] In some possible implementations of the embodiments of this application, S103 may include: using the least squares method to solve the following formula (1) to obtain the true motion velocity components of the first target cluster:

[0048]

[0049] In formula (1), and These represent the true velocity components of the first target cluster along the X-axis and Y-axis of the radar sensor's coordinate system, respectively. Let be the azimuth angle of the i-th detection point in the first target cluster relative to the radar sensor. Let be the radial Doppler velocity of the i-th detection point relative to the radar sensor, P be the number of detection points in the first target cluster, and i be a positive integer less than or equal to P.

[0050] In some possible implementations of the embodiments of this application, the coordinate system of the radar sensor can be such that the radar sensor is the origin, the right-hand direction of the radar sensor is the positive X-axis, and the facing direction of the radar sensor is the positive Y-axis. The coordinate system of the radar sensor is as follows: Figure 2 As shown. In Figure 2 In this context, θ represents the azimuth angle of the detection point relative to the radar sensor, and V... r V is the radial Doppler velocity of the detection point relative to the radar sensor. T Let L be the actual velocity of the detection point, α be the angle between the direction of the actual velocity of the detection point and the direction of the relative position, i.e., the angle between the direction of the actual velocity of the detection point and L, and L be a straight line passing through the radar sensor and the detection point. The orientation of the radar sensor is the detection direction of the radar sensor.

[0051] In some possible implementations of the embodiments of this application, the above formula (1) can also be rewritten in matrix form, as shown in the following formula (2).

[0052]

[0053] In formula (2), H is the matrix corresponding to the position information of the detection points included in the first target cluster; v is the matrix corresponding to the real motion velocity components of the first target cluster; and Y is the matrix corresponding to the radial Doppler velocity of the detection points included in the first target cluster relative to the radar sensor.

[0054] By solving formula (2) using the least squares method, the actual velocity components corresponding to the first target cluster can be obtained. and

[0055] In some possible implementations of the embodiments of this application, S104 may include: compensating the real motion velocity component corresponding to the first target cluster according to the following formula (3) to obtain the absolute motion velocity component corresponding to the first target cluster:

[0056]

[0057] In formula (3), This represents the absolute velocity component of the first target cluster along the X-axis. This represents the absolute velocity component along the Y-axis. and These represent the absolute velocity components of the first target cluster along the X and Y axes, respectively; w is the horizontal yaw rate of the radar sensor, and v... ego For the speed of movement of the radar sensor, This represents the average distance of the detection points included in the first target cluster relative to the radar sensor. This represents the average azimuth angle of the detection points included in the first target cluster relative to the radar sensor.

[0058] Let be the azimuth angle of the i-th detection point in the first target cluster relative to the radar sensor, and P be the number of detection points in the first target cluster.

[0059] Let be the distance of the i-th detection point in the first target cluster relative to the radar sensor.

[0060] In some possible implementations of the embodiments of this application, S105 may include: for the X-axis direction, generating a motion state discrimination threshold for the first target cluster in the X-axis direction according to the following formula (4):

[0061]

[0062] In formula (4), γ is the threshold for judging the motion state of the first target cluster in the X-axis direction, μ is a coefficient related to the antenna gain, and γ is a correction coefficient.

[0063] In some possible implementations of this application's embodiments, the value of μ ranges from 0.5 to 1, meaning μ can take any value between 0.5 and 1, and the value of γ ranges from 0.5 to 3.5. The fact that γ takes a value between 0.5 and 3.5 is mainly used to avoid... When the threshold approaches 0, it indicates an abnormal phenomenon where the threshold is set to 0.

[0064] In some possible implementations of the embodiments of this application, S105 may further include: setting the motion state discrimination threshold of the first target cluster in the Y-axis direction to a fixed value.

[0065] In this embodiment, the radar sensor mainly moves in the Y-axis direction relative to its own speed. At this time, the speed calculation error caused by the azimuth angle measurement error of the radar sensor is relatively small compared to the speed of the radar sensor. Therefore, the motion state discrimination threshold of the first target cluster in the Y-axis direction can be set to a fixed value.

[0066] In some possible implementations of the embodiments of this application, S106 may include: in or In the case of motion, the motion state of the detection points included in the first target cluster is determined as the motion state;

[0067] in, The threshold for determining the motion state of the first target cluster in the Y-axis direction.

[0068] In some possible implementations of the embodiments of this application, S106 may further include: in and In the case of motion of the detection points included in the first target cluster, the motion state is determined to be stationary.

[0069] In this embodiment of the application, by judging the motion state of the detection points included in the first target cluster according to the absolute motion velocity component corresponding to the first target cluster and the motion state discrimination threshold corresponding to the first target cluster, the accuracy of judging the motion state of the detection points included in the first target cluster can be improved.

[0070] The method for determining the target motion state provided in this application embodiment will be described below with specific examples.

[0071] When a large object traverses the detection area of ​​a radar sensor laterally, at a certain moment, the radar sensor detects 27 detection points. The positions of these 27 detection points relative to the radar sensor are as follows: Figure 3 As shown, the 27 detection points were clustered into 3 clusters, as follows: Figure 4 As shown.

[0072] for Figure 4 The first cluster, based on the position and velocity information of the detection points included in the first cluster, as well as the horizontal yaw rate and motion velocity of the radar sensor, determines the absolute motion velocity component of the first cluster in the X-axis direction of the radar sensor coordinate system. The absolute velocity component along the Y-axis in the radar sensor coordinate system is -25.52 m / s. The threshold value is -0.05 m / s, representing the state discrimination threshold of the first cluster along the X-axis of the radar sensor. The threshold value is 3.5, representing the state discrimination threshold of the first cluster along the Y-axis of the radar sensor. It is 0.5. The first cluster includes detection points that are all in motion.

[0073] for Figure 4 The second cluster, based on the position and velocity information of the detection points included in the second cluster, as well as the horizontal yaw rate and motion velocity of the radar sensor, determines the absolute motion velocity component of the second cluster in the X-axis direction of the radar sensor coordinate system. The absolute velocity component along the Y-axis in the radar sensor coordinate system is -23.63 m / s. The threshold value is -0.09 m / s, representing the state discrimination threshold of the second cluster along the X-axis of the radar sensor. The threshold value is 3.8, representing the state discrimination threshold of the second cluster along the Y-axis of the radar sensor. It is 0.7. The second cluster includes detection points that are all in motion.

[0074] for Figure 4 The third cluster, based on the position and velocity information of the detection points included in the third cluster, as well as the horizontal yaw rate and motion velocity of the radar sensor, determines the absolute motion velocity component of the third cluster in the X-axis direction of the radar sensor coordinate system. The absolute velocity component along the Y-axis in the radar sensor coordinate system is -22.75 m / s. The threshold value is -0.28 m / s, representing the state discrimination threshold of the third cluster along the X-axis of the radar sensor. The threshold value is 3.5, representing the state discrimination threshold of the third cluster along the Y-axis of the radar sensor. It is 0.5. The third cluster includes detection points that are all in motion.

[0075] This application also provides a target motion state determination device, such as... Figure 5 As shown. Figure 5 This is a schematic diagram of the target motion state determination device provided in the embodiments of this application. The target motion state determination device 500 may include:

[0076] The acquisition module 501 is used to acquire target information of at least two detection points detected by the radar sensor, wherein the target information includes the position information and velocity information of the detection points;

[0077] Clustering module 502 is used to cluster at least two detection points based on the location information of the detection points to obtain at least one cluster;

[0078] The calculation module 503 is used to calculate the velocity information of the detection points included in the first target cluster for the first target cluster, and obtain the real motion velocity components corresponding to the first target cluster, wherein the first target cluster is any one of at least one cluster;

[0079] The compensation module 504 is used to compensate the real motion velocity components corresponding to the first target cluster to obtain the absolute motion velocity components corresponding to the first target cluster.

[0080] The generation module 505 is used to generate a motion state discrimination threshold corresponding to the first target cluster based on the position information of the detection points included in the first target cluster;

[0081] The discrimination module 506 is used to discriminate the motion state of the detection points included in the first target cluster based on the absolute motion velocity component corresponding to the first target cluster and the motion state discrimination threshold corresponding to the first target cluster.

[0082] In this embodiment, the position and velocity information of at least two detection points detected by a radar sensor are acquired. Based on the position information, the at least two detection points are clustered to obtain at least one cluster. For each cluster, the velocity information of the detection points included in the cluster is calculated to obtain the true motion velocity component corresponding to the cluster. The true motion velocity component corresponding to the cluster is compensated to obtain the absolute motion velocity component corresponding to the cluster. Based on the position information of the detection points included in the cluster, a motion state discrimination threshold corresponding to the cluster is generated. Based on the absolute motion velocity component corresponding to the cluster and the motion state discrimination threshold corresponding to the cluster, the motion state of the detection points included in the cluster is determined. In this way, the motion state of each detection point can be determined, improving the accuracy of motion state determination. Furthermore, even if the detection point is in the Doppler blind zone relative to the radar sensor, the motion state of the detection point can still be accurately determined.

[0083] In some possible implementations of the embodiments of this application, the solution module 503 may specifically be used for:

[0084] By using the least squares method, the above formula (1) is solved to obtain the actual motion velocity components corresponding to the first target cluster.

[0085] In some possible implementations of the embodiments of this application, the compensation module 504 may specifically be used for:

[0086] According to the above formula (3), the actual motion velocity component corresponding to the first target cluster is compensated to obtain the absolute motion velocity component corresponding to the first target cluster.

[0087] In some possible implementations of the embodiments of this application, the generation module 505 may specifically be used for:

[0088] For the X-axis direction, according to the above formula (4), the motion state discrimination threshold of the first target cluster in the X-axis direction is generated.

[0089] In some possible implementations of the embodiments of this application, the generation module 505 may also be used for:

[0090] For the Y-axis direction, the motion state discrimination threshold of the first target cluster in the Y-axis direction is set to a fixed value.

[0091] In some possible implementations of the embodiments of this application, the discrimination module 506 may specifically be used for:

[0092] exist or In the case of motion, the motion state of the detection points included in the first target cluster is determined as the motion state;

[0093] in, and These represent the absolute velocity components of the first target cluster in the X-axis and Y-axis directions of the radar sensor's coordinate system, respectively. and These are the motion state discrimination thresholds for the first target cluster in the X-axis and Y-axis directions, respectively.

[0094] In some possible implementations of the embodiments of this application, the discrimination module 506 may also be used for:

[0095] exist and In the case of motion of the detection points included in the first target cluster, the motion state is determined to be stationary.

[0096] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0097] The electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0098] Specifically, the processor 601 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0099] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where suitable, memory 602 may include removable or non-removable (or fixed) media. Where suitable, memory 602 may be internal or external to an electronic device. In some specific embodiments, memory 602 is a non-volatile solid-state memory.

[0100] In some specific embodiments, the memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the target motion state determination method according to this application.

[0101] The processor 601 reads and executes computer program instructions stored in the memory 602 to implement the target motion state determination method provided in the embodiments of this application.

[0102] In one example, the electronic device may also include a communication interface 603 and a bus 610. Wherein, as... Figure 6 As shown, the processor 601, memory 602, and communication interface 603 are connected through bus 610 and complete communication with each other.

[0103] The communication interface 603 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0104] Bus 610 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 610 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.

[0105] The electronic device can execute the target motion state determination method provided in the embodiments of this application, thereby achieving the corresponding technical effects of the target motion state determination method provided in the embodiments of this application.

[0106] In addition, in conjunction with the target motion state determination method in the above embodiments, this application also provides a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement the target motion state determination method provided in this application. Examples of computer-readable storage media include non-transitory computer-readable media, such as ROM, RAM, magnetic disks, or optical disks.

[0107] This application provides a computer program product. When the instructions in the computer program product are executed by the processor of an electronic device, the electronic device executes the target motion state determination method provided in this application and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0108] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0109] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable read-only memory (EROM), floppy disks, compact disc read-only memory (CD-ROM), optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0110] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0111] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0112] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for determining the motion state of a target, characterized in that, The method includes: Acquire target information of at least two detection points detected by a radar sensor, wherein the target information includes the position information and velocity information of the detection points, and the velocity information is the radial Doppler velocity of the detection points relative to the radar sensor; Based on the location information, the at least two detection points are clustered to obtain at least one cluster; For the first target cluster, the velocity information of the detection points included in the first target cluster is calculated to obtain the real motion velocity component corresponding to the first target cluster, wherein the first target cluster is any one of the at least one cluster; The actual motion velocity components are compensated to obtain the absolute motion velocity components corresponding to the first target cluster. Based on the azimuth angle of the detection points included in the first target cluster relative to the radar sensor, a motion state discrimination threshold corresponding to the first target cluster is generated; The motion state of the detection points included in the first target cluster is determined based on the absolute motion velocity component and the motion state discrimination threshold.

2. The method according to claim 1, characterized in that, The step of calculating the velocity information of the detection points included in the first target cluster to obtain the true motion velocity components corresponding to the first target cluster includes: Using the least squares method, the following formula is solved to obtain the actual velocity components: in, and These are the actual velocity components of the first target cluster in the X-axis and Y-axis directions of the radar sensor's coordinate system, respectively. Let be the azimuth angle of the i-th detection point in the first target cluster relative to the radar sensor. Let be the radial Doppler velocity of the i-th detection point relative to the radar sensor. Let i be the number of detection points in the first target cluster, where i is less than or equal to 1. Positive integers.

3. The method according to claim 2, characterized in that, The step of compensating for the actual motion velocity components to obtain the absolute motion velocity components corresponding to the first target cluster includes: The absolute motion velocity component is obtained by compensating for the actual motion velocity component according to the following formula: in, The absolute velocity component of the first target cluster in the X-axis direction represents its absolute velocity. The absolute velocity is the absolute velocity component in the Y-axis direction. The horizontal yaw rate of the radar sensor. The speed of motion of the radar sensor. This is the average distance of the detection points included in the first target cluster relative to the radar sensor. It is the average azimuth angle of the detection points included in the first target cluster relative to the radar sensor.

4. The method according to claim 2, characterized in that, The step of generating a motion state discrimination threshold corresponding to the first target cluster based on the azimuth angle of the detection points included in the first target cluster relative to the radar sensor includes: For the X-axis direction, the motion state discrimination threshold corresponding to the first target cluster in the X-axis direction is generated according to the following formula: in, The threshold for determining the motion state of the first target cluster in the X-axis direction. A coefficient related to antenna gain. For correction factor, It is the average azimuth angle of the detection points included in the first target cluster relative to the radar sensor.

5. The method according to claim 4, characterized in that, The The value range is from 0.5 to 1. The value ranges from 0.5 to 3.

5.

6. The method according to claim 2, characterized in that, The step of generating a motion state discrimination threshold corresponding to the first target cluster based on the azimuth angle of the detection points included in the first target cluster relative to the radar sensor includes: For the Y-axis direction, the motion state discrimination threshold of the first target cluster corresponding to the Y-axis direction is set to a fixed value.

7. The method according to claim 1, characterized in that, The step of determining the motion state of the detection points included in the first target cluster based on the absolute motion velocity component and the motion state discrimination threshold includes: exist or In the case of motion, the motion state of the detection points included in the first target cluster is determined as the motion state; in, and These are the absolute velocity components of the first target cluster in the X-axis and Y-axis directions of the radar sensor's coordinate system, respectively. and These are the motion state discrimination thresholds for the first target cluster in the X-axis direction and the Y-axis direction, respectively.

8. The method according to claim 7, characterized in that, The step of determining the motion state of the detection points included in the first target cluster based on the absolute motion velocity component and the motion state discrimination threshold further includes: exist In the case of motion of the detection points included in the first target cluster, the motion state is determined to be stationary.

9. A device for determining the motion state of a target, characterized in that, The device includes: The acquisition module is used to acquire target information of at least two detection points detected by the radar sensor, wherein the target information includes the position information and velocity information of the detection points, and the velocity information is the radial Doppler velocity of the detection points relative to the radar sensor; A clustering module is used to cluster the at least two detection points based on the location information to obtain at least one cluster; The calculation module is used to calculate the velocity information of the detection points included in the first target cluster for the first target cluster, and obtain the real motion velocity component corresponding to the first target cluster, wherein the first target cluster is any one of the at least one cluster; The compensation module is used to compensate for the actual motion velocity components to obtain the absolute motion velocity components corresponding to the first target cluster. The generation module is used to generate a motion state discrimination threshold corresponding to the first target cluster based on the azimuth angle of the detection points included in the first target cluster relative to the radar sensor. The discrimination module is used to determine the motion state of the detection points included in the first target cluster based on the absolute motion velocity component and the motion state discrimination threshold.

10. An electronic device, characterized in that, The electronic device includes: a processor and a memory storing computer program instructions; When the processor executes computer program instructions, it implements the target motion state determination method according to any one of claims 1 to 8.

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