A method, device, equipment and medium for measuring a target starting track

Abstract

The present invention relates to the field of millimeter-wave radars, and provides a method for measuring the initial track of a target. The method includes: establishing an initial area and dividing it to obtain a plurality of delimited areas; obtaining the radial velocity, position, and azimuth angle of each target within the delimited areas; obtaining the transverse velocity and longitudinal velocity corresponding to the target according to the radial velocity, the position, and the azimuth angle; and initiating the track of the target according to the transverse velocity, the longitudinal velocity, the position, and the azimuth angle. Through the method for measuring the initial track of a target provided by the present invention, the timely initiation of the target track is achieved.

Description

Technical Field

[0001] This application relates to the field of millimeter-wave radars, and specifically to a method, device, equipment, and medium for measuring the initial track of a target. Background Art

[0002] Existing vehicle-mounted millimeter-wave radars are important detection components of vehicle detection radars. Radar signals are transmitted through the millimeter-wave radar to obtain data information of detected targets. In the actual processing of radar tracks, track initiation is an important step. Since the millimeter-wave radar can only measure the radial velocity of a target, when the detected target is not moving in the radial direction, the data measured by the radar is inaccurate. Summary of the Invention

[0003] The purpose of the present invention is to provide a method, device, equipment, and medium for measuring the initial track of a target. Through the method, device, equipment, and medium for measuring the initial track of a target provided by the present invention, accurate data of the detected target can be obtained, and the timely initiation of the track can be realized.

[0004] To solve the above technical problems, the present invention is realized through the following technical solutions:

[0005] A method for measuring the initial track of a target provided by the present invention, the method includes:

[0006] Establish an initial area and divide it to obtain multiple defined areas;

[0007] Obtain the radial velocity, position, and azimuth angle of each target within the defined area;

[0008] According to the radial velocity, the position, and the azimuth angle, obtain the transverse velocity and longitudinal velocity corresponding to the target; and

[0009] According to the transverse velocity, the longitudinal velocity, the position, and the azimuth angle, initiate the track of the target.

[0010] In an embodiment of the present invention, the step of obtaining multiple defined areas includes:

[0011] Establish a coordinate system in the initial area, with the radar as the coordinate origin and the vehicle forward direction as the 0-degree axis;

[0012] Taking the coordinate origin as the rotation point, rotate the 0-degree axis counterclockwise to obtain a negative direction area, and divide the negative direction area into multiple defined areas according to the rotation angle;

[0013] Taking the coordinate origin as the rotation point, rotate the 0-degree axis clockwise to obtain a positive direction area, and divide the positive direction area into multiple defined areas according to the rotation angle.

[0014] In one embodiment of the present invention, the starting area is a fan-shaped area with the radar as the vertex.

[0015] In one embodiment of the present invention, the plurality of designated areas are a plurality of sub-sector-shaped areas with the radar as the vertex, the plurality of sub-sector-shaped areas are symmetrical about the 0-degree axis, and the area of two symmetrical sub-sector-shaped areas is equal.

[0016] In one embodiment of the present invention, the closer the target is to the 0-degree axis, the greater the longitudinal speed; and the farther the target is from the 0-degree axis, the greater the lateral speed.

[0017] In one embodiment of the present invention, the plurality of defined areas include a first defined area, a second defined area, a third defined area, a fourth defined area, and a fifth defined area, and the step of obtaining a lateral velocity and a longitudinal velocity corresponding to the target according to the radial velocity, the position, and the azimuth includes:

[0018] When the target is in the first defined area, the lateral velocity Vx of the target is 0, and the longitudinal velocity Vy of the target is Vr / sin(theta);

[0019] When the target is in the second defined area, the lateral velocity of the target Vx=Vr×cos(thea), and the longitudinal velocity of the target Vy=Vr / sin(theta);

[0020] When the target is in the third defined area, the lateral velocity of the target Vx = Vr × cos (thea), and the longitudinal velocity of the target Vy = Vr × sin (theta);

[0021] When the target is in the fourth defined area, the lateral velocity of the target Vx=Vr / cos(thea), and the lateral velocity of the target Vy=Vr×sin(theta);

[0022] When the target is in the fifth defined area, the lateral velocity Vx of the target is Vr / cos(thea), and the lateral velocity Vy of the target is 0.

[0023] In one embodiment of the present invention, after the step of initiating the target's track based on the lateral velocity, the longitudinal velocity, the position and the azimuth, the step further includes: obtaining the initial track of the target and performing track association. If the association fails, the target continues to initiate the track.

[0024] The present invention also provides a track initiation device, the device comprising:

[0025] The area division module is used to establish a starting area and divide it to obtain multiple demarcated areas;

[0026] A data acquisition module, configured to acquire the radial velocity, position and azimuth of each target within the defined area;

[0027] a data processing module, configured to obtain a lateral velocity and a longitudinal velocity corresponding to the target according to the radial velocity, the position, and the azimuth; and

[0028] A track initiation module is used to initiate the track of the target according to the lateral speed, the longitudinal speed, the position and the azimuth.

[0029] The present invention further provides an electronic device, comprising:

[0030] one or more processors;

[0031] The storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the method for measuring the target starting track.

[0032] The present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor of a computer, the computer is caused to execute the method for measuring the target initial track.

[0033] As described above, the present invention provides a method for measuring the target starting track, which establishes a starting area and divides it to obtain multiple demarcated areas, and there are multiple targets in the demarcated areas. The radial velocity, position and azimuth of each target in the demarcated area are obtained by radar, the demarcated area where the target is located is determined, and the longitudinal velocity and lateral velocity of the target are obtained according to the calculation method corresponding to the demarcated area to start the track. In this embodiment, multiple demarcated areas are divided and obtained, and different calculation methods are used for targets in different demarcated areas, thereby ensuring the accuracy of the target data. At the same time, for targets that do not move in the radial direction, the lateral velocity and longitudinal velocity of the target are obtained by using the angular relationship between the target and the radar, which makes up for the defect that the radar can only measure the radial velocity of the target, so that the real velocity of the target can be used at the start of the track, thereby achieving timely start of the track.

[0034] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0036] Figure 1 It is a schematic diagram of the implementation environment of track initiation shown in an exemplary embodiment of the present application;

[0037] Figure 2 It is a flowchart of the measurement method of the target initial track shown in an exemplary embodiment of the present application;

[0038] Figure 3 is Figure 2 It is a flowchart of step S220 in the shown embodiment in an exemplary embodiment;

[0039] Figure 4 It is a schematic diagram of the speed direction shown in an exemplary embodiment of the present application;

[0040] Figure 5 is Figure 2 It is a flowchart of step S230 in the shown embodiment in an exemplary embodiment;

[0041] Figure 6 It is a block diagram of the track initiation device shown in an exemplary embodiment of the present application;

[0042] Figure 7 It shows a schematic diagram of the structure of the computer system of the electronic device suitable for implementing the embodiments of the present application. Detailed implementation manners

[0043] The following will illustrate the implementation manners of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for explaining the present invention, rather than for limiting the protection scope of the present invention.

[0044] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention schematically. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, number, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0045] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0046] First, it's important to note that track initiation is a crucial component of multi-target tracking systems. It primarily refers to the process of track establishment before stable tracking begins. This includes both track head selection and track initiation and the formation of track segments. During multi-target tracking, the initial target track is established using multiple radar scans. If multiple track points satisfy a certain logical relationship, a temporary track can be established from these points, enabling target tracking. This track establishment process is essentially track initiation. Track initiation can be achieved using a variety of methods, and effective track initiation is crucial for ensuring the efficient and stable operation of radar systems.

[0047] Figure 1 FIG. 1 is a schematic diagram of an implementation environment of a method for measuring a target starting track according to an exemplary embodiment of the present application. Figure 1 As shown, a millimeter wave radar 120 is set at the front end of the vehicle end 110, and the millimeter wave radar 120 emits electromagnetic waves to obtain the corresponding data of the detected target and perform processes such as track initiation, thereby realizing the driving assistance function of the car. Figure 1 The millimeter wave radar 120 shown is a detection radar operating in the millimeter wave frequency band. Compared with centimeter waves, infrared, lasers, etc., millimeter waves have stronger anti-interference capabilities. The millimeter wave radar 120 can distinguish and identify very small targets, and identify multiple targets at the same time, mainly performing high-precision measurement and positioning of azimuth, frequency and spatial position. Among them, the millimeter wave radar 120 mainly sends millimeter wave signals outward through a built-in antenna. After the signal encounters the target, it reflects back and the millimeter wave radar 120 receives it again through the built-in antenna, thereby obtaining the corresponding data information of the target. In this embodiment, the target information is obtained by the millimeter wave radar 120, and the area where the target is located is divided. Different areas use different starting calculation methods to ensure the accuracy of the data of the detected targets in the area.

[0048] See also Figure 2 As shown, Figure 2 This is a flow chart of a method for measuring a target starting track according to an exemplary embodiment of the present invention. Figure 1The implementation environment shown is specifically implemented by the millimeter wave radar 120 in the implementation environment. It should be understood that the method can also be applied to other exemplary implementation environments and specifically implemented by devices in other implementation environments. This embodiment does not limit the implementation environment to which the method is applicable.

[0049] See also Figure 2 As shown, in an exemplary embodiment, the method for measuring the target starting track includes at least steps S210 to S240, which are described in detail as follows:

[0050] S210: Establish a starting area and divide it into several areas to obtain multiple areas.

[0051] First of all, it should be noted that Figure 1 As shown, the millimeter-wave radar 120 can scan the area around the vehicle end 110, set the area as the starting area, and divide the starting area. In this embodiment, the position of the millimeter-wave radar 120 is the coordinate origin, the vehicle's forward direction is the 0-degree axis, and the angle gradually increases from 0 degrees to both sides. Among them, with the coordinate origin as the rotation point, the 0-degree axis is rotated clockwise to obtain the positive direction area, and the positive direction area is divided into multiple designated areas according to the rotation angle. Specifically, the rotation angle based on the division is, for example, 0 degrees to 10 degrees, 10 degrees to 20 degrees, 20 degrees to 30 degrees, 30 degrees to 40 degrees, and outside 40 degrees. With the coordinate origin as the rotation point, the 0-degree axis is rotated counterclockwise to obtain the negative direction area, and the negative direction area is divided into multiple designated areas according to the rotation angle. Specifically, the rotation angles used for division are, for example, -10 degrees to 0 degrees, -20 degrees to -10 degrees, -30 degrees to -20 degrees, -40 degrees to -30 degrees, and outside -40 degrees. The division of the starting area is completed by the above method, and multiple demarcated areas are obtained. Among them, in this embodiment, -10 degrees to 10 degrees is set as the first demarcated area, -20 degrees to -10 degrees and 10 degrees to 20 degrees are set as the second demarcated area, -30 degrees to -20 degrees and 20 degrees to 30 degrees are set as the third demarcated area, -40 degrees to -30 degrees and 30 degrees to 40 degrees are set as the fourth demarcated area, and outside -40 degrees and outside 40 degrees are set as the fifth demarcated area. In other embodiments, it can be set arbitrarily according to the situation.

[0052] In this embodiment, the starting area is a sector area with the millimeter wave radar as the vertex, and the multiple demarcated areas are multiple sub-sector areas with the millimeter wave radar as the vertex. The multiple sub-sector areas are symmetrical about the 0-degree axis, and the area of the two symmetrical sub-sector areas is equal. The positive direction area and the negative direction area are also symmetrical about the 0-degree axis. There is a difference in direction between the two, so that the angle of the positive direction area is positive and the target speed obtained is positive, and the angle of the negative direction area is negative and the target speed obtained is negative. However, the rotation angle range based on which they are divided is the same, and has no effect on the acquisition of the target speed.

[0053] In another exemplary embodiment, the starting area can be divided according to other rotation angle ranges to obtain multiple demarcated areas, and the coordinate origin can be used as the rotation point, and the 0-degree axis can be rotated counterclockwise to set as the negative direction area, and the 0-degree axis can be rotated clockwise to set as the positive direction area. Among them, the rotation angle based on which the positive direction area is divided can be, for example, 0 degrees to 20 degrees, 20 degrees to 40 degrees, 40 degrees to 60 degrees, 60 degrees to 80 degrees, and outside 80 degrees. The rotation angle based on which the negative direction area is divided can be, for example, -20 degrees to 0 degrees, -40 degrees to -20 degrees, -60 degrees to -40 degrees, -80 degrees to -60 degrees, and outside -80 degrees. In other embodiments, the positive direction area and the negative direction area can also be divided according to other rotation angle ranges, and the number of demarcated areas can be arbitrarily set according to demand.

[0054] S220: Obtain the radial velocity, position, and azimuth of each target within the defined area.

[0055] See also Figure 3 As shown, in an exemplary embodiment, when step S220 is executed, the radial velocity, position and azimuth of the target in the defined area are obtained by radar. Specifically, step S220 may include steps S221 to S223, which are described in detail as follows:

[0056] S221. The radar transmits radar signals to the designated area.

[0057] In an exemplary embodiment, Figure 1 As shown, the millimeter-wave radar 120 transmits radar signals outward through a built-in antenna. Multiple designated areas can receive the radar signals, and the radar signals are detected within the designated areas. Multiple targets are within the designated areas, and each individual designated area may contain corresponding targets. When the radar signal is detecting within the designated area, the targets within the designated area will be detected and discovered by the radar signal. In this embodiment, the radar signal is a millimeter-wave signal, which has strong anti-interference capabilities and can remain unaffected during transmission, so that detection can be performed within the designated area.

[0058] S222. The target receives the radar signal and reflects an echo signal.

[0059] In an exemplary embodiment, as Figure 1 shown, when a target within the defined area is detected by the radar signal, the target receives the radar signal and simultaneously reflects an echo signal. In this embodiment, the echo signal includes the radial velocity, position, azimuth angle, amplitude of the target, and the distance between the target and the radar signal transmitting location.

[0060] S223. The radar receives the echo signal and obtains the radial velocity, position, and azimuth angle of the target.

[0061] In an exemplary embodiment, when the target reflects an echo signal, as Figure 1 shown, the millimeter-wave radar 120 receives the echo signal through the built-in antenna and sends it to the receiving device within the vehicle terminal 110 for processing to extract information about the target, i.e., the radial velocity position and azimuth angle of the target, and the azimuth angle is measured based on the beam emitted by the millimeter-wave radar 120. As Figure 4 shown, in this embodiment, the radial velocity is the velocity in the radial direction from the radar signal transmitting location to the target, and the azimuth angle is the angle between the target radial velocity direction and the vehicle forward direction.

[0062] S230. Based on the radial velocity, the position, and the azimuth angle, obtain the lateral velocity and longitudinal velocity corresponding to the target.

[0063] Please refer to Figure 5 shown. In an exemplary embodiment, when performing step S230, that is, based on the radial velocity, the position, and the azimuth angle, obtain the lateral velocity and longitudinal velocity corresponding to the target. Specifically, step S230 may include step S231 to step S232, which are introduced in detail as follows:

[0064] S231. Determine the defined area corresponding to the target and record the radial velocity, position, and azimuth angle of the target.

[0065] In an exemplary embodiment, as Figure 1 shown, the millimeter-wave radar 120 receives echo information of multiple targets, and the defined areas where different targets are located are different. First, it is necessary to determine the defined area corresponding to each target, and then record the obtained radial velocity, position, and azimuth angle of the target, so that the defined area where the target is located and the radial velocity, position, and azimuth angle correspond one by one, in order to obtain the lateral velocity and longitudinal velocity of the target subsequently.

[0066] S232. Based on the defined area, obtain the lateral velocity and longitudinal velocity of the target.

[0067] In an exemplary embodiment, different starting calculation methods are used for different defined regions. The radial velocity, position, and azimuth angle of the target are obtained, and based on the sine or cosine value of the azimuth angle and the radial velocity of the target, corresponding calculations are performed according to the defined region where the target is located, so as to obtain the lateral velocity and longitudinal velocity of the target. As Figure 4 shown, the longitudinal velocity is the velocity in the same direction as the vehicle's forward direction, and the lateral velocity is the velocity in the direction perpendicular to the longitudinal velocity direction. Among them, the azimuth angle of the target in the positive direction region is positive, and the azimuth angle of the target in the negative direction region is negative. Specifically, Vx is the lateral velocity of the target, Vy is the longitudinal velocity of the target, Vr is the radial velocity of the target, and theta is the azimuth angle of the target.

[0068] When the target is in the first defined region, the lateral velocity of the target is 0, and the longitudinal velocity is the radial velocity divided by the sine value of the azimuth angle. Specifically, Vx = 0, Vy = Vr / sin(theta).

[0069] When the target is in the second defined region, the lateral velocity of the target is the radial velocity multiplied by the cosine value of the azimuth angle, and the longitudinal velocity is the radial velocity divided by the sine value of the azimuth angle. Specifically, Vx = Vr×cos(thea), Vy = Vr / sin(theta).

[0070] When the target is in the third defined region, the lateral velocity of the target is the radial velocity multiplied by the cosine value of the azimuth angle, and the longitudinal velocity is the radial velocity multiplied by the sine value of the azimuth angle. Specifically, Vx = Vr×cos(thea), Vy = Vr×sin(theta).

[0071] When the target is in the fourth defined region, the lateral velocity of the target is the radial velocity divided by the cosine value of the azimuth angle, and the longitudinal velocity is the radial velocity multiplied by the sine value of the azimuth angle. Specifically, Vx = Vr / cos(thea), Vy = Vr×sin(theta).

[0072] When the target is in the fifth defined region, the lateral velocity of the target is the radial velocity divided by the cosine value of the azimuth angle, and the longitudinal velocity is 0. Specifically, Vx = Vr / cos(thea), Vy = 0.

[0073] Exemplarily, for example, 4 to 8 delimited areas are set in the positive direction area, and 4 to 8 delimited areas are set in the negative direction area. In this embodiment, for example, 5 delimited areas are set in the positive direction area, and 5 delimited areas are set in the negative direction area. Among them, all delimited areas are divided according to different angular ranges, and the processing methods for the radial velocity and azimuth angle of the obtained target are different in each delimited area, so there are also differences in obtaining the transverse velocity and radial velocity of the target. In this embodiment, the distance between the target and the 0-degree axis affects the magnitudes of the transverse velocity and longitudinal velocity of the target. When the target is closer to the 0-degree axis, the value of the longitudinal velocity of the target is larger; when the target is farther from the 0-degree axis, the value of the transverse velocity of the target is larger. In other embodiments, it depends on the specific situation of the target.

[0074] S240. Perform track initiation of the target according to the transverse velocity and the longitudinal velocity.

[0075] In an exemplary embodiment, according to the transverse velocity and longitudinal velocity of the target, the track initiation of the target is performed through an algorithm. Among them, the track initiation algorithms include methods such as the intuitive method, the logical method, the modified logical method, the Hough transform method, and the modified Hough transform method. Among them, if the target moves in the radial direction, the obtained radial velocity of the target is the true velocity of the target. If the target does not move in the radial direction, the starting area can be divided into delimited areas with different angular ranges, and the longitudinal velocity and transverse velocity of the target in different delimited areas are obtained, so as to perform timely initiation of the target. At the same time, the tangential velocity of the target is obtained by using the angular relationship between the target and the radar, and this tangential velocity is the true velocity of the target. Therefore, no matter in which direction the target moves, the true velocity can be used in the track initiation process, and finally the initial track of the target is generated.

[0076] In this embodiment, at the same moment, the radar will detect multiple targets. After performing track initiation according to the obtained target data information, an initial track is established for each target. At this time, track association is performed through the initial track, and the radar echo point corresponding to the target at the next moment is found by using the initial track information, and the positions of the same target at different times are connected in series. If the track association fails, the target continues to perform track initiation according to the radial velocity and the starting method of the delimited area where the target is located.

[0077] Please refer to Figure 6As shown in the figure, the exemplary track initiation device includes a region division module 310. Through the region division module 310, the vehicle forward direction is set to 0 degrees, deflecting from the longitudinal direction to both sides, and the angle gradually increases from 0 degrees. The starting region is divided into multiple delimited regions with different angle ranges. Among them, taking the coordinate origin as the rotation point, the 0-degree axis is rotated counterclockwise to obtain the negative direction region. The 0-degree axis is rotated clockwise to obtain the positive direction region. And the multiple delimited regions include a first delimited region, a second delimited region, a third delimited region, a fourth delimited region, and a fifth delimited region.

[0078] Please refer to Figure 6 As shown in the figure, the exemplary track initiation device further includes a data acquisition module 320. Through the data acquisition module 320, the radar emits radar signals to the delimited regions, enabling each target in the delimited regions to receive the radar signals and reflect echo signals. Then the radar receives the echo signals and processes them. Among them, the echo signals include the radial velocity, position, azimuth angle, amplitude of the target, and the distance between the target and the radar signal emission point.

[0079] Please refer to Figure 6 As shown in the figure, the exemplary track initiation device further includes a data processing module 330. Through the data processing module 330, according to the obtained radial velocity, position, and azimuth angle of the target, corresponding processing is performed through the starting calculation method corresponding to the delimited region where the target is located, and the longitudinal velocity and lateral velocity of the target are obtained.

[0080] Please refer to Figure 6 As shown in the figure, the exemplary track initiation device further includes a track initiation module 340. Through the track initiation module 340, according to the obtained lateral velocity and longitudinal velocity of the target, the track initiation of the target is performed. At the same moment, through track initiation, an initial track is established for one target. At this time, through the initial track, track association is performed. If the track association fails, the target continues to perform track initiation according to the radial velocity of the target and the delimited region where the target is located.

[0081] It should be noted that the track initiation device provided in the above embodiment and the measurement method for the target starting track provided in the above embodiment belong to the same concept. The specific ways in which each module and unit perform operations have been described in detail in the method embodiment, and will not be repeated here. In practical applications, the track initiation device provided in the above embodiment can, according to needs, allocate the above functions to different functional modules, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above. This is not limited here either.

[0082] Embodiments of the present application also provide an electronic device, including: one or more processors; a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the method for measuring the target starting track provided in each of the above embodiments.

[0083] Figure 7 FIG. shows a schematic structural diagram of a computer system of an electronic device suitable for implementing embodiments of the present application. It should be noted that Figure 7 The computer system 700 of the electronic device shown is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0084] As Figure 7 shown, the computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage section 708 into the random access memory (RAM) 703, such as executing the method described in the above embodiments. In the RAM 703, various programs and data required for system operation are also stored. The CPU 701, ROM 702, and RAM 703 are connected to each other via a bus 704. The input / output (I / O) interface 705 is also connected to the bus 704.

[0085] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as required. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as required so that a computer program read from it can be installed into the storage section 708 as required.

[0086] In particular, according to an embodiment of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, an embodiment of the present application includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 709, and / or installed from the removable medium 711. When the computer program is executed by the central processing unit (CPU) 701, various functions defined in the system of the present application are executed.

[0087] The units involved in the embodiments described in the present application can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not constitute a limitation to the unit itself in some cases.

[0088] Another aspect of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer is caused to execute the method for measuring the target starting track as described above. The computer-readable storage medium can be included in the electronic device described in the above embodiments, or can exist separately without being assembled into the electronic device.

[0089] Another aspect of the present application also provides a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method for measuring the target starting track provided in the above various embodiments.

[0090] The above embodiments are only used to exemplarily illustrate the principles and effects of the present invention, rather than to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A method for measuring the starting track of a target, characterized in that, The method includes: Establishing a starting area and dividing it to obtain multiple delimited areas; Obtaining the radial velocity, position, and azimuth angle of each target within the delimited areas; Obtaining the lateral velocity and longitudinal velocity corresponding to the target based on the radial velocity, the position, and the azimuth angle; and Initiating the track of the target based on the lateral velocity, the longitudinal velocity, the position, and the azimuth angle; Among them, the multiple delimited areas include a first delimited area, a second delimited area, a third delimited area, a fourth delimited area, and a fifth delimited area. The step of obtaining the lateral velocity and longitudinal velocity corresponding to the target based on the radial velocity, the position, and the azimuth angle includes: When the target is in the first delimited area, the lateral velocity Vx of the target = 0, and the longitudinal velocity Vy of the target = Vr / sin(theta); When the target is in the second delimited area, the lateral velocity Vx of the target = Vr×cos(thea), and the longitudinal velocity Vy of the target = Vr / sin(theta); When the target is in the third delimited area, the lateral velocity Vx of the target = Vr×cos(thea), and the longitudinal velocity Vy of the target = Vr×sin(theta); When the target is in the fourth delimited area, the lateral velocity Vx of the target = Vr / cos(thea), and the longitudinal velocity Vy of the target = Vr×sin(theta); When the target is in the fifth delimited area, the lateral velocity Vx of the target = Vr / cos(thea), and the longitudinal velocity Vy of the target = 0; Among them, Vr is the radial velocity of the target, and theta is the azimuth angle of the target.

2. The measurement method of the target starting track according to claim 1, characterized in that The step of obtaining multiple delimited areas includes: Establishing a coordinate system in the starting area, with the radar as the coordinate origin and the vehicle forward direction as the 0-degree axis; Taking the coordinate origin as the rotation point, rotating the 0-degree axis counterclockwise to obtain a negative direction area, and dividing the negative direction area into multiple delimited areas according to the rotation angle; Taking the coordinate origin as the rotation point, rotating the 0-degree axis clockwise to obtain a positive direction area, and dividing the positive direction area into multiple delimited areas according to the rotation angle.

3. The method for measuring the target starting track according to claim 2, characterized in that, The starting area is a fan-shaped area with the radar as the vertex.

4. The method for measuring the target starting track according to claim 2, wherein The multiple delimited areas are multiple sub-fan-shaped areas with the radar as the vertex. The multiple sub-fan-shaped areas are symmetric about the 0-degree axis, and the area of two mutually symmetric sub-fan-shaped areas is equal.

5. The measurement method of the target starting track according to claim 2, wherein The closer the target is to the 0-degree axis, the greater the longitudinal velocity; the farther the target is from the 0-degree axis, the greater the lateral velocity.

6. The method for measuring the target starting track according to claim 1, characterized in that, After the step of initiating the track of the target based on the lateral velocity, the longitudinal velocity, the position, and the azimuth angle, the following step is further included: obtaining the initial track of the target for track association. If the association fails, the target continues to initiate the track.

7. A track initiation device, characterized in that, The device includes: An area division module for establishing a starting area and dividing it to obtain multiple delimited areas; A data acquisition module, configured to obtain the radial velocity, position, and azimuth angle of each target within the defined area through a radar; A data processing module, configured to obtain the lateral velocity and longitudinal velocity corresponding to the target according to the radial velocity, the position, and the azimuth angle; and A track initiation module, configured to initiate the track of the target according to the lateral velocity, the longitudinal velocity, the position, and the azimuth angle; Wherein, the multiple defined areas include a first defined area, a second defined area, a third defined area, a fourth defined area, and a fifth defined area. The step of obtaining the lateral velocity and longitudinal velocity corresponding to the target according to the radial velocity, the position, and the azimuth angle includes: When the target is in the first defined area, the lateral velocity Vx of the target = 0, and the longitudinal velocity Vy of the target = Vr / sin(theta); When the target is in the second defined area, the lateral velocity Vx of the target = Vr×cos(thea), and the longitudinal velocity Vy of the target = Vr / sin(theta); When the target is in the third defined area, the lateral velocity Vx of the target = Vr×cos(thea), and the longitudinal velocity Vy of the target = Vr×sin(theta); When the target is in the fourth defined area, the lateral velocity Vx of the target = Vr / cos(thea), and the longitudinal velocity Vy of the target = Vr×sin(theta); When the target is in the fifth defined area, the lateral velocity Vx of the target = Vr / cos(thea), and the longitudinal velocity Vy of the target = 0; Wherein, Vr is the radial velocity of the target, and theta is the azimuth angle of the target.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device, configured to store one or more programs. When the one or more programs are executed by the one or more processors, the electronic device implements the method for measuring the target initiation track according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, A computer program is stored thereon. When the computer program is executed by a processor of a computer, the computer executes the method for measuring the target initiation track according to any one of claims 1 to 6.

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