A method, apparatus and electronic device for detecting a target angle

Abstract

The application provides a kind of method, device and electronic equipment for detecting target angle suitable for radar technical field.Method includes: using preset algorithm to process echo signal, obtain three-dimensional matrix;Determine the first target region to be detected in three-dimensional matrix in distance dimension, velocity dimension and angle dimension respectively satisfy corresponding preset condition;In the point cloud data based on laser radar acquisition, determine the target point cloud data corresponding to the first target region to be detected;According to clustering, determine the boundary value of the angle where the target to be detected is located;According to the boundary value of angle, determine the angle band range corresponding to the target to be detected;Spectrum refinement is carried out on the target angle spectrum corresponding to the angle band range, and the angle spectrum after spectrum refinement is obtained to determine the accurate angle of the target to be detected.Due to the characteristics of high angular resolution of laser radar and spectrum refinement can also improve the angular resolution, the angular resolution can be improved, and the angle detection accuracy can be improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of radar, and particularly relates to a method and device for detecting target angle and an electronic device. BACKGROUND

[0002] At present, in automatic driving, a millimeter wave radar has the characteristics of short wavelength, wide frequency band, narrow wave speed, strong anti-weather interference capability, etc., and can detect vehicles, pedestrians and other targets on the road and give information such as distance, speed and angle of the target in the sensor's own coordinate system. At the same time, the millimeter wave radar also has the advantages of all-day and all-weather working, so it plays an important role. Generally, the millimeter wave radar adopts a transceiving FMCW (frequency-modulated continuous wave) signal to measure distance and speed, and measures angle according to the phase difference of the received signal by arranging multiple receiving antennas. In the angle estimation of the millimeter wave radar, due to the limitations of the number of millimeter wave radar antennas, antenna distance, etc., the final obtained frequency spectrum is not a sharp peak, but a relatively wide lobe range, and the target angle can only be determined in a rough range, so the accuracy of the angle measurement of the target is low. SUMMARY

[0003] Embodiments of the present application provide a method and device for detecting target angle and an electronic device, aiming to solve the problem of low accuracy of existing radar-based target detection.

[0004] In a first aspect, the embodiments of the present application provide a method for detecting target angle, applied to a radar system containing multiple antennas, the radar system transmits a frequency-modulated continuous wave for distance measurement, and the radar system includes a millimeter wave radar and a laser radar, and the method includes:

[0005] Obtaining echo signals returned based on the millimeter wave radar transmitting a frequency-modulated continuous wave;

[0006] Processing the echo signals by using a preset algorithm to obtain a three-dimensional matrix, the three-dimensional matrix containing a distance measurement dimension, a speed measurement dimension and an angle dimension;

[0007] Determining a region in the three-dimensional matrix that satisfies corresponding preset conditions in distance, speed and angle, and taking the region as a first target region to be detected;

[0008] In the point cloud data obtained based on the laser radar, determining target point cloud data corresponding to the first target region to be detected;

[0009] Clustering the target point cloud data by using a clustering algorithm, and determining a boundary value of the angle of the target to be detected according to the clustering result;

[0010] According to the boundary value of the angle, determining an angle frequency band range corresponding to the target to be detected in the angle spectrum of the echo signals;

[0011] performing spectrum refinement on the target angle spectrum corresponding to the angle frequency band range to obtain an angle spectrum after spectrum refinement;

[0012] According to the angle spectrum after spectrum refinement, the accurate angle of the target to be detected is determined.

[0013] In one embodiment, the target point cloud data is clustered using a clustering algorithm, and the boundary value of the angle where the target to be detected is located is determined according to the clustering result, comprising:

[0014] The target point cloud data is clustered using a DBSCAN or mean shift clustering algorithm, and the region where the target to be detected is located is determined according to the clustering region as a second target to be detected region;

[0015] According to the second target to be detected region, the boundary value of the angle where the target to be detected is located is determined.

[0016] In one embodiment, the target angle spectrum corresponding to the angle frequency band range is spectrum-refined to obtain an angle spectrum after spectrum refinement, comprising:

[0017] The target angle spectrum corresponding to the angle frequency band range is spectrum-refined by a Zoom-FFT algorithm to obtain an angle spectrum after spectrum refinement.

[0018] In one embodiment, the preset algorithm is a three-dimensional fast Fourier transform algorithm 3D-FFT.

[0019] In one embodiment, the echo signal is processed using a preset algorithm to obtain a three-dimensional matrix, comprising:

[0020] The echo signal is processed using a two-dimensional fast Fourier transform algorithm 2D-FFT to obtain a two-dimensional matrix; the two-dimensional matrix includes a ranging dimension and a velocity dimension;

[0021] The echo signals between the antennas are processed using an angle estimation algorithm to obtain angle information;

[0022] The three-dimensional matrix is obtained according to the two-dimensional matrix and the angle information.

[0023] In one embodiment, the angle estimation algorithm is one of Beamforming, Capon, and MUSIC algorithms.

[0024] In one embodiment, the target point cloud data corresponding to the first target to be detected region is determined in the point cloud data obtained based on the laser radar, comprising:

[0025] According to the calibration relationship between the laser radar coordinate system and the millimeter wave radar coordinate system, a region corresponding to the first target region to be detected in the millimeter wave radar coordinate system is determined based on the laser radar coordinate system;

[0026] In the point cloud data obtained based on the laser radar, target point cloud data corresponding to the region in the millimeter wave radar coordinate system is obtained.

[0027] In one embodiment, the method further comprises:

[0028] According to the boundary value of the angle of the target to be detected in the laser radar coordinate system and the calibration relationship, a boundary value of the angle of the target to be detected in the millimeter wave radar coordinate system is determined.

[0029] In the angle spectrum of the echo signal, an angle frequency band range corresponding to the boundary value of the angle of the target to be detected in the millimeter wave radar coordinate system is determined.

[0030] In a second aspect, the embodiments of the present application provide a device for detecting the angle of a target, which is applied to a radar system comprising a plurality of antennas, the radar system transmits a frequency-modulated continuous wave for ranging, the radar system comprises a millimeter wave radar and a laser radar, and the device comprises:

[0031] An acquisition module is configured to acquire an echo signal returned based on the frequency-modulated continuous wave transmitted by the millimeter wave radar;

[0032] A processing module is configured to process the echo signal by using a preset algorithm to obtain a three-dimensional matrix, the three-dimensional matrix comprising a ranging dimension, a velocity dimension, and an angle dimension.

[0033] A first determination module is configured to determine a region in the three-dimensional matrix that satisfies corresponding preset conditions in terms of distance, velocity, and angle, and the region is taken as a first target region to be detected.

[0034] A second determination module is configured to determine target point cloud data corresponding to the first target region to be detected in point cloud data obtained based on the laser radar.

[0035] A third determination module is configured to cluster the target point cloud data by using a clustering algorithm, and determine a boundary value of the angle of the target to be detected according to a clustering result.

[0036] A fourth determination module is configured to determine an angle frequency band range corresponding to the target to be detected in an angle spectrum of the echo signal according to the boundary value of the angle.

[0037] a spectrum refining module, configured to perform spectrum refining on a target angle spectrum corresponding to the angle frequency band range, to obtain an angle spectrum after spectrum refining;

[0038] a fifth determining module, configured to determine an accurate angle of the target to be detected according to the angle spectrum after spectrum refining.

[0039] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements steps of the method for detecting an angle of a target when executing the computer program.

[0040] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and steps of the method for detecting an angle of a target are implemented when the computer program is executed by a processor.

[0041] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on an electronic device, enables the electronic device to perform steps of the method for detecting an angle of a target.

[0042] Compared with the prior art, the embodiment of the present application has the beneficial effects that: first, a first target region to be detected of a target is determined through millimeter wave radar data, and since the laser radar has the characteristic of high angle resolution, a boundary value of an angle of the target can be determined based on the first target region to be detected, according to the boundary value of the angle, an angle frequency band range corresponding to the target to be detected is determined, spectrum refining can also improve the angle resolution, and then the target angle spectrum corresponding to the angle frequency band range is subjected to spectrum refining, and according to the angle spectrum after spectrum refining, the accurate angle of the target to be detected is determined, which can improve the angle resolution, thereby improving the angle detection accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0044] Figure 1 is a flowchart of a method for detecting an angle of a target provided by an embodiment of the present application;

[0045] Figure 2 is a schematic diagram of processing the echo signal by using a preset algorithm to obtain a three-dimensional matrix provided by an embodiment of the present application;

[0046] Figure 3 is a specific flowchart diagram of step S102 provided by an embodiment of the present application;

[0047] Figure 4 is a specific flowchart diagram of step S104 provided by an embodiment of the present application;

[0048] Figure 5 is a specific flowchart diagram of step S105 provided by an embodiment of the present application;

[0049] Figure 6 is a specific flowchart diagram of step S106 provided by an embodiment of the present application;

[0050] Figure 7 is a structural diagram of a device for detecting a target angle provided by another embodiment of the present application;

[0051] Figure 8 is a structural diagram of an electronic device provided by yet another embodiment of the present application. DETAILED DESCRIPTION

[0052] In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular sequences of steps, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, circuits, and

[0053] It will be understood that the term "includes," "including," "has," "having," "comprises," "comprising" or "contains," "containing" when used in this specification and in the following claims, specifies the presence of the stated features, integers, steps, operations, elements, and / or components but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0054] It will be understood that the term "and / or," when used in this specification and in the following claims, can encompass the meaning of "and" and / or the meaning of "or" and can allow for alternative embodiments of the present application.

[0055] As used in this specification and in the claims, the term "if" can be interpreted as meaning "when," or "once," or "in response to a determination," or "in response to detecting," as appropriate, depending on the context. Similarly, the phrase "if determined," or "if detected," can be interpreted as meaning "once determined," or "in response to a determination," or "once detected," or "in response to detecting [the recited condition or event]," as appropriate, depending on the context.

[0056] In addition, in the description of the present application and the appended claims, the terms "first", "second", "third", etc. are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0057] In the present application, the reference to "one embodiment" or "some embodiments" means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in further some embodiments" and the like appearing in the present description are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "contain", "have" and their variants mean "including but not limited to", unless otherwise specifically emphasized.

[0058] The method for detecting the target angle provided by the embodiments of the present application is applied to a radar system comprising a plurality of antennas, the radar system transmits a frequency-modulated continuous wave for ranging, the radar system can be a vehicle-mounted radar system, and the radar system comprises a millimeter wave radar and a laser radar. The embodiments of the present application do not make any limitation on the specific type of the radar system.

[0059] In order to illustrate the technical solutions described in the present application, the following will be described through specific embodiments.

[0060] Please refer to Figure 1 The method for detecting the target angle provided by the embodiments of the present application comprises:

[0061] Step S101: obtaining an echo signal returned based on a frequency-modulated continuous wave transmitted by the millimeter wave radar.

[0062] Specifically, the millimeter wave radar in the radar system transmits a frequency-modulated continuous wave; and the millimeter wave radar receives the echo signal returned based on the transmitted frequency-modulated continuous wave.

[0063] Step S102: processing the echo signal by using a preset algorithm to obtain a three-dimensional matrix, the three-dimensional matrix comprising a ranging dimension, a velocity dimension and an angle dimension.

[0064] Specifically, according to the echo signal received by the receiving antenna in the radar system, the echo signal is processed by using a preset algorithm to determine three-dimensional data comprising the distance, velocity and angle of the target, and the three-dimensional matrix can be obtained according to the three-dimensional data.

[0065] In one embodiment, the preset algorithm is a three-dimensional fast Fourier transform algorithm 3D-FFT.

[0066] Specifically, the feature of echo signal which is not obvious in time domain becomes obvious in frequency domain, and the corresponding signal spectrum and echo information can be obtained by 3D-FFT (3D-FFT) processing in distance, velocity and angle, so as to determine the distance, velocity and angle information. The FMCW signal transmitted by the radar transmitting antenna is divided into many chirps, and the AD sampling results of the intermediate frequency signal (IF signal) of each returned chirp are subjected to Fast Fourier Transform (FFT), and the target position is calculated according to the obtained peak frequency. This process is called range FFT. Based on the doppler shift caused by the target motion speed, the results of all chirps in a single antenna after range FFT are subjected to inter-chirp FFT, that is, doppler FFT, and the target speed (doppler FFT result) is calculated according to the obtained peak frequency. Based on the phase difference between different receiving antennas caused by the angle of the target, the FFT between different antenna signals is performed, that is, angle FFT, and the target angle (angle FFT result) is calculated according to the obtained peak frequency. According to the separability of Fourier transform, the above process can be regarded as a 3D-FFT. Through 3D-FFT, the distance, velocity and angle information can be obtained.

[0067] In one application scenario, as shown in FIG. 1, the radar system 100 includes a radar transmitting antenna 101, a radar receiving antenna 102, a radar signal processing unit 103 and a radar display unit 104. Figure 2 As shown in FIG. 2, the radar system 200 includes a radar transmitting antenna 201, a radar receiving antenna 202, a radar signal processing unit 203 and a radar display unit 204. The radar signal processing unit 203 is configured to process the echo signal by using a preset algorithm (such as 3D-FFT), and obtain a three-dimensional matrix. The three-dimensional matrix includes a distance dimension, a velocity dimension and an angle dimension.

[0068] In one embodiment, as shown in FIG. 3, the step S102 includes steps S1021 to S1023. Figure 3

[0069] In step S1021, the echo signal is processed by using 2D-FFT to obtain a two-dimensional matrix. The two-dimensional matrix includes a distance dimension and a velocity dimension.

[0070] ​Specifically, the echo signals can be processed based on a two-dimensional fast Fourier transform algorithm 2D-FFT to obtain range-velocity information. That is, the AD sampling results of the intermediate frequency signals (IF signals) of each returned chirp are subjected to FFT (Fast Fourier Transform), and the target position is calculated according to the obtained peak frequency. This process is called range FFT. Based on the doppler shift caused by the target motion speed, the results of all chirps in a single antenna after range FFT are subjected to inter-chirp FFT, that is, doppler FFT. The target speed (doppler FFT result) is calculated according to the obtained peak frequency. The above process can be regarded as a 2D-FFT. Based on the 2D-FFT, range-velocity data can be obtained, and a range-velocity two-dimensional matrix can be obtained according to the range-velocity data.

[0071] In step S1022, an angle estimation algorithm is used to process the echo signals between the antennas to obtain angle information.

[0072] Specifically, after obtaining the range and velocity information, the angle information can be obtained by processing the echo signals between the antennas according to an angle estimation algorithm.

[0073] In one embodiment, the angle estimation algorithm is one of Beamforming, Capon, and MUSIC algorithms.

[0074] In step S1023, the three-dimensional matrix is obtained according to the two-dimensional matrix and the angle information.

[0075] Specifically, according to the range-velocity two-dimensional matrix and the angle information obtained by the angle estimation algorithm, the three-dimensional matrix including the range, velocity, and angle of the target to be detected can be determined.

[0076] In step S103, a region in the three-dimensional matrix that satisfies the corresponding preset conditions in the range, velocity, and angle is determined as a first target region to be detected.

[0077] Specifically, the preset algorithm is a three-dimensional fast Fourier transform algorithm 3D-FFT. FFT can transform signals from the time domain to the frequency domain. The three-dimensional matrix obtained by 3D-FFT processing includes range, velocity, and angle spectrum information. The region in the three-dimensional matrix whose range dimension, velocity dimension, and angle dimension each have a spectrum greater than a respective preset threshold is preliminarily determined to exist a target, and thus the region is regarded as the first target region to be detected.

[0078] Step S104, determining target point cloud data corresponding to the first target region to be detected in the point cloud data acquired based on the laser radar.

[0079] Specifically, the laser radar scans the surface of the object to obtain the point cloud data reflected back, and thus the point cloud data reflected back by the first detection region can be determined in the point cloud data acquired based on the laser radar.

[0080] In one embodiment, as shown in FIG. 1, step S104 includes steps S1041 and S1042. Figure 4

[0081] Step S1041, determining a region in the laser radar coordinate system corresponding to the first target region to be detected in the millimeter wave radar coordinate system according to the calibration relationship between the laser radar coordinate system and the millimeter wave radar coordinate system.

[0082] Specifically, since the radar system includes the millimeter wave radar and the laser radar, the installation positions of the two radars can be different. The calibration relationship between the two radars can be determined in advance according to the relative relationship between the installation positions of the two radars. The first target region to be detected is a region in the millimeter wave radar coordinate system. According to the calibration relationship, the first target region to be detected can be converted into a region in the laser radar coordinate system.

[0083] Step S1042, acquiring target point cloud data corresponding to the region in the millimeter wave radar coordinate system in the point cloud data acquired based on the laser radar.

[0084] Specifically, in the point cloud data acquired based on the laser radar, the point cloud data corresponding to the region in the laser radar coordinate system converted from the first target region to be detected is acquired, which is referred to as target point cloud data.

[0085] Step S105, clustering the target point cloud data by using a clustering algorithm, and determining a boundary value of the angle of the target to be detected according to the clustering result.

[0086] Specifically, after the target point cloud data is determined, the points in the target point cloud data can be organized into point cloud data having a certain spatial structure by using a clustering algorithm since the target point cloud data can be in a discrete state. The clustering algorithm can be a distance-based point cloud clustering algorithm, a density-based point cloud clustering algorithm, etc.

[0087] In one embodiment, as shown in FIG. 1, step S105 includes steps S1051 and S1052. Figure 5

[0088] ​​Step S1051, clustering the target point cloud data by using DBSCAN or mean shift clustering algorithm, determining the region where the to-be-detected target is located according to the clustered region as a second to-be-detected target region.

[0089] Specifically, the DBSCAN (Density-Based Spatial Clustering of Application with Noise) algorithm is a density-based clustering method. It defines a cluster as the maximum set of density-connected points, can divide a region with sufficient density into a cluster, and can find clusters of any shape in a noisy spatial data set. The target point cloud data can be clustered by using the DBSCAN clustering algorithm, and the region where the to-be-detected target is located is determined according to the clustered region as a second to-be-detected target region. The mean shift clustering is a sliding window-based algorithm to find dense regions of data points, so the target point cloud data can also be clustered by using the mean shift clustering algorithm, and the region where the to-be-detected target is located is determined according to the clustered region as a second to-be-detected target region.

[0090] Step S1052, determining the boundary value of the angle where the to-be-detected target is located according to the second to-be-detected target region.

[0091] Specifically, the boundary value of the angle where the to-be-detected target is located is determined according to the upper and lower limits of the angle where the second to-be-detected target region is located.

[0092] Step S106, determining the angle frequency band range corresponding to the to-be-detected target in the angle spectrum of the echo signal according to the boundary value of the angle; wherein the angle spectrum is a spectrum obtained by performing angle fast Fourier transform on the echo signal.

[0093] Specifically, since the boundary value of the angle is the angle boundary value determined according to the second to-be-detected target region, the frequency band range corresponding to the angle boundary value is determined in the angle spectrum corresponding to the echo signal, and the frequency band range is taken as the angle frequency band range corresponding to the to-be-detected target. The angle spectrum can be a spectrum obtained by performing angle fast Fourier transform on the echo signal.

[0094] In one embodiment, as shown in FIG. 10, Figure 6 Step S106 includes steps S1061 to S1062:

[0095] Step S1061, determining the boundary value of the angle where the to-be-detected target is located in the millimeter wave radar coordinate system according to the boundary value of the angle where the to-be-detected target is located in the laser radar coordinate system and the calibration relationship.

[0096] Specifically, since the boundary value of the angle is determined according to the second target region to be detected, the second detection region is a region in the laser radar coordinate system, and thus the boundary value of the angle is also based on the angle boundary value in the laser radar coordinate system, which is converted into the angle boundary value in the millimeter wave radar coordinate system based on the calibration relationship between the laser radar coordinate system and the millimeter wave radar coordinate system.

[0097] Step S1062, in the angle spectrum of the echo signal, a range of angle frequency bands corresponding to the boundary value of the angle of the target to be detected in the millimeter wave radar coordinate system is determined.

[0098] Specifically, in the angle spectrum of the echo signal, a range of angle frequency bands corresponding to the boundary value of the angle of the target to be detected in the millimeter wave radar coordinate system is determined.

[0099] Step S107, the target angle spectrum corresponding to the range of angle frequency bands is subjected to spectrum refinement to obtain a refined angle spectrum.

[0100] Specifically, in order to better measure the relationship between the frequency resolution and the calculation complexity, the spectrum of the signal can be processed locally, and the target frequency band of interest in the spectrum can be locally amplified, which is called spectrum refinement, so that the frequency resolution can be improved with less calculation amount. Therefore, the angle spectrum corresponding to the determined range of angle frequency bands is taken as a target angle spectrum, and the target angle spectrum is subjected to spectrum refinement to obtain a refined angle spectrum.

[0101] In one embodiment, the spectrum refinement of the target angle spectrum corresponding to the range of angle frequency bands to obtain a refined angle spectrum includes: the spectrum refinement of the target angle spectrum corresponding to the range of angle frequency bands by a Zoom-FFT algorithm to obtain a refined angle spectrum.

[0102] Specifically, the Zoom-FFT algorithm can perform high-precision spectrum analysis, and the Zoom-FFT algorithm includes frequency shifting (complex modulation), low-pass digital filtering, resampling, and frequency adjustment processes, which can improve the data density in the frequency band and obtain a spectrum with higher resolution. The Zoom-FFT algorithm can be used to refine the target angle spectrum to obtain a refined angle spectrum.

[0103] Step S108, the accurate angle of the target to be detected is determined according to the refined angle spectrum.

[0104] Specifically, the angle spectrum after spectrum refinement can distinguish the accurate angle of the target better, so that the angle of the to-be-detected target is determined as the determined accurate angle according to the angle spectrum after spectrum refinement.

[0105] The first to-be-detected target region of the target is determined through millimeter wave radar data, and the laser radar has the characteristic of high angle resolution, so that the boundary value of the angle of the target can be determined based on the first to-be-detected target region using the laser radar. According to the boundary value of the angle, the angle frequency band range corresponding to the to-be-detected target is determined. The spectrum refinement can also improve the angle resolution, so that the target angle spectrum corresponding to the angle frequency band range is subjected to spectrum refinement, and the accurate angle of the to-be-detected target is determined according to the angle spectrum after spectrum refinement, which can improve the angle resolution and thus improve the angle detection accuracy.

[0106] corresponding to the method for detecting the angle of the target in the above embodiments, Figure 7 The structure block diagram of the device for detecting the angle of the target provided by the embodiments of the present application is shown, and only the parts related to the embodiments of the present application are shown for the convenience of description. The device for detecting the angle of the target is integrated into a radar system comprising a plurality of antennas, the radar system transmits a frequency-modulated continuous wave for ranging, and the device 700 for detecting the angle of the target comprises:

[0107] The radar system comprises a millimeter wave radar and a laser radar, and the device 700 comprises:

[0108] The acquisition module 701 is configured to acquire echo signals returned based on the frequency-modulated continuous wave transmitted by the millimeter wave radar;

[0109] The processing module 702 is configured to process the echo signals by using a preset algorithm to obtain a three-dimensional matrix, the three-dimensional matrix comprising a ranging dimension, a velocity dimension, and an angle dimension;

[0110] The first determination module 703 is configured to determine a region in the three-dimensional matrix that satisfies corresponding preset conditions in terms of distance, velocity, and angle, and the region is taken as a first to-be-detected target region;

[0111] The second determination module 704 is configured to determine target point cloud data corresponding to the first to-be-detected target region in point cloud data acquired based on the laser radar;

[0112] The third determination module 705 is configured to cluster the target point cloud data by using a clustering algorithm, and determine a boundary value of the angle of the to-be-detected target according to the clustering result;

[0113] The fourth determination module 706 is configured to determine an angle frequency band range corresponding to the to-be-detected target in the angle spectrum of the echo signals according to the boundary value of the angle;

[0114] a spectrum refining module 707, configured to perform spectrum refinement on a target angle spectrum corresponding to the angle frequency band range, to obtain an angle spectrum after spectrum refinement;

[0115] a fifth determination module 708, configured to determine an accurate angle of a target to be detected according to the angle spectrum after spectrum refinement.

[0116] In an embodiment, the third determination module comprises:

[0117] a first determination unit, configured to perform clustering on the target point cloud data by using a DBSCAN or mean shift clustering algorithm, and determine a region where the target to be detected is located as a second target to be detected region according to the clustered region;

[0118] a second determination unit, configured to determine a boundary value of an angle where the target to be detected is located according to the second target to be detected region.

[0119] In an embodiment, the spectrum refining module is specifically configured to perform spectrum refinement on the target angle spectrum corresponding to the angle frequency band range by using a Zoom-FFT algorithm, to obtain the angle spectrum after spectrum refinement.

[0120] In an embodiment, the preset algorithm is a three-dimensional fast Fourier transform algorithm 3D-FFT.

[0121] In an embodiment, the processing module comprises:

[0122] a first processing unit, configured to perform processing on the echo signal by using a two-dimensional fast Fourier transform algorithm 2D-FFT, to obtain a two-dimensional matrix; the two-dimensional matrix comprises a ranging dimension and a velocity dimension;

[0123] a second processing unit, configured to perform processing on the echo signal between the antennas by using an angle estimation algorithm, to obtain angle information;

[0124] an obtaining unit, configured to obtain the three-dimensional matrix according to the two-dimensional matrix and the angle information.

[0125] In an embodiment, the angle estimation algorithm is one of a Beamforming, Capon, and MUSIC algorithm.

[0126] In an embodiment, the second determination module comprises:

[0127] a third determination unit, configured to determine a region based on a laser radar coordinate system corresponding to the first target to be detected region in the millimeter wave radar coordinate system according to a calibration relationship between the laser radar coordinate system and the millimeter wave radar coordinate system;

[0128] The acquisition unit is used to acquire target point cloud data corresponding to the region in the millimeter-wave radar coordinate system from the point cloud data acquired based on the lidar.

[0129] In one embodiment, the fourth determining module includes:

[0130] The fourth determining unit is used to determine the boundary value of the angle of the target to be detected in the millimeter-wave radar coordinate system based on the boundary value of the angle of the target to be detected in the lidar coordinate system and the calibration relationship.

[0131] The fifth determining unit is used to determine, in the angular spectrum of the echo signal, the angular frequency band range corresponding to the boundary value of the angle of the target to be detected in the millimeter-wave radar coordinate system.

[0132] In this embodiment, the first target area to be detected is determined using millimeter-wave radar data. Since lidar has high angular resolution, the boundary value of the angle of the target can be determined based on the first target area. According to the boundary value of the angle, the angular frequency band range corresponding to the target to be detected is determined. Spectrum refinement can also improve angular resolution. Therefore, the target angle spectrum corresponding to the angular frequency band range is further refined. The precise angle of the target to be detected can be determined based on the refined angle spectrum, which can improve angular resolution and thus improve angle detection accuracy.

[0133] like Figure 8 As shown, one embodiment of the present invention also provides an electronic device 800 including: a processor 801, a memory 802, and a computer program 803 stored in the memory 802 and executable on the processor 801, such as a program for detecting a target angle. When the processor 801 executes the computer program 803, it implements the steps in the various method embodiments for detecting target angles described above. When the processor 801 executes the computer program 803, it implements the functions of each module in the various device embodiments described above, for example... Figure 7 The functions of modules 701 to 708 are shown.

[0134] For example, the computer program 803 can be divided into one or more modules stored in the memory 802 and executed by the processor 801 to complete the present application. The one or more modules can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 803 in the electronic device 800. For example, the computer program 803 can be divided into an acquisition module, a processing module, a first determination module, a second determination module, a third determination module, a fourth determination module, a spectrum refinement module and a fifth determination module, and the specific functions of each module are described in the above embodiments, which will not be described here.

[0135] The electronic device can include, but is not limited to, the processor 801 and the memory 802. Those skilled in the art can understand that the electronic device can further include other components, such as an input / output device, a network access device, a bus, etc. Figure 8 The electronic device 800 is only an example and does not constitute a limitation on the electronic device 800, which can include more or fewer components than shown, or combine certain components, or different components, for example, the electronic device can also include an input / output device, a network access device, a bus, etc.

[0136] The processor 801 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0137] The memory 802 can be an internal storage unit of the electronic device 800, for example, a hard disk or a memory of the electronic device 800. The memory 802 can also be an external storage device of the electronic device 800, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 800. Further, the memory 802 can include both the internal storage unit and the external storage device of the electronic device 800. The memory 802 is used to store the computer program and other programs and data required by the electronic device. The memory 802 can also be used to temporarily store data that has been output or will be output.

[0138] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or software. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0139] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0140] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0141] In the embodiments of the present application, it should be understood that the disclosed apparatus / equipment and method can be implemented in other manners. For example, the described apparatus / equipment embodiments are merely schematic. For example, the division of the modules or units is merely logical function division. There can be another division manner for the actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0142] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0143] In addition, each functional unit in the various embodiments of the present application can be integrated into a processing unit, or each unit can be a physically independent unit, or two or more units can be integrated into a unit. The integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0144] The integrated module, if implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method in the above-described embodiments can also be implemented by a computer program instructing related hardware to complete, and the computer program can be stored in a computer readable storage medium. The computer program, when executed by a processor, can implement the steps of each method embodiment. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the computer readable medium can include appropriate contents according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0145] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those ordinarily skilled in the art should understand: the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for detecting a target angle, applied to a radar system comprising a plurality of antennas, the radar system transmitting a frequency-modulated continuous wave for ranging, characterized in that, The radar system comprises a millimeter wave radar and a laser radar, and the method comprises: acquiring echo signals returned based on frequency-modulated continuous wave emitted by the millimeter wave radar; processing the echo signals by using a preset algorithm to obtain a three-dimensional matrix, the three-dimensional matrix comprising a ranging dimension, a velocity dimension and an angle dimension; determining a region in the three-dimensional matrix that satisfies corresponding preset conditions in terms of distance, velocity and angle, and taking the region as a first to-be-detected target region; in point cloud data acquired based on the laser radar, determining target point cloud data corresponding to the first to-be-detected target region; performing clustering on the target point cloud data by using a clustering algorithm, and determining a boundary value of an angle at which a to-be-detected target is located according to a clustering result; determining an angle frequency band range corresponding to the to-be-detected target in an angle spectrum of the echo signals according to the boundary value of the angle; performing spectrum refinement on target angle spectrum corresponding to the angle frequency band range to obtain angle spectrum after spectrum refinement; determining an accurate angle of the to-be-detected target according to the angle spectrum after spectrum refinement.

2. The method of claim 1, wherein, The performing clustering on the target point cloud data by using a clustering algorithm, and determining a boundary value of an angle at which a to-be-detected target is located according to a clustering result, comprises: performing clustering on the target point cloud data by using a DBSCAN or mean shift clustering algorithm, and determining a region in which the to-be-detected target is located according to a clustering region, as a second to-be-detected target region; determining the boundary value of the angle at which the to-be-detected target is located according to the second to-be-detected target region.

3. The method of claim 1, wherein, The performing spectrum refinement on target angle spectrum corresponding to the angle frequency band range to obtain angle spectrum after spectrum refinement, comprises: performing spectrum refinement on the target angle spectrum corresponding to the angle frequency band range by using a Zoom-FFT algorithm to obtain the angle spectrum after spectrum refinement.

4. The method of claim 1, wherein, The preset algorithm is a three-dimensional fast Fourier transform algorithm 3D-FFT.

5. The method of claim 4, wherein, The processing the echo signals by using a preset algorithm to obtain a three-dimensional matrix, comprises: processing the echo signals by using a two-dimensional fast Fourier transform algorithm 2D-FFT to obtain a two-dimensional matrix; the two-dimensional matrix comprising a ranging dimension and a velocity dimension; processing echo signals between antennas by using an angle estimation algorithm to obtain angle information; obtaining the three-dimensional matrix according to the two-dimensional matrix and the angle information.

6. The method of claim 5, wherein, The angle estimation algorithm is one of a Beamforming, Capon and MUSIC algorithm.

7. The method according to any one of claims 1 to 6, characterized in that, The determining target point cloud data corresponding to the first to-be-detected target region in point cloud data acquired based on the laser radar, comprises: determining a region corresponding to the first to-be-detected target region in a laser radar coordinate system according to a calibration relationship between a laser radar coordinate system and the millimeter wave radar coordinate system; acquiring target point cloud data corresponding to the region in the laser radar coordinate system in point cloud data acquired based on the laser radar.

8. The method of claim 7, wherein, The determining an angle frequency band range corresponding to the to-be-detected target in an angle spectrum of echo signals according to a boundary value of an angle, comprises: According to the boundary value of the angle of the target to be detected in the laser radar coordinate system and the calibration relationship, the boundary value of the angle of the target to be detected in the millimeter wave radar coordinate system is determined. In the angle spectrum of the echo signal, the angle frequency band range corresponding to the boundary value of the angle of the target to be detected in the millimeter wave radar coordinate system is determined.

9. A device for detecting the angle of a target, characterized in that, The application is applied to a radar system comprising a plurality of antennas, and the radar system transmits a frequency-modulated continuous wave for ranging, characterized in that the radar system comprises a millimeter wave radar and a laser radar, and the device comprises: An acquisition module is configured to acquire an echo signal returned based on the millimeter wave radar transmitting a frequency-modulated continuous wave. A processing module is configured to process the echo signal by using a preset algorithm to obtain a three-dimensional matrix, wherein the three-dimensional matrix comprises a ranging dimension, a velocity dimension, and an angle dimension. A first determination module is configured to determine a region in the three-dimensional matrix that satisfies corresponding preset conditions in distance, velocity, and angle, and the region is taken as a first target region to be detected. A second determination module is configured to determine target point cloud data corresponding to the first target region to be detected in point cloud data acquired based on the laser radar. A third determination module is configured to cluster the target point cloud data by using a clustering algorithm, and determine a boundary value of an angle of a target to be detected according to a clustering result. A fourth determination module is configured to determine an angle frequency band range corresponding to the target to be detected in an angle spectrum of the echo signal according to the boundary value of the angle. A spectrum refinement module is configured to perform spectrum refinement on target angle spectrum corresponding to the angle frequency band range to obtain angle spectrum after spectrum refinement. A fifth determination module is configured to determine an accurate angle of a target to be detected according to the angle spectrum after spectrum refinement.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the method of any one of claims 1 to 8.

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