Radar attitude detection method and device, electronic equipment and storage medium

Abstract

This invention discloses a radar attitude detection method, apparatus, electronic device, and storage medium. The method includes: in the current detection phase, determining radar detection information within a single sampling interval of the target radar; determining the yaw state information of the detected target within the single sampling interval based on the radar detection information, wherein the yaw state information includes the yaw statistics of the detected target relative to the target radar during movement, the position of the nearest detected target that the target radar can detect, and / or the position of the farthest detected target that the target radar can detect; and detecting the installation attitude of the target radar based on the yaw state information of the detected target within at least two sampling intervals. This technical solution eliminates the need for direct radar attitude measurement throughout the entire process, relying solely on radar sampling data for radar attitude fault early warning, thus solving the problem of low radar sampling accuracy caused by changes in radar attitude.

Description

Technical Field

[0001] This invention relates to the field of radar detection technology, and in particular to a radar attitude detection method, device, electronic device, and storage medium. Background Technology

[0002] As a high-precision detection device, radar is often used in transportation, industry, and other fields as a tool for real-time target monitoring. With the development of technology, the detection accuracy and reliability of radar have been improving day by day. However, due to long-term installation, especially on traffic poles in driving lanes, factors such as wind and sun exposure, gravity, or human factors may cause changes in the physical attitude angle of the radar installation, resulting in a significant reduction in radar detection accuracy.

[0003] In related solutions, the installation status of radar is detected by comprehensively using information such as terrain information, thereby avoiding errors in installation attitude. However, the identification and calculation of this information itself can also introduce significant errors.

[0004] Therefore, ensuring the correct installation orientation of the radar, and consequently guaranteeing its detection accuracy and reliability, becomes extremely important. Summary of the Invention

[0005] This invention provides a radar attitude detection method, apparatus, electronic device, and storage to solve the problem of low radar sampling accuracy caused by changes in radar attitude.

[0006] According to one aspect of the present invention, a radar attitude detection method is provided, comprising:

[0007] In the current detection phase, the radar detection information within a single sampling interval of the target radar is determined. The radar detection information includes the detection position and detection velocity of at least two detected targets. Each detection phase corresponds to at least two sampling intervals, and the interval duration of the single sampling interval is less than the preset interval duration.

[0008] Based on radar detection information, the yaw state information of the detected target within a single sampling interval is determined. The yaw state information includes the yaw statistics of the detected target relative to the target radar when it is moving, the position of the nearest detected target that the target radar can detect, and / or the position of the farthest detected target that the target radar can detect.

[0009] The installation attitude of the target radar is detected based on the yaw state information of the target detected within at least two sampling intervals.

[0010] According to another aspect of the present invention, a radar attitude detection device is provided, characterized in that it comprises:

[0011] The detection information determination module is used to determine the radar detection information within a single sampling interval of the target radar in the current detection stage. The radar detection information includes the detection position and detection velocity of at least two detection targets. Each detection stage corresponds to at least two sampling intervals, and the interval duration of the single sampling interval is less than the preset interval duration.

[0012] The yaw information determination module is used to determine the yaw status information of the detected target within a single sampling interval based on the radar detection information. The yaw status information includes the yaw statistics of the detected target relative to the target radar when it is moving, the position of the nearest detected target that the target radar can detect, and / or the position of the farthest detected target that the target radar can detect.

[0013] The attitude detection module is used to detect the installation attitude of the target radar based on the yaw state information of the target within at least two sampling intervals.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the radar attitude detection method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the radar attitude detection method according to any embodiment of the present invention.

[0019] The technical solution of this invention determines the radar detection information within a single sampling interval of the target radar in the current detection stage. The radar detection information includes the detection position and detection speed of at least two detection targets. Each detection stage corresponds to at least two sampling intervals, and the interval duration of a single sampling interval is less than a preset interval duration. Based on the radar detection information, the yaw state information of the detection targets within a single sampling interval is determined. The yaw state information includes the yaw statistics of the detection targets that can be detected by the target radar relative to the target radar when they are moving, the position of the nearest detection target that the target radar can detect, and / or the position of the farthest detection target that the target radar can detect. Based on the yaw state information of the detection targets within at least two sampling intervals, the installation attitude of the target radar is detected. The entire process does not require direct attitude measurement of the radar. It only needs to rely on radar sampling data to provide radar attitude fault warning, thus solving the problem of low radar sampling accuracy caused by changes in radar attitude.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a radar attitude detection method provided in Embodiment 1 of the present invention;

[0023] Figure 2 This is a schematic diagram of the radar attitude detection steps applicable to embodiments of the present invention;

[0024] Figure 3 This is a flowchart of a radar attitude detection method according to Embodiment 2 of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of a radar attitude detection device according to Embodiment 3 of the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the radar attitude detection method of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Example 1

[0030] Figure 1 This is a flowchart of a radar attitude detection method provided in Embodiment 1 of the present invention. This embodiment is applicable to detecting the physical attitude angle of a radar installation. The method can be executed by a radar attitude detection device, which can be implemented in hardware and / or software. This radar attitude detection device can be configured in any electronic device with network communication capabilities. Figure 1 As shown, the method includes:

[0031] S110. In the current detection phase, determine the radar detection information within a single sampling interval of the target radar. The radar detection information includes the detection position and detection velocity of at least two detection targets. Each detection phase corresponds to at least two sampling intervals, and the interval duration of a single sampling interval is less than the preset interval duration.

[0032] The individual sampling interval can be set according to the needs of the actual application, for example, it can be 100ms, in which case a radar sampling image is acquired every 100ms. The interval length of a single sampling is shorter than the preset interval length, as an excessively long individual sampling interval will lead to insufficient accuracy in the judgment process. The detected target can be a vehicle traveling on the road, and the number of detected targets should be at least two to make the judgment process more accurate. The target radar can be a millimeter-wave radar. The radar detection information can include information such as the detection position and detection speed of the detected target (such as a vehicle) in the radar coordinate system.

[0033] refer to Figure 2 If no target is detected within a preset time, it can be determined that there is a horizontal or pitch angle failure, because the change in radar attitude may prevent it from sampling any target. For example, if the radar attitude is completely facing the sky.

[0034] As an optional but not limited implementation, determining radar detection information within a single sampling interval of the target radar may include the following process:

[0035] Acquire detection information obtained by detecting targets in at least one lane using a target radar within a single sampling interval.

[0036] Specifically, during initial installation, the radar's reference marker line (e.g., the marker line along the Y-axis in the radar coordinate system, i.e., the radar normal) is parallel to the lane line of the corresponding lane detected by the radar. At this time, the direction of the speed of the detected target traveling along the lane line is parallel to the radar's reference marker line. However, when the target radar's attitude is adjusted horizontally, the radar normal and the lane line are no longer parallel. Therefore, the direction of the speed of the detected target traveling along the lane line is no longer parallel to the radar normal. Based on this principle, only when the detected target within the lane is traveling along the lane line can the radar attitude be inferred by determining whether the target's speed direction is still in the radar's normal direction, i.e., whether the target has yawed relative to the radar.

[0037] Therefore, it is necessary to ensure that the detected targets collected within a single sampling interval are traveling along the lane lines as much as possible. This can be achieved by setting the interval length of a single sampling interval to be shorter than a preset interval length. In other words, while ensuring the number of detected targets is maintained, the interval length of a single sampling interval should be as short as possible. This ensures that at least one detected target in the lane is traveling along the lane line, making the detected target speed more reliable. Filtering out objects that do not belong to the lane or may not be traveling along the lane line prevents these objects from interfering with the judgment process and further enhances the accuracy of the judgment. Optionally, the radar detection information includes detected targets that have not crossed the stop line within the lane.

[0038] S120. Determine the yaw status information of the detected target within a single sampling interval based on the radar detection information. The yaw status information includes the yaw statistics of the detected target relative to the target radar when it is moving, the position of the nearest detected target that the target radar can detect, and / or the position of the farthest detected target that the target radar can detect.

[0039] Specifically, for the detection speed of targets detectable by the target radar, the system calculates whether there is a speed deviation outside the radar's reference mark line direction. If a speed deviation exists and the amount of deviation is compared with a preset threshold, and if it exceeds the preset threshold, it indicates that the detected target has yawed. The number of yawed detected targets within a single sampling interval is accumulated. If the ratio of yawed detected targets to all detected targets exceeds a preset percentage, then that single sampling interval is determined as the sampling interval in which yaw occurred. This is used to obtain the statistical results of the yaw of the detected targets relative to the target radar during movement. Simultaneously, the system can also filter the positions of the farthest and closest detected targets from the detected targets within a single sampling interval.

[0040] S130. Detect the installation attitude of the target radar based on the yaw state information of the target detected within at least two sampling intervals.

[0041] After determining whether each sampling interval is a yaw-prone interval, the presence of a horizontal angle fault in the target radar can be determined based on the number of yaw-prone sampling intervals. Simultaneously, by filtering all detected targets from each sampling interval to identify the farthest and closest detected target positions, the presence of a pitch angle fault in the target radar can be determined based on these positions. Specifically, if the radar does not have a pitch angle fault, the farthest detected target position will be less than the farthest position that the radar can acquire during installation, and the closest detected target position will be greater than the closest position that the radar can acquire during installation.

[0042] Optional, see reference Figure 2After a detection phase, i.e., a sampling cycle, is completed, the data from the previous sampling cycle is cleared, and sampling is repeated to enter the next detection phase.

[0043] This technical solution determines the radar detection information within a single sampling interval of the target radar during the current detection phase. The radar detection information includes the detection position and detection speed of at least two detected targets. Each detection phase corresponds to at least two sampling intervals, and the interval duration of a single sampling interval is less than a preset interval duration. Based on the radar detection information, the yaw state information of the detected targets within a single sampling interval is determined. The yaw state information includes the yaw statistics of the detected targets relative to the target radar when they are moving, the position of the closest detected target that the target radar can detect, and / or the position of the farthest detected target that the target radar can detect. Based on the yaw state information of the detected targets within at least two sampling intervals, the installation attitude of the target radar is detected. This solves the problem of low radar sampling accuracy caused by changes in radar attitude and achieves the beneficial effect of radar attitude fault early warning based on radar sampling data.

[0044] Example 2

[0045] Figure 3 This is a flowchart of a radar attitude detection method provided in Embodiment 2 of the present invention. This embodiment optimizes the step in Embodiment 1, which involves "determining the yaw state information of the detected target within a single sampling interval based on radar detection information." Figure 3 As shown, the method includes:

[0046] S310. In the current detection phase, determine the radar detection information within a single sampling interval of the target radar. The radar detection information includes the detection position and detection velocity of at least two detection targets. Each detection phase corresponds to at least two sampling intervals, and the interval duration of a single sampling interval is less than the preset interval duration.

[0047] S320. Based on the detection speed of the detected target included in the radar detection information, determine the yaw result of the detected target relative to the target radar when it is moving within a single sampling interval. The yaw result is used to characterize whether the detected target has a speed yaw relative to the target radar. The yaw status information includes the yaw statistics of the detected target relative to the target radar when it is moving, the position of the nearest detected target that the target radar can detect, and / or the position of the farthest detected target that the target radar can detect.

[0048] As an optional but not limited implementation, based on the detection speed of the detected target included in the radar detection information, the yaw result of the detected target relative to the target radar during a single sampling interval is determined, including but not limited to the following steps A1-A3:

[0049] Step A1: Based on the detection position and detection speed of the target included in the radar detection information, determine the speed offset of the target relative to the target radar within a single sampling interval.

[0050] Determining the velocity offset of a moving target relative to the target radar within a single sampling interval, based on the detection velocity of the target included in the radar detection information, can include: determining the velocity offset of the target's detection velocity in a reference direction within a single sampling interval, based on the detection velocity of the target included in the radar detection information. Here, the detection velocity is the speed measured by the target radar of the moving target, the reference direction is perpendicular to a reference marker line, and the reference marker line is the radar normal of the radar coordinate system where the target radar is located. When the target radar is initialized and its attitude has not been horizontally adjusted, the velocity direction of the moving target along the lane line detected by the target radar is parallel to the corresponding reference marker line of the target radar. For example, if the reference marker line is the Y-axis direction of the target radar's radar coordinate system, and the reference direction is the X-axis direction of the radar coordinate system perpendicular to the Y-axis direction, when the radar attitude has not been horizontally adjusted, the velocity offset component of the moving target along the lane line in the X-axis direction approaches 0.

[0051] Step A2: Calculate the average velocity offset of at least some of the detected targets relative to the target radar within a single sampling interval, based on the velocity offset of at least some of the detected targets within a single sampling interval when they are moving.

[0052] The velocity offsets of detected targets within a single sampling interval are summed and divided by the total number of detected targets. Targets contributing the maximum and minimum velocity offsets are not included in the calculation but are removed. This increases the accuracy of the calculation results. For example, if the velocity offset of a detected target is the largest among all detected targets, it may indicate that the target is changing lanes.

[0053] Step A3: If the average speed offset detected is greater than the preset speed offset threshold, it is determined that the detected target yaws relative to the target radar when moving within a single sampling interval.

[0054] S330. Based on the yaw results of each detected target within a single sampling interval, determine the yaw statistics of the detected target relative to the target radar when it is moving within a single sampling interval. The yaw statistics include whether the detected target yaws relative to the target radar when it is moving within a single sampling interval and the average speed offset when at least some detected targets yaw relative to the target radar at their speed.

[0055] Record the yaw results of each detection target, divide the number of yawed detection targets by the total number of detection targets, and calculate whether a single sampling interval belongs to the yaw sampling interval.

[0056] S340. Based on the detection position of the target included in the radar detection information, determine the position of the nearest detected target that the target radar can detect within a single sampling interval and / or the position of the farthest detected target that the target radar can detect.

[0057] S350: Detect the installation attitude of the target radar based on the yaw state information of the target detected within at least two sampling intervals.

[0058] Optionally, the installation attitude of the target radar can be detected based on the yaw state information of the target detected within at least two sampling intervals, which may include, but is not limited to, the following steps C1-C3:

[0059] Step C1: If the accumulated time of the sampling intervals that have been experienced in the current detection phase is greater than the preset time, then determine the number of reference sampling intervals. The reference sampling intervals include the sampling intervals in which the detected target yaws relative to the target radar, selected from the sampling intervals that have been experienced.

[0060] The preset time can be set to 5 minutes, and the reference sampling interval can be the sampling interval at which the selected target yaws relative to the target radar within the sampling interval that has already passed.

[0061] Step C2: Based on the yaw state information of the detected targets within at least two sampling intervals, determine the sum of the average velocity offsets of at least some of the detected targets within the reference sampling interval;

[0062] Step C3: Based on the sum of the number of reference sampling intervals and the average velocity offset, detect whether the installation attitude of the target radar has a horizontal angle fault.

[0063] refer to Figure 2 If the proportion of the number of sampling intervals with yaw exceeds the proportion of the number of sampling intervals already experienced (the proportion of the preset reference sampling interval can be 60%), and the ratio of the sum of the average velocity offsets corresponding to the sampling intervals with yaw to the number of sampling intervals already experienced also exceeds the preset velocity offset threshold, it is determined that the installation attitude of the target radar has a horizontal angle fault.

[0064] Optionally, the installation attitude of the target radar can be detected based on the yaw state information of the target detected within at least two sampling intervals, and may also include, but is not limited to, the following steps D1-D2:

[0065] Step D1: If the accumulated time of the sampling intervals already experienced in the current detection phase is greater than the preset time of the current phase, then determine the position of the closest detected target from the positions of the closest detected targets that the target radar can detect within the reference sampling interval; and / or, determine the position of the farthest detected target from the positions of the farthest detected targets that the target radar can detect within the reference sampling interval; the reference sampling interval includes the sampling interval in which the detected target selected from the already experienced sampling intervals yaws relative to the target radar.

[0066] refer to Figure 2 The process involves determining the location of the nearest detectable target within each sampling interval where yaw occurs. These locations are then sorted by size, and the minimum detectable location is selected as the closest detectable target location for the current phase. Similarly, the process also involves determining the location of the farthest detectable target within each sampling interval where yaw occurs. These locations are then sorted by size, and the maximum detectable location is selected as the farthest detectable target location for the current phase.

[0067] Step D2: Based on the position of the farthest detected target and / or the position of the nearest detected target, determine whether the installation attitude of the target radar has an elevation angle fault.

[0068] The position of the farthest detected target is compared with the radar's preset farthest detection position. If the difference is greater, an upward angle fault is identified as a type of elevation angle fault. Conversely, the position of the nearest detected target is compared with the radar's preset farthest detection position. If the difference is less, a downward angle fault is identified as a type of elevation angle fault. For example, with a radar having a detection range of 20m, the preset farthest detection position is 30m, and the predicted nearest detection position is 10m.

[0069] This technical solution determines the yaw result of the detected target relative to the target radar within a single sampling interval by using the detection position and detection speed of the detected target included in the radar detection information. The yaw result is used to characterize whether the detected target has yawed relative to the target radar. Based on the yaw results of each detected target within a single sampling interval, the yaw statistics of the detected target relative to the target radar within a single sampling interval are determined. The yaw statistics include the average speed deviation when at least some detected targets yaw relative to the target radar, and whether the detected target has yawed relative to the target radar within a single sampling interval. By using the two judgment criteria of detection position and detection speed to determine whether there is yaw, the accuracy of judgment is improved. This solves the problem of low radar sampling accuracy caused by changes in radar attitude and achieves the beneficial effect of radar attitude fault early warning based on radar sampling data.

[0070] Example 3

[0071] Figure 4 This is a schematic diagram of a radar attitude detection device provided in Embodiment 3 of the present invention.

[0072] like Figure 4 As shown, the device includes:

[0073] The detection information determination module 410 is used to determine the radar detection information within a single sampling interval of the target radar in the current detection stage. The radar detection information includes the detection position and detection speed of at least two detection targets. Each detection stage corresponds to at least two sampling intervals, and the interval duration of the single sampling interval is less than the preset interval duration.

[0074] The yaw information determination module 420 is used to determine the yaw state information of the detected target within a single sampling interval based on the radar detection information. The yaw state information includes the yaw statistics of the detected target relative to the target radar when it is moving, the position of the nearest detected target that the target radar can detect, and / or the position of the farthest detected target that the target radar can detect.

[0075] The attitude detection module 430 is used to detect the installation attitude of the target radar based on the yaw state information of the target detected within at least two sampling intervals.

[0076] Optionally, the detection information determination module 410 is also used for:

[0077] Acquire detection information obtained by detecting targets in at least one lane using a target radar within a single sampling interval.

[0078] Optionally, the yaw information determination module 420 includes:

[0079] The yaw result determination unit is used to determine the yaw result of the detected target relative to the target radar within a single sampling interval based on the detection speed of the detected target included in the radar detection information. The yaw result is used to characterize whether the detected target has a speed yaw relative to the target radar.

[0080] The statistical result determination unit is used to determine the yaw statistics of the detected targets relative to the target radar when they are moving within a single sampling interval, based on the yaw results of each detected target within a single sampling interval. The yaw statistics include whether the detected targets yaw relative to the target radar when they are moving within a single sampling interval, and the average speed offset when at least some detected targets yaw relative to the target radar at their speed.

[0081] Optionally, the yaw result determination unit includes:

[0082] The offset determination subunit is used to determine the velocity offset of the detected target relative to the target radar within a single sampling interval, based on the detection velocity of the detected target included in the radar detection information.

[0083] Based on the velocity offset of at least some of the detected targets relative to the target radar during movement within a single sampling interval, the average velocity offset of at least some of the detected targets within a single sampling interval is calculated.

[0084] The offset mean comparison subunit is used to determine that the detected target yaws relative to the target radar when it is moving within a single sampling interval if the detected average speed offset is greater than a preset speed offset threshold.

[0085] Optionally, the offset determination subunit is specifically used to: determine the velocity offset of the detection velocity of the detected target in the reference direction within a single sampling interval based on the detection velocity of the detected target included in the radar detection information;

[0086] The detection speed is the speed of the moving target measured by the target radar. The reference direction is perpendicular to the reference marker line, which is the radar normal of the radar coordinate system of the target radar. When the target radar is initialized and its attitude has not been adjusted horizontally, the direction of the speed of the moving target along the lane line detected by the target radar is parallel to the reference marker line of the corresponding target radar.

[0087] Optionally, the attitude detection module 430 includes:

[0088] The reference sampling interval determination unit is used to determine the number of reference sampling intervals if the accumulated time of the sampling intervals already experienced in the current detection phase is greater than a preset time. The reference sampling intervals include the sampling intervals in which the detected target yaws relative to the target radar, selected from the sampling intervals already experienced.

[0089] The offset mean sum determination unit is used to determine the mean sum of velocity offsets of at least some of the detected targets within a reference sampling interval based on the yaw state information of the detected targets within at least two sampling intervals.

[0090] The horizontal angle fault determination unit is used to detect whether a horizontal angle fault has occurred in the installation attitude of the target radar based on the sum of the number of reference sampling intervals and the average value of the velocity offset.

[0091] Optionally, the attitude detection module 430 further includes:

[0092] A position determination unit is configured to determine the position of the nearest detected target from the positions of the nearest detected targets that the target radar can detect within a reference sampling interval if the accumulated time of the sampling intervals already experienced in the current detection phase is greater than a preset time; and / or, determine the position of the farthest detected target from the positions of the farthest detected targets that the target radar can detect within the reference sampling interval; wherein the reference sampling interval includes the sampling interval in which the detected targets selected from the already experienced sampling intervals exhibit yaw relative to the target radar;

[0093] The pitch angle fault determination unit is used to detect whether the target radar has a pitch angle fault based on the position of the farthest detected target and / or the position of the nearest detected target.

[0094] The radar attitude detection device provided in the embodiments of the present invention can execute the radar attitude detection method provided in any of the embodiments of the present invention, and has the corresponding functions and beneficial effects of executing the radar attitude detection method. For details, please refer to the relevant operations of the radar attitude detection method in the foregoing embodiments.

[0095] Example 4

[0096] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0097] like Figure 5As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0098] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0099] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as radar attitude detection methods.

[0100] In some embodiments, the radar attitude detection method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the radar attitude detection method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the radar attitude detection method by any other suitable means (e.g., by means of firmware).

[0101] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0102] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0103] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0104] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0105] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0106] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0107] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0108] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A radar attitude detection method, characterized in that, include: In the current detection phase, the radar detection information within a single sampling interval of the target radar is determined. The radar detection information includes the detection positions and detection velocities of at least two detected targets. Each detection phase corresponds to at least two sampling intervals, and the duration of the single sampling interval is less than the preset interval duration. Based on radar detection information, the yaw state information of the detected target within a single sampling interval is determined. The yaw state information includes the yaw statistics of the detected target relative to the target radar when it is moving, the position of the nearest detected target that the target radar can detect, and / or the position of the farthest detected target that the target radar can detect. The installation attitude of the target radar is detected based on the yaw state information of the target within at least two sampling intervals; The determination of the yaw state information of the detected target within a single sampling interval based on radar detection information includes: Based on the detection speed of the detected target included in the radar detection information, the velocity offset of the detected target's detection speed in the reference direction within a single sampling interval is determined; wherein, the detection speed is the speed of the moving detected target measured by the target radar, the reference direction is the direction perpendicular to the reference mark line, the reference mark line is the radar normal of the radar coordinate system where the target radar is located, and the direction of the speed of the detected target moving along the lane line detected by the target radar when the target radar is initialized and the target radar attitude has not undergone horizontal adjustment is parallel to the reference mark line of the corresponding target radar. Based on the velocity offset of at least some of the detected targets relative to the target radar during movement within a single sampling interval, the average velocity offset of at least some of the detected targets within a single sampling interval is calculated. If the average speed offset detected is greater than the preset speed offset threshold, then the yaw result of the detected target relative to the target radar during the single sampling interval is determined as yaw. The yaw result is used to characterize whether the detected target has a speed yaw relative to the target radar. Based on the yaw results of each detected target within a single sampling interval, the yaw statistics of the detected targets relative to the target radar during travel within a single sampling interval are determined. The yaw statistics include whether the detected targets yaw relative to the target radar during travel within a single sampling interval and the average speed deviation when at least some detected targets yaw relative to the target radar.

2. The method according to claim 1, characterized in that, Determine the radar detection information within a single sampling interval of the target radar, including: Acquire detection information obtained by detecting targets in at least one lane using a target radar within a single sampling interval.

3. The method according to claim 1, characterized in that, The installation attitude of the target radar is detected based on the yaw state information of the detected target within at least two sampling intervals, including: If the accumulated time of the sampling intervals that have been experienced in the current detection phase is greater than the preset time, then the number of reference sampling intervals is determined. The reference sampling intervals include the sampling intervals in which the detected target yaws relative to the target radar, selected from the sampling intervals that have been experienced. Based on the yaw state information of the detected targets within at least two sampling intervals, determine the sum of the average velocity offsets of at least some of the detected targets within the reference sampling interval; Based on the sum of the number of reference sampling intervals and the average velocity offset, the installation attitude of the target radar is checked for a horizontal angle fault.

4. The method according to claim 1, characterized in that, The installation attitude of the target radar is detected based on the yaw state information of the detected target within at least two sampling intervals, including: If the accumulated time of the sampling intervals already experienced in the current detection phase is greater than a preset time, then the position of the nearest detected target is determined from the positions of the nearest detected targets that the target radar can detect within the reference sampling interval; and / or, the position of the farthest detected target is determined from the positions of the farthest detected targets that the target radar can detect within the reference sampling interval; the reference sampling interval includes the sampling interval in which the detected target selected from the already experienced sampling intervals yaws relative to the target radar; Based on the location of the farthest detected target and / or the location of the nearest detected target, determine whether the installation attitude of the target radar has a pitch angle fault.

5. A radar attitude detection device, characterized in that, include: The detection information determination module is used to determine the radar detection information within a single sampling interval of the target radar in the current detection stage. The radar detection information includes the detection position and detection velocity of at least two detection targets. Each detection stage corresponds to at least two sampling intervals, and the interval duration of the single sampling interval is less than the preset interval duration. The yaw information determination module is used to determine the yaw status information of the detected target within a single sampling interval based on the radar detection information. The yaw status information includes the yaw statistics of the detected target relative to the target radar when it is moving, the position of the nearest detected target that the target radar can detect, and / or the position of the farthest detected target that the target radar can detect. The attitude detection module is used to detect the installation attitude of the target radar based on the yaw state information of the target within at least two sampling intervals. The yaw information determination module includes: The yaw result determination unit is used to determine the yaw result of the detected target relative to the target radar within a single sampling interval based on the detection speed of the detected target included in the radar detection information. The yaw result is used to characterize whether the detected target has a speed yaw relative to the target radar. The statistical result determination unit is used to determine the yaw statistics of the detected targets relative to the target radar when they are moving within a single sampling interval, based on the yaw results of each detected target within a single sampling interval. The yaw statistics include whether the detected targets yaw relative to the target radar when they are moving within a single sampling interval and the average speed offset when at least some detected targets yaw relative to the target radar at their speed. The yaw result determination unit includes: The offset determination subunit is used to determine the velocity offset of the detected target relative to the target radar within a single sampling interval, based on the detection velocity of the detected target included in the radar detection information. Based on the velocity offset of at least some of the detected targets relative to the target radar during movement within a single sampling interval, the average velocity offset of at least some of the detected targets within a single sampling interval is calculated. The offset mean comparison subunit is used to determine that the detected target yaws relative to the target radar when it is moving within a single sampling interval if the detected average speed offset is greater than a preset speed offset threshold. The offset determination subunit is specifically used to: determine the velocity offset of the detection velocity of the detected target in the reference direction within a single sampling interval, based on the detection velocity of the detected target included in the radar detection information; Wherein, the detection speed is the speed of the target radar measured by the target radar when it is moving, the reference direction is the direction perpendicular to the reference mark line, and the reference mark line is the radar normal of the radar coordinate system where the target radar is located. When the target radar is initialized and installed and the target radar attitude has not been adjusted horizontally, the direction of the speed of the target radar detected by the target radar moving along the lane line is parallel to the reference mark line of the corresponding target radar.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the radar attitude detection method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the radar attitude detection method according to any one of claims 1-4.

Images