Target object matching method and device, electronic equipment and storage medium

Abstract

The application is suitable for the technical field of data processing, and provides a target matching method and device, electronic equipment and storage medium. The method comprises the following steps: acquiring target information of a first radar and a second radar, the coverage area of the second radar overlaps with the coverage area of the first radar; determining whether a specified target of the second radar matches a specified target of the first radar in a current frame according to a displacement difference value of a displacement vector of the specified target of the second radar to a specified anchor target and a displacement vector of the specified target of the first radar to the specified anchor target, and a speed difference value of a speed vector of the specified target of the second radar and a speed vector of the specified target of the first radar, so that the problem of large error in target matching can be solved.

Description

Technical Field

[0001] This application belongs to the field of data processing technology, and in particular relates to a method, apparatus, electronic device and storage medium for target matching. Background Technology

[0002] With the increasingly widespread application of radar, millimeter-wave radar has gained popularity due to its high precision, high integration, low cost, and ability to operate around the clock and in all weather conditions. Target detection technology using millimeter-wave radar has also gradually become a research hotspot.

[0003] However, existing target detection technologies generally solve the target matching problem using latitude and longitude coordinates. In this method, two radars simultaneously track the target, then convert the coordinates of all targets to latitude and longitude coordinates, calculate the difference on the coordinate axes, and compare it with a preset threshold. When both the longitude and latitude differences are less than the preset threshold, it can be determined that the target detected by the two radars is the same target. Because the difference is calculated using values ​​at a finite number of points to estimate approximate values ​​at other points, this target detection technology leads to relatively large errors in the matching results. Summary of the Invention

[0004] This application provides a method, apparatus, electronic device, and storage medium for target object matching, which can solve the problem of large errors in target object matching.

[0005] In a first aspect, embodiments of this application provide a method for target matching, including:

[0006] Acquire target information from the first radar and the second radar, wherein the coverage area of ​​the second radar overlaps with the coverage area of ​​the first radar;

[0007] Based on the target information of the second radar, determine the displacement vector of the designated target of the second radar to the designated anchor point target and the velocity vector of the designated target of the second radar;

[0008] Based on the target information of the first radar, determine the displacement vector of the designated target of the first radar to the designated anchor point target and the velocity vector of the designated target of the first radar;

[0009] Based on the displacement difference between the displacement vector of the designated target of the second radar to the designated anchor point target and the displacement vector of the designated target of the first radar to the designated anchor point target, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, it is determined whether the designated target of the second radar matches the designated target of the first radar in the current frame.

[0010] Furthermore, the designated target of the second radar is the target corresponding to the target information designated by the second radar, and the anchor point target is a matched target that can be detected by both the first radar and the second radar in the current frame. The matched target is the target of the first radar that has successfully matched the designated target of the second radar in the previous frame of the current frame. ， Alternatively, it could be a target of the second radar that has already been successfully matched with the designated target of the first radar in the previous frame of the current frame. The designated anchor point target is any one of the anchor point targets, and the designated target of the first radar is the target corresponding to the target information designated by the first radar.

[0011] Furthermore, before determining the displacement vector from the designated target to the designated anchor point target and the velocity vector of the designated target based on the target information of the second radar, the method further includes:

[0012] Based on the target information of the second radar, determine the number n of anchor point targets within a preset distance from the designated target of the second radar, where n is a natural number greater than or equal to 1.

[0013] If the number n of the anchor point targets is less than or equal to the preset number threshold, then the coordinates of the designated target of the second radar in the coordinate system of the second radar and the coordinates of the designated target of the first radar in the coordinate system of the first radar are both converted into latitude and longitude coordinates.

[0014] Based on the coordinate difference between the latitude and longitude coordinates of the designated target of the second radar and the latitude and longitude coordinates of the designated target of the first radar, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, it is determined whether the designated target of the second radar matches the designated target of the first radar in the current frame.

[0015] Furthermore, after determining whether the designated target of the second radar matches the designated target of the first radar in the current frame, the method further includes:

[0016] If a match is successful, and both the first radar and the second radar are able to detect the matched target in the next frame of the current frame, then the matched target is determined to be an anchor point target.

[0017] Furthermore, after determining whether the designated target of the second radar matches the designated target of the first radar in the current frame, the method further includes:

[0018] If a match is successful, but the second radar cannot detect the matched target in the next frame of the current frame, the confidence level of disconnection is incremented by 1.

[0019] If the confidence level of the loss of contact is greater than the preset loss of contact threshold, then the designated target of the second radar is determined to be a blind zone target.

[0020] Furthermore, after determining whether the designated target of the second radar matches the designated target of the first radar in the current frame, the method further includes:

[0021] If a match is found, the association confidence level is incremented by 1.

[0022] If the association confidence level is greater than the preset association threshold, then the designated target of the second radar is determined to be a matched target.

[0023] If a match fails, increment the confidence level of the lost connection by 1.

[0024] If the confidence level of the loss of contact is greater than the preset loss of contact threshold, then the designated target of the second radar is determined to be a blind zone target.

[0025] If the confidence level of the loss of contact is less than or equal to the preset loss of contact threshold, then the designated target of the second radar is determined to be an unmarked target.

[0026] Furthermore, after determining that the designated target of the second radar is a matched target, the method further includes:

[0027] If both the first radar and the second radar can detect the matched target in the current frame, then the target information of the specified target of the first radar and the target information of the specified target of the second radar are output as a weighted average, or the point cloud data of the specified target of the first radar and the point cloud data of the specified target of the second radar are combined and output.

[0028] After determining that the designated target of the second radar is a blind zone target, the method further includes:

[0029] If the first radar cannot detect the matched target in the current frame, it outputs the target information of the designated target of the second radar.

[0030] If the second radar cannot detect the matched target in the current frame, it outputs the target information of the designated target of the first radar.

[0031] Secondly, embodiments of this application provide a target matching apparatus, comprising:

[0032] The information acquisition module is used to acquire target information of the first radar and the second radar, wherein the coverage area of ​​the second radar overlaps with the coverage area of ​​the first radar.

[0033] The first determining module is used to determine the displacement vector of the designated target object of the second radar to the designated anchor point target object and the velocity vector of the designated target object of the second radar object based on the target object information of the second radar.

[0034] The second determining module is used to determine the displacement vector from the designated target of the first radar to the designated anchor point target and the velocity vector of the designated target of the first radar based on the target information of the first radar.

[0035] The first matching module is used to determine whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the displacement difference between the displacement vector of the designated target of the second radar to the designated anchor point target and the displacement vector of the designated target of the first radar to the designated anchor point target, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar.

[0036] Furthermore, the designated target of the second radar is the target corresponding to the target information designated by the second radar, and the anchor point target is a matched target that can be detected by both the first radar and the second radar in the current frame. The matched target is the target of the first radar that has successfully matched the designated target of the second radar in the previous frame of the current frame. ， Alternatively, it could be a target of the second radar that has already been successfully matched with the designated target of the first radar in the previous frame of the current frame. The designated anchor point target is any one of the anchor point targets, and the designated target of the first radar is the target corresponding to the target information designated by the first radar.

[0037] Furthermore, the target matching device further includes:

[0038] The quantity determination module is used to determine the number n of anchor point targets within a preset distance from the designated target of the second radar based on the target information of the second radar, where n is a natural number greater than or equal to 1.

[0039] The coordinate transformation module is used to convert the coordinates of the designated target of the second radar in the coordinate system of the second radar and the coordinates of the designated target of the first radar in the coordinate system of the first radar into latitude and longitude coordinates if the number n of the anchor point targets is less than or equal to the preset number threshold.

[0040] The second matching module is used to determine whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the coordinate difference between the latitude and longitude coordinates of the designated target of the second radar and the latitude and longitude coordinates of the designated target of the first radar, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar.

[0041] Furthermore, the target matching device further includes:

[0042] An anchor point target determination module is used to determine the matched target as an anchor point target if a match is successful and both the first radar and the second radar can detect the matched target in the next frame of the current frame.

[0043] Furthermore, the target matching device further includes:

[0044] The first disconnection confidence setting module is used to increment the disconnection confidence by 1 if a match is successful but the second radar cannot detect the matched target in the next frame of the current frame.

[0045] The first blind zone target determination module is used to determine that the designated target of the second radar is a blind zone target if the confidence level of the loss of connection is greater than the preset loss of connection threshold.

[0046] Furthermore, the target matching device further includes:

[0047] The association confidence setting module is used to increment the association confidence by 1 if a match is successful.

[0048] The matched target determination module is used to determine that the specified target of the second radar is a matched target if the association confidence is greater than a preset association threshold.

[0049] The second disconnection confidence setting module is used to increment the disconnection confidence by 1 if a match fails.

[0050] The second blind zone target determination module is used to determine that the designated target of the second radar is a blind zone target if the confidence level of the loss of contact is greater than the preset loss of contact threshold.

[0051] The unmarked target determination module is used to determine that the designated target of the second radar is an unmarked target if the confidence level of the loss of contact is less than or equal to a preset loss of contact threshold.

[0052] Furthermore, the target matching device further includes:

[0053] The first output control module is configured to, if both the first radar and the second radar can detect the matched target in the current frame, output the target information of the specified target of the first radar and the target information of the specified target of the second radar as a weighted average, or combine and output the point cloud data of the specified target of the first radar and the point cloud data of the specified target of the second radar.

[0054] The second output control module is used to output the target information of the specified target of the second radar if the first radar cannot detect the matched target in the current frame.

[0055] The third output control module is used to output the target information of the designated target of the first radar if the second radar cannot detect the matched target in the current frame.

[0056] Thirdly, embodiments of this application provide an electronic device, including:

[0057] A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the target matching method described in the first aspect above.

[0058] Fourthly, embodiments of this application provide a computer-readable storage medium, comprising: the computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, it implements the steps of the target matching method described in the first aspect.

[0059] Fifthly, embodiments of this application provide a computer program product that, when run on an electronic device, causes the electronic device to perform the steps of the target matching method described in the first aspect.

[0060] The beneficial effects of this application embodiment compared with the prior art are as follows: It determines whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the displacement difference between the displacement vector of the designated target of the second radar and the displacement vector of the designated target of the first radar, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar. Since the displacement difference between the displacement vectors of the designated target of the first radar and the designated target of the second radar and the designated anchor point, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, are used as the basis for determining whether the designated target of the first radar and the designated target of the second radar match in the current frame, it is not necessary to transform the coordinates of the designated target of the first radar and the designated target of the second radar into latitude and longitude coordinates before matching, thus solving the problem of large errors in target matching. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 This is a flowchart illustrating the target matching method provided in an embodiment of this application;

[0063] Figure 2 This is a schematic diagram of a dual radar provided in an embodiment of this application;

[0064] Figure 3 This is a schematic diagram of the target matching device provided in the embodiments of this application;

[0065] Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0066] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0067] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0068] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0069] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0070] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0071] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0072] Figure 1 The diagram illustrates a target matching method according to an embodiment of this application, applicable to a target matching system that can be integrated into a first radar. The method may include steps S110 to S140. The specific implementation principles of each step are as follows:

[0073] S110, acquire target information of the first radar and the second radar, wherein the coverage area of ​​the second radar overlaps with the coverage area of ​​the first radar.

[0074] In this embodiment, the first radar and the second radar are installed on highways or urban roads, and the coverage areas of the first radar and the second radar overlap.

[0075] The target information of the first radar is the information of the target detected by the first radar, and the target information of the second radar is the information of the target detected by the second radar.

[0076] Target information can include the target's current speed and coordinates. The target's direction of movement can be determined based on changes in its current speed or coordinates. Based on the target's current direction of movement and the radar's detection direction, targets can be categorized as incoming or outgoing targets.

[0077] Specifically, the current coordinates of the target object on the first radar are the coordinates of the target object on the first radar in the coordinate system of the first radar; the current coordinates of the target object on the second radar are the coordinates of the target object on the second radar in the coordinate system of the second radar.

[0078] The first and second radars can track targets within the radar coverage area, but the application layer only processes the incoming target information of the first and second radars.

[0079] In this embodiment, the target object may include a vehicle. When the target object is a vehicle, the target object information is the vehicle information of that vehicle. ， The information of the target object from the direction of travel is the information of the vehicle from the direction of travel.

[0080] Based on the vehicle's direction of movement and the radar's detection direction, vehicle information can be divided into incoming vehicle information and outgoing vehicle information.

[0081] Figure 2 This is a schematic diagram of a dual-radar system provided in this embodiment, where the coverage areas of the two radars overlap.

[0082] The beam directions of the first radar and the second radar are not restricted. Figure 2 For ease of description, this example uses two radars with opposing beams. In practical applications, the beam directions of the two radars are not restricted, as long as their coverage areas overlap. The beams of radar M (equivalent to the first radar) on this side and radar N (equivalent to the second radar) on the opposite side are opposite, and their coverage areas overlap. For radar M, vehicles approaching it are considered oncoming vehicles, and vehicles leaving it are considered outgoing vehicles.

[0083] Specifically, the target matching system can send the outgoing vehicle information of the first radar (i.e., the incoming vehicle information of the second radar) to the second radar, and simultaneously receive the outgoing vehicle information of the second radar (i.e., the incoming vehicle information of the first radar). In this way, the outgoing vehicle information of the second radar can be integrated into the first radar for processing, or the outgoing vehicle information of the first radar can be integrated into the second radar for processing. At the application layer, only the incoming vehicle information of the first radar or the second radar is processed.

[0084] S120, based on the target information of the second radar, determine the displacement vector of the designated target of the second radar to the designated anchor point target and the velocity vector of the designated target of the second radar.

[0085] In this embodiment, the target information of the second radar includes the current coordinates of the target in the second radar coordinate system and the velocity vector of the target.

[0086] Since the anchor target is a matched target that the second radar can detect in the current frame, the target information of the second radar also includes the current coordinates of the anchor target in the second radar coordinate system.

[0087] The target matching system can calculate the displacement vector from each target on the second radar to each anchor target based on the current coordinates of the target on the second radar and the current coordinates of the anchor target on the second radar in the second radar coordinate system, and store the displacement vector.

[0088] Among them, any one of the n anchor point targets can be selected as the designated anchor point target.

[0089] Since re-matching targets already matched in the previous frame is unnecessary and consumes computational resources, to save computational resources, any unmatched target can be selected from the unmatched targets of the second radar as the designated target for the second radar. Unmatched targets of the second radar include blind zone targets and unmarked targets.

[0090] If computing power allows, any target can be selected from all targets of the second radar as the designated target of the second radar, not limited to unmatched targets.

[0091] S130, based on the target information of the first radar, determine the displacement vector of the designated target of the first radar to the designated anchor point target and the velocity vector of the designated target of the first radar.

[0092] In this embodiment, the target information of the first radar includes the current coordinates of the target in the first radar coordinate system and the velocity vector of the target.

[0093] Since the anchor target is a matched target that the first radar can detect in the current frame, the target information of the first radar includes the current coordinates of the anchor target in the first radar coordinate system.

[0094] The target matching system can obtain the current coordinates of each designated target and each anchor point target in the first radar coordinate system based on the current coordinates of the target in the first radar coordinate system. Then, based on the current coordinates of each designated target and each anchor point target in the first radar coordinate system, it can calculate and obtain the displacement vector from each target to each anchor point target, and store the displacement vector.

[0095] Preferably, since it is unnecessary and computationally expensive to match targets that have already been matched in the previous frame, the designated target of the first radar can be an unmatched target of the first radar in order to save computational resources.

[0096] Unmatched targets are those detected by the radar but not matched successfully. These include targets that failed to match in the previous frame and newly added targets in the current frame.

[0097] Preferably, since the blind zone targets of the second radar have already been matched with the unmatched targets of the first radar in the previous frame, only the targets that failed to match are considered blind zone targets. Therefore, it is assumed that blind zone targets will not be matched with targets other than newly added targets among the unmatched targets. Matching the blind zone targets of the second radar with the unmatched targets of the first radar would greatly increase the amount of computation.

[0098] Therefore, in order to save computing power, when the designated target of the second radar is a target in the blind zone of the second radar, the designated target of the first radar can be a newly added target of the first radar; when the designated target of the second radar is an unmarked target of the second radar, the designated target of the first radar can be an unmatched target of the first radar.

[0099] If computing power allows, any target can be selected from all targets of the first radar as the designated target of the first radar, not limited to unmatched targets.

[0100] S140, based on the displacement difference between the displacement vector of the designated target of the second radar to the designated anchor point target and the displacement vector of the designated target of the first radar to the designated anchor point target, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, determine whether the designated target of the second radar matches the designated target of the first radar in the current frame.

[0101] In some embodiments, after obtaining the displacement vectors from the designated target of the second radar to the designated anchor point target and the displacement vectors from the designated target of the first radar to the designated anchor point target through steps S120 and S130 respectively, the target matching system can calculate the displacement difference between the two displacement vectors.

[0102] In addition, the target matching system can also calculate a velocity difference based on the velocity vector of the designated target from the second radar and the velocity vector of the designated target from the first radar.

[0103] The target matching system determines whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the displacement difference and the velocity difference mentioned above.

[0104] If the displacement difference is greater than a preset displacement difference threshold and the velocity difference is greater than a preset velocity difference, then the designated target of the second radar fails to match the designated target of the first radar. If the displacement difference is less than or equal to a preset displacement difference threshold and the velocity difference is less than or equal to a preset velocity difference, then the designated target of the second radar successfully matches the designated target of the first radar in the current frame.

[0105] Optionally, based on the displacement difference and speed difference, factors such as signal strength and lane location can also be considered to determine whether the designated target of the second radar matches the designated target of the first radar in the current frame. This will not be elaborated further here.

[0106] It should be noted that after radar installation, parameters such as latitude and longitude coordinates, horizontal angle, and elevation angle can be configured. These parameters can also be configured online. Once configured, the configuration module is generally not activated again to further configure the parameters. The main parameters that need to be configured after radar installation are the threshold values ​​for displacement difference, velocity difference, loss of connection, association, the preset distance threshold representing the anchor point range, and the number threshold representing the number of targets at the anchor points. These parameters can be set based on practical experience and are not restricted here.

[0107] It should be understood that steps S110 to S140 above determine whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the displacement difference between the displacement vector of the designated target of the second radar and the displacement vector of the designated target of the first radar, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar. Since the displacement difference between the displacement vectors of the designated target of the first radar and the designated target of the second radar and the designated anchor point, and the velocity difference between the velocity vectors of the designated target of the second radar and the velocity vector of the designated target of the first radar, are used as the basis for determining whether the designated target of the first radar and the designated target of the second radar match in the current frame, it is not necessary to transform the coordinates of the designated target of the first radar and the designated target of the second radar into latitude and longitude coordinates before matching. This solves the problem of large errors in target matching.

[0108] In some embodiments, the designated target of the second radar is the target corresponding to the target information designated by the second radar, and the anchor point target is a matched target that can be detected by both the first radar and the second radar in the current frame. The matched target is the target of the first radar that was successfully matched with the designated target of the second radar in the previous frame of the current frame. ， Alternatively, the target of the second radar that has already successfully matched the designated target of the first radar in the previous frame of the current frame. The designated anchor point target is any one of the aforementioned anchor point targets, and the designated target of the first radar is the target corresponding to the target information designated by the first radar. Figure 1 Based on the embodiment of the target matching method shown, before step S120 determines the displacement vector from the designated target to the designated anchor point target and the velocity vector of the designated target of the second radar according to the target information of the second radar, the following steps may also be included:

[0109] Step 11: Based on the target information of the second radar, determine the number n of anchor point targets within a preset distance from the designated target of the second radar, where n is a natural number greater than or equal to 1.

[0110] Step 12: If the number n of the above anchor point targets is less than or equal to the preset number threshold, then the coordinates of the specified target of the second radar in the coordinate system of the second radar and the coordinates of the specified target of the first radar in the coordinate system of the first radar are both converted into latitude and longitude coordinates.

[0111] Step 13: Based on the coordinate difference between the latitude and longitude coordinates of the designated target of the second radar and the latitude and longitude coordinates of the designated target of the first radar, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, determine whether the designated target of the second radar matches the designated target of the first radar in the current frame.

[0112] In this embodiment, when the target matching system initially runs, there are no anchor targets. After the system runs for a period of time, the number of anchor targets gradually increases. During operation, the target matching system obtains the number n of anchor targets near the designated target of the second radar based on the target information of the second radar, where n is a natural number greater than or equal to 1.

[0113] Among them, the anchor point target is a matched target that can be detected by both the first radar and the second radar in the current frame, and is a target that is shared by the first radar and the second radar.

[0114] Specifically, if the designated target of the first radar does not have any dropped frames in the current frame, the target matching system can detect the designated target of the first radar. If the designated target of the second radar does not have any dropped frames in the current frame, the target matching system can detect the designated target of the second radar.

[0115] Anchor points near the specified target are those within a preset distance range from the specified target. This preset distance can be 1cm or 2cm, and can be set based on practical experience; no restrictions are imposed here.

[0116] The designated target of the second radar is the target corresponding to the target information designated by the second radar mentioned above.

[0117] Among them, the designated target of the second radar that successfully matched the designated target of the first radar in the previous frame of the current frame can be called the matched target, and the remaining designated targets of the second radar can be called the unmatched target.

[0118] Since it is unnecessary and computationally expensive to re-match targets that have already been matched in the previous frame, the designated target for the second radar can be any unmatched target selected from the unmatched targets of the second radar, in order to save computational resources.

[0119] If the number of anchor target objects n is less than or equal to a preset number threshold, the target object matching system can first convert the coordinates of the designated target object of the second radar in the coordinate system of the second radar and the coordinates of the designated target object of the first radar in the coordinate system of the first radar into latitude and longitude coordinates. Then, based on the coordinate difference between the latitude and longitude coordinates of the designated target object of the second radar and the latitude and longitude coordinates of the designated target object of the first radar, and the velocity difference between the velocity vector of the designated target object of the second radar and the velocity vector of the designated target object of the first radar, it can determine whether the designated target object of the second radar matches the designated target object of the first radar in the current frame.

[0120] If the coordinate difference is greater than a preset coordinate difference threshold and the velocity difference is greater than a preset velocity difference threshold, then the designated target of the second radar fails to match the designated target of the first radar in the current frame. If the coordinate difference is less than or equal to a preset coordinate difference threshold and the velocity difference is less than or equal to a preset velocity difference threshold, then the designated target of the second radar successfully matches the designated target of the first radar in the current frame.

[0121] It should be understood that, in steps 11 to 13 above, when the number of anchor point targets is relatively small, the coordinate difference between the latitude and longitude coordinates of the designated target of the first radar and the designated target of the second radar can be used to determine whether the designated target of the second radar matches the designated target of the first radar in the current frame. This is applicable to the initial operation of the target matching system.

[0122] In some embodiments, in the above Figure 1 Based on the embodiment of the target matching method shown, after determining whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the coordinate difference between the latitude and longitude coordinates of the designated target of the second radar and the latitude and longitude coordinates of the designated target of the first radar, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, or after determining whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the displacement difference between the displacement vector of the designated target of the second radar to the designated anchor point target and the displacement vector of the designated target of the first radar to the designated anchor point target, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, the following steps may also be included:

[0123] Step 21: If the match is successful, and both the first radar and the second radar can detect the matched target in the next frame of the current frame, then the matched target is determined to be the anchor point target.

[0124] The aforementioned matched target is the target of the first radar that has successfully matched the designated target of the second radar in the current frame. ， Or the target of the second radar that has already been successfully matched with the designated target of the first radar in the current frame.

[0125] It should be understood that step 21 above can determine the anchor target from the matched targets, and then determine whether the designated target of the first radar and the designated target of the second radar are matched in the current frame based on the displacement difference between the displacement vector of the designated target of the first radar to the anchor target and the displacement vector of the designated target of the second radar to the anchor target.

[0126] Preferably, in order to improve the accuracy of the radar in the far-field, after determining that the designated target of the first radar is the anchor point target, the target information of the designated target of the first radar and the target information of the designated target of the second radar can be output as a weighted average, or the point cloud data of the designated target of the first radar and the point cloud data of the designated target of the second radar can be combined and output.

[0127] Preferably, when the target is a vehicle, in order to help determine the vehicle length and the lane in which the vehicle is located, the length of the designated target from the first radar and the length of the designated target from the second radar can also be obtained, and the maximum value of the two can be taken as the length of the designated target.

[0128] In some embodiments, in the above Figure 1 Based on the embodiment of the target matching method shown, after determining in step 13 whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the coordinate difference between the latitude and longitude coordinates of the designated target of the second radar and the latitude and longitude coordinates of the designated target of the first radar, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, or after determining in step S104 whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the displacement difference between the displacement vector of the designated target of the second radar to the designated anchor point target and the displacement vector of the designated target of the first radar to the designated anchor point target, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, the following steps may also be performed:

[0129] Step 31: If the match is successful, but the second radar cannot detect the matched target in the next frame of the current frame, then the disconnection confidence level is increased by 1.

[0130] Step 32: If the above-mentioned confidence level of loss of contact is greater than the preset loss of contact threshold, then the designated target of the second radar is determined to be a blind zone target.

[0131] In some embodiments, the degree of disconnection and association between two targets to be matched is represented by the disconnection confidence and association confidence. If the disconnection confidence between the designated target of the second radar and the designated target of the first radar is greater than a preset disconnection threshold, it indicates that the designated target of the second radar is a blind zone target. If the disconnection confidence between the designated target of the second radar and the designated target of the first radar is less than the preset disconnection threshold, it indicates that the designated target of the second radar is an unmarked target. If the association confidence between the designated target of the second radar and the designated target of the first radar is greater than the preset disconnection threshold, it indicates that the designated target of the second radar is a matched target.

[0132] If the designated target of the second radar and the designated target of the first radar are successfully matched in the current frame, but the second radar cannot detect the matched target in the next frame, the disconnection confidence level can be incremented by 1. If the disconnection confidence level is greater than the preset disconnection threshold, the designated target of the second radar can be determined to be a blind zone target, and the identifier ID of the designated target of the second radar can be stored and the designated target information of the second radar can be output. If the disconnection confidence level is less than the preset disconnection threshold, the designated target information of the second radar can be output directly.

[0133] It should be understood that in steps 31 to 32 above, if the second radar cannot detect the matched target in the next frame of the current frame and the disconnection confidence is greater than the preset disconnection threshold, then the matched target of the second radar can be determined to be a blind zone target. This realizes the calculation of the disconnection confidence through the matching results of each frame and the reallocation of blind zone targets.

[0134] In addition, different target information can be output based on the association confidence level, the loss confidence level, and the type of target.

[0135] In some embodiments, in the above Figure 1 Based on the embodiment of the target matching method shown, after determining in step S140 whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the displacement difference between the displacement vector of the designated target of the second radar to the designated anchor point target and the displacement vector of the designated target of the first radar to the designated anchor point target, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, the following steps may also be performed:

[0136] Step 41: If the match is successful, increment the association confidence by 1;

[0137] Step 42: If the above association confidence level is greater than the preset association threshold, then the designated target of the second radar is determined to be a matched target.

[0138] Step 43: If a match fails, increment the confidence level of the lost connection by 1.

[0139] Step 44: If the above-mentioned confidence level of loss of contact is greater than the preset loss of contact threshold, then the designated target of the second radar is determined to be a blind zone target.

[0140] Step 45: If the above-mentioned confidence level of loss of contact is less than the preset loss of contact threshold, then the designated target of the second radar is determined to be an unmarked target.

[0141] It should be understood that, in steps 41 to 45 above, after matching the designated target objects of the first radar and the designated target objects of the second radar, the type of the designated target object can be determined based on the matching results and the correlation confidence and disconnection confidence. This realizes the calculation of correlation confidence and disconnection confidence through the matching results of each frame, and the reallocation of matched target objects, blind zone target objects and unmarked target objects.

[0142] In some embodiments, in the above Figure 1 Based on the embodiment of the target matching method shown, after determining in step 42 that the designated target of the second radar is a matched target, the following steps may also be performed:

[0143] Step 51: If both the first radar and the second radar can detect the matched target in the current frame, output the target information of the designated target of the first radar and the target information of the designated target of the second radar as a weighted average, or combine the point cloud data of the designated target of the first radar and the point cloud data of the designated target of the second radar and output them.

[0144] Correspondingly, after determining in step 44 that the designated target of the second radar is a blind zone target, the process further includes:

[0145] Step 52: If the first radar cannot detect the matched target in the current frame, the target information of the designated target of the second radar is output.

[0146] Step 53: If the second radar cannot detect the matched target in the current frame, then output the target information of the designated target of the first radar.

[0147] It should be understood that steps 51 to 53 above can output different target information depending on whether the radar can detect the matched target in the current frame.

[0148] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0149] Corresponding to the above Figure 1 The target matching method shown is as follows: Figure 3 The illustration shows a target matching device M100 provided in an embodiment of this application, comprising:

[0150] The information acquisition module M110 is used to acquire target information of the first radar and the second radar, wherein the coverage area of ​​the second radar overlaps with the coverage area of ​​the first radar.

[0151] The first determining module M120 is used to determine the displacement vector of the designated target object of the second radar to the designated anchor point target object and the velocity vector of the designated target object of the second radar object based on the target object information of the second radar.

[0152] The second determining module M130 is used to determine the displacement vector from the designated target of the first radar to the designated anchor point target and the velocity vector of the designated target of the first radar based on the target information of the first radar.

[0153] The first matching module M140 is used to determine whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the displacement difference between the displacement vector of the designated target of the second radar to the designated anchor point target and the displacement vector of the designated target of the first radar to the designated anchor point target, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar.

[0154] Furthermore, the designated target of the second radar is the target corresponding to the target information designated by the second radar, and the anchor point target is a matched target that can be detected by both the first radar and the second radar in the current frame. The matched target is the target of the first radar that has successfully matched the designated target of the second radar in the previous frame of the current frame. ， Alternatively, it could be a target of the second radar that has already been successfully matched with the designated target of the first radar in the previous frame of the current frame. The designated anchor point target is any one of the anchor point targets, and the designated target of the first radar is the target corresponding to the target information designated by the first radar.

[0155] Furthermore, the target matching device M100 further includes:

[0156] The quantity determination module is used to determine the number n of anchor point targets within a preset distance from the designated target of the second radar based on the target information of the second radar, where n is a natural number greater than or equal to 1.

[0157] The coordinate transformation module is used to convert the coordinates of the designated target of the second radar in the coordinate system of the second radar and the coordinates of the designated target of the first radar in the coordinate system of the first radar into latitude and longitude coordinates if the number n of the anchor point targets is less than or equal to the preset number threshold.

[0158] The second matching module is used to determine whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the coordinate difference between the latitude and longitude coordinates of the designated target of the second radar and the latitude and longitude coordinates of the designated target of the first radar, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar.

[0159] Furthermore, the target matching device M100 further includes:

[0160] An anchor point target determination module is used to determine the matched target as an anchor point target if a match is successful and both the first radar and the second radar can detect the matched target in the next frame of the current frame.

[0161] Furthermore, the target matching device M100 further includes:

[0162] The first disconnection confidence setting module is used to increment the disconnection confidence by 1 if a match is successful but the second radar cannot detect the matched target in the next frame of the current frame.

[0163] The first blind zone target determination module is used to determine that the designated target of the second radar is a blind zone target if the confidence level of the loss of connection is greater than the preset loss of connection threshold.

[0164] Furthermore, the target matching device M100 further includes:

[0165] The association confidence setting module is used to increment the association confidence by 1 if a match is successful.

[0166] The matched target determination module is used to determine that the specified target of the second radar is a matched target if the association confidence is greater than a preset association threshold.

[0167] The second disconnection confidence setting module is used to increment the disconnection confidence by 1 if a match fails.

[0168] The second blind zone target determination module is used to determine that the designated target of the second radar is a blind zone target if the confidence level of the loss of contact is greater than the preset loss of contact threshold.

[0169] The unmarked target determination module is used to determine that the designated target of the second radar is an unmarked target if the confidence level of the loss of contact is less than or equal to a preset loss of contact threshold.

[0170] Furthermore, the target matching device M100 further includes:

[0171] The first output control module is configured to, if both the first radar and the second radar can detect the matched target in the current frame, output the target information of the specified target of the first radar and the target information of the specified target of the second radar as a weighted average, or combine and output the point cloud data of the specified target of the first radar and the point cloud data of the specified target of the second radar.

[0172] The second output control module is used to output the target information of the specified target of the second radar if the first radar cannot detect the matched target in the current frame.

[0173] The third output control module is used to output the target information of the designated target of the first radar if the second radar cannot detect the matched target in the current frame.

[0174] It is understood that the various implementation methods and combinations of implementation methods in the above embodiments and their beneficial effects are also applicable to this embodiment, and will not be repeated here.

[0175] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device D10 of this embodiment includes: at least one processor D100 ( Figure 4 Only one is shown in the diagram. A processor, a memory D101, and a computer program D102 stored in the memory D101 and executable on the at least one processor D100, wherein the processor D100 executes the computer program D102 to implement the steps in any of the above method embodiments. Alternatively, the processor D100 executes the computer program D102 to implement the functions of each module / unit in the above device embodiments, for example... Figure 3 The functions of modules M110 to M140 are shown.

[0176] In some embodiments, when the processor D100 executes the computer program D102, it performs the following steps:

[0177] Acquire target information from the first radar and the second radar, wherein the coverage area of ​​the second radar overlaps with the coverage area of ​​the first radar;

[0178] Based on the target information of the second radar, determine the displacement vector of the designated target of the second radar to the designated anchor point target and the velocity vector of the designated target of the second radar;

[0179] Based on the target information of the first radar, determine the displacement vector of the designated target of the first radar to the designated anchor point target and the velocity vector of the designated target of the first radar;

[0180] Based on the displacement difference between the displacement vector of the designated target of the second radar to the designated anchor point target and the displacement vector of the designated target of the first radar to the designated anchor point target, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, it is determined whether the designated target of the second radar matches the designated target of the first radar in the current frame.

[0181] Optionally, when the processor D100 executes the computer program D102, the designated target of the second radar is the target corresponding to the target information designated by the second radar, and the anchor point target is a matched target that can be detected by both the first radar and the second radar in the current frame. The matched target is the target of the first radar that has successfully matched the designated target of the second radar in the previous frame. ， Alternatively, it could be a target of the second radar that has already been successfully matched with the designated target of the first radar in the previous frame of the current frame. The designated anchor point target is any one of the anchor point targets, and the designated target of the first radar is the target corresponding to the target information designated by the first radar.

[0182] Optionally, before the processor D100 executes the computer program D102 to determine the displacement vector from the designated target to the designated anchor point target and the velocity vector of the designated target based on the target information of the second radar, it may also perform the following steps:

[0183] Based on the target information of the second radar, determine the number n of anchor point targets within a preset distance from the designated target of the second radar, where n is a natural number greater than or equal to 1.

[0184] If the number n of the anchor point targets is less than or equal to the preset number threshold, then the coordinates of the designated target of the second radar in the coordinate system of the second radar and the coordinates of the designated target of the first radar in the coordinate system of the first radar are both converted into latitude and longitude coordinates.

[0185] Based on the coordinate difference between the latitude and longitude coordinates of the designated target of the second radar and the latitude and longitude coordinates of the designated target of the first radar, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, it is determined whether the designated target of the second radar matches the designated target of the first radar in the current frame.

[0186] Optionally, the processor D100 executes the computer program D102, which, after determining whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the displacement difference between the displacement vector of the designated target of the second radar to the designated anchor point target and the displacement vector of the designated target of the first radar to the designated anchor point target, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, or after determining whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the coordinate difference between the latitude and longitude coordinates of the designated target of the second radar and the latitude and longitude coordinates of the designated target of the first radar, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, may further implement the following steps:

[0187] If a match is successful, and both the first radar and the second radar are able to detect the matched target in the next frame of the current frame, then the matched target is determined to be an anchor point target.

[0188] Optionally, the processor D100 executes the computer program D102, which, after determining whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the displacement difference between the displacement vector of the designated target of the second radar to the designated anchor point target and the displacement vector of the designated target of the first radar to the designated anchor point target, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, or after determining whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the coordinate difference between the latitude and longitude coordinates of the designated target of the second radar and the latitude and longitude coordinates of the designated target of the first radar, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, may further implement the following steps:

[0189] If a match is successful, but the second radar cannot detect the matched target in the next frame of the current frame, the confidence level of disconnection is incremented by 1.

[0190] If the confidence level of the loss of contact is greater than the preset loss of contact threshold, then the designated target of the second radar is determined to be a blind zone target.

[0191] Optionally, after the processor D100 executes the computer program D102, and determines whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the coordinate difference between the coordinates of the designated target of the second radar and the coordinates of the designated target of the first radar, and the velocity difference between the velocity vectors of the designated target of the second radar and the designated target of the first radar, the processor D100 may further implement the following steps:

[0192] If a match is found, the association confidence level is incremented by 1.

[0193] If the association confidence level is greater than the preset association threshold, then the designated target of the second radar is determined to be a matched target.

[0194] If a match fails, increment the confidence level of the lost connection by 1.

[0195] If the confidence level of the loss of contact is greater than the preset loss of contact threshold, then the designated target of the second radar is determined to be a blind zone target.

[0196] If the confidence level of the loss of contact is less than or equal to the preset loss of contact threshold, then the designated target of the second radar is determined to be an unmarked target.

[0197] Optionally, after the processor D100 executes the computer program D102 and determines that the designated target of the second radar is a matched target, it may also perform the following steps:

[0198] If both the first radar and the second radar can detect the matched target in the current frame, then the target information of the specified target of the first radar and the target information of the specified target of the second radar are output as a weighted average, or the point cloud data of the specified target of the first radar and the point cloud data of the specified target of the second radar are combined and output.

[0199] If the first radar cannot detect the matched target in the current frame, it outputs the target information of the designated target of the second radar.

[0200] If the second radar cannot detect the matched target in the current frame, it outputs the target information of the designated target of the first radar.

[0201] The electronic device D10 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device. This electronic device may include, but is not limited to, a processor D100 and a memory D101. Those skilled in the art will understand that... Figure 4 This is merely an example of electronic device D10 and does not constitute a limitation on electronic device D10. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0202] The processor D100 can be a Central Processing Unit (CPU), or it can 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 gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0203] In some embodiments, the memory D101 may be an internal storage unit of the electronic device D10, such as a hard disk or memory of the electronic device D10. In other embodiments, the memory D101 may be an external storage device of the electronic device D10, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device D10. Furthermore, the memory D101 may include both internal and external storage units of the electronic device D10. The memory D101 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory D101 can also be used to temporarily store data that has been output or will be output.

[0204] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0205] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0206] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the above-described method embodiments.

[0207] This application provides a computer program product that, when run on an electronic device, enables the electronic device to implement the steps described in the various method embodiments above.

[0208] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographic device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0209] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0210] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented 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 this application.

[0211] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0212] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0213] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for target matching, characterized in that, include: Acquire target information from a first radar and a second radar, wherein the coverage area of ​​the second radar overlaps with the coverage area of ​​the first radar, and the target information includes the target's current moving speed and current coordinates; Based on the target information of the second radar, the displacement vector from the designated target of the second radar to the designated anchor point target and the velocity vector of the designated target of the second radar are determined; wherein, the anchor point target is a matched target that can be detected by both the first radar and the second radar in the current frame. The matched target is either the target of the first radar that has successfully matched the designated target of the second radar in the previous frame of the current frame, or the target of the second radar that has successfully matched the designated target of the first radar in the previous frame of the current frame. Based on the target information of the first radar, determine the displacement vector of the designated target of the first radar to the designated anchor point target and the velocity vector of the designated target of the first radar; Based on the displacement difference between the displacement vector of the designated target of the second radar to the designated anchor point target and the displacement vector of the designated target of the first radar to the designated anchor point target, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, it is determined whether the designated target of the second radar matches the designated target of the first radar in the current frame.

2. The target matching method as described in claim 1, characterized in that, The designated target of the second radar is the target corresponding to the target information designated by the second radar, the designated anchor point target is any one of the anchor point targets, and the designated target of the first radar is the target corresponding to the target information designated by the first radar.

3. The target matching method as described in claim 2, characterized in that, Before determining the displacement vector from the designated target to the designated anchor point target and the velocity vector of the designated target based on the target information of the second radar, the method further includes: Based on the target information of the second radar, determine the number n of anchor point targets within a preset distance from the designated target of the second radar, where n is a natural number greater than or equal to 1. If the number n of the anchor point targets is less than or equal to the preset number threshold, then the coordinates of the designated target of the second radar in the coordinate system of the second radar and the coordinates of the designated target of the first radar in the coordinate system of the first radar are both converted into latitude and longitude coordinates. Based on the coordinate difference between the latitude and longitude coordinates of the designated target of the second radar and the latitude and longitude coordinates of the designated target of the first radar, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar, it is determined whether the designated target of the second radar matches the designated target of the first radar in the current frame.

4. The target matching method as described in claim 3, characterized in that, After determining whether the designated target of the second radar matches the designated target of the first radar in the current frame, the method further includes: If a match is successful, and both the first radar and the second radar are able to detect the matched target in the next frame of the current frame, then the matched target is determined to be an anchor point target.

5. The target matching method as described in claim 4, characterized in that, After determining whether the designated target of the second radar matches the designated target of the first radar in the current frame, the method further includes: If a match is successful, but the second radar cannot detect the matched target in the next frame of the current frame, the confidence level of disconnection is incremented by 1. If the confidence level of the loss of contact is greater than the preset loss of contact threshold, then the designated target of the second radar is determined to be a blind zone target.

6. The target matching method as described in claim 3, characterized in that, After determining whether the designated target of the second radar matches the designated target of the first radar in the current frame, the method further includes: If a match is found, the association confidence level is incremented by 1. If the association confidence level is greater than the preset association threshold, then the designated target of the second radar is determined to be a matched target. If a match fails, increment the confidence level of the lost connection by 1. If the confidence level of the loss of contact is greater than the preset loss of contact threshold, then the designated target of the second radar is determined to be a blind zone target. If the confidence level of the loss of contact is less than or equal to the preset loss of contact threshold, then the designated target of the second radar is determined to be an unmarked target.

7. The target matching method as described in claim 6, characterized in that, After determining that the designated target of the second radar is a matched target, the method further includes: If both the first radar and the second radar can detect the matched target in the current frame, then the target information of the specified target of the first radar and the target information of the specified target of the second radar are output as a weighted average, or the point cloud data of the specified target of the first radar and the point cloud data of the specified target of the second radar are combined and output. After determining that the designated target of the second radar is a blind zone target, the method further includes: If the first radar cannot detect the matched target in the current frame, it outputs the target information of the designated target of the second radar. If the second radar cannot detect the matched target in the current frame, it outputs the target information of the designated target of the first radar.

8. A device for matching a target object, characterized in that, include: An information acquisition module is used to acquire target information of a first radar and a second radar, wherein the coverage area of ​​the second radar overlaps with the coverage area of ​​the first radar, and the target information includes the target's current moving speed and current coordinates. The first determining module is used to determine the displacement vector from the designated target of the second radar to the designated anchor point target and the velocity vector of the designated target of the second radar based on the target information of the second radar; wherein, the anchor point target is a matched target that can be detected by both the first radar and the second radar in the current frame, and the matched target is either the target of the first radar that has successfully matched the designated target of the second radar in the previous frame of the current frame, or the target of the second radar that has successfully matched the designated target of the first radar in the previous frame of the current frame; The second determining module is used to determine the displacement vector from the designated target of the first radar to the designated anchor point target and the velocity vector of the designated target of the first radar based on the target information of the first radar. The first matching module is used to determine whether the designated target of the second radar matches the designated target of the first radar in the current frame based on the displacement difference between the displacement vector of the designated target of the second radar to the designated anchor point target and the displacement vector of the designated target of the first radar to the designated anchor point target, and the velocity difference between the velocity vector of the designated target of the second radar and the velocity vector of the designated target of the first radar.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that, When the processor executes the computer program, it implements the target matching method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the target matching method as described in any one of claims 1 to 7.

Images