Millimeter wave radar-based false target identification method and device, equipment and medium

Abstract

A false target identification method, device and equipment based on a millimeter wave radar and a medium are disclosed. The method comprises: acquiring a position of a reference object and positions and speeds of at least one target to be identified; wherein the reference object is an object that reflects millimeter waves reflected by the target to be identified; the position of the reference object is a first position, the positions of the target to be identified are second positions, and the speeds of the target to be identified are first speeds; determining a false target existing area based on the first position and the second positions; and identifying virtual targets in the false target existing area based on the first speeds. By using the method, the false targets formed by the reflection of the target to be identified by an obstacle can be quickly and effectively identified based on the positional relationship between the false targets and the target to be identified with respect to the reference object, and the accuracy of target identification is improved.

Description

TECHNICAL FIELD

[0001] The embodiment of the application relates to the technical field of radar detection, and particularly relates to a false target identification method and device based on a millimeter wave radar, equipment and a medium. BACKGROUND

[0002] The millimeter wave radar is a sensor for detecting a target by using millimeter wave electromagnetic waves, has less influence on weather and other environmental factors, and has all-weather working capability, but the millimeter wave radar is easily disturbed by various clutters in the environment. In recent years, with the rapid development of the millimeter wave radar technology, the 4D millimeter wave radar capable of simultaneously detecting target position and height information appears, and the application of the 4D millimeter wave radar is more and more widely used. Compared with the traditional millimeter wave radar, the 4D millimeter wave radar has more transmitting and receiving antenna units, and the resolution and detection capability are greatly improved.

[0003] For the millimeter wave radar, the millimeter wave radar signal is disturbed in a complex scene, and problems such as multipath reflection, angle expansion, speed expansion and distance jitter are caused. Especially when there is an obstruction or a large-area reflecting surface, a mirror image false target is caused, like a mirror-symmetrical or related false target, which greatly reduces the effectiveness of target identification. SUMMARY

[0004] The embodiment of the application provides a false target identification method, device, equipment and medium based on a millimeter wave radar, which combines current road information and obstacle information, decides an optimal lane changing time according to the obstacle information, and reduces the occurrence of lane changing repetition.

[0005] In a first aspect, the embodiment of the application provides a false target identification method based on a millimeter wave radar, which comprises the following steps:

[0006] obtaining a position of a reference object and a position and a speed of at least one to-be-identified target; wherein the reference object is an object that reflects millimeter waves reflected by the to-be-identified target; the position of the reference object is a first position, the position of the to-be-identified target is a second position, and the speed of the to-be-identified target is a first speed;

[0007] determining a false target existing area based on the first position and the second position;

[0008] identifying a virtual target in the false target existing area based on the first speed.

[0009] In a second aspect, the embodiment of the application further provides a false target identification device based on a millimeter wave radar, which comprises the following steps:

[0010] The acquisition module is configured to acquire a position of a reference object and a position and a speed of at least one target to be identified; the reference object is an object that reflects the millimeter wave reflected by the target to be identified; the position of the reference object is a first position, the position of the target to be identified is a second position, and the speed of the target to be identified is a first speed.

[0011] The region determination module is configured to determine a false target existing region based on the first position and the second position.

[0012] The virtual target identification module is configured to identify a virtual target in the false target existing region based on the first speed.

[0013] In a third aspect, the present disclosure also provides an electronic device, which includes:

[0014] one or more processors;

[0015] a storage device configured to store one or more programs,

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the false target identification method based on millimeter wave radar provided by the present disclosure.

[0017] In a fourth aspect, the present disclosure also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to implement the false target identification method based on millimeter wave radar provided by the present disclosure.

[0018] The present disclosure discloses a false target identification method, device, equipment and medium based on millimeter wave radar, which comprises the following steps: acquiring a first position of a reference object and a second position and a first speed of at least one target to be identified; wherein the reference object is an object that reflects the millimeter wave reflected by the target to be identified; determining a false target existing region based on the first position and the second position; and identifying a virtual target in the false target existing region based on the first speed. By using the method, the false target formed by the shielding object reflecting the millimeter wave radar detection target can be quickly and effectively identified through the position relationship between the false target and the target to be identified with respect to the reference object, and the accuracy of target identification is improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and other features, advantages, and aspects of the present disclosure will become more apparent by describing in detail some embodiments thereof with reference to the annexed drawings in which:

[0020] Figure 1 A flowchart of a millimeter wave radar-based false target identification method provided by an embodiment of the present disclosure;

[0021] Figure 2 A first example diagram of a millimeter wave radar-based false target identification method provided by an embodiment of the present disclosure;

[0022] Figure 3 A second example diagram of a millimeter wave radar-based false target identification method provided by an embodiment of the present disclosure;

[0023] Figure 4 A third example diagram of a millimeter wave radar-based false target identification method provided by an embodiment of the present disclosure;

[0024] Figure 5 A fourth example diagram of a millimeter wave radar-based false target identification method provided by an embodiment of the present disclosure;

[0025] Figure 6 A structural schematic diagram of a millimeter wave radar-based false target identification device provided by an embodiment of the present disclosure;

[0026] Figure 7 A structural schematic diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] Embodiments of the present disclosure will be described in more detail by referring to the drawings. Although certain embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be implemented in various forms, and should not be construed as being limited to the embodiments set forth herein, but rather, these embodiments are provided so as to more completely and thoroughly understand the present disclosure. It is understood that the drawings and embodiments of the present disclosure are for exemplary purposes only, and are not intended to limit the scope of protection of the present disclosure.

[0028] It is understood that each step recited in the method embodiments of the present disclosure can be executed in different orders, and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the execution of the steps shown. The scope of the present disclosure is not limited in this respect.

[0029] The term “comprising” and variations thereof as used herein are open-ended, that is, “including but not limited to”. The term “based on” is “based, at least in part, on”. The term “one embodiment” means “at least one embodiment”; the term “another embodiment” means “at least one additional embodiment”; the term “some embodiments” means “at least some embodiments”. Related definitions of other terms will be given in the description below.

[0030] It should be noted that the terms "first", "second", and the like in the present disclosure are merely used to distinguish different devices, modules or units, and do not imply the sequence or interdependence of the functions performed by these devices, modules or units.

[0031] It should be noted that the terms "one", "multiple" in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that "one" or "multiple" should be understood as "one or more" unless otherwise explicitly indicated in the context.

[0032] The names of the messages or information exchanged between the devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of the messages or information.

[0033] It can be understood that before using the technical solutions disclosed in the embodiments of the present disclosure, the type, scope of use, use scenario, etc. of the personal information involved in the present disclosure should be informed to the user and the authorization of the user should be obtained in accordance with relevant laws and regulations.

[0034] For example, in response to receiving the active request of the user, the user is sent prompt information to explicitly prompt the user that the operation requested to be performed will require obtaining and using the personal information of the user. Thus, the user can voluntarily choose whether to provide personal information to the software or hardware such as electronic device, application program, server or storage medium, etc. that performs the operation of the technical solutions of the present disclosure according to the prompt information.

[0035] As an optional but non-limiting implementation, in response to receiving the active request of the user, the user is sent prompt information, for example, in the form of a pop-up window, which can present the prompt information in the form of text. In addition, the pop-up window can also carry selection controls for the user to select "agree" or "disagree" to provide personal information to the electronic device.

[0036] It can be understood that the above notification and user authorization process is only illustrative and does not limit the implementation of the present disclosure. Other ways that meet the relevant laws and regulations can also be applied to the implementation of the present disclosure.

[0037] It can be understood that the data involved in the present technical solution (including but not limited to the data itself, the acquisition or use of the data) should comply with the requirements of the relevant laws and regulations and relevant provisions.

[0038] Embodiment one

[0039] Figure 1A flowchart of a false target identification method based on a millimeter wave radar is provided in the embodiments of the present disclosure. The embodiments of the present disclosure are applicable to the case of false target identification. The method can be performed by a false target identification device based on a millimeter wave radar. The device can be implemented in the form of software and / or hardware. Optionally, the device is implemented by an electronic device, which can be a mobile terminal, a PC terminal, a server, or the like.

[0040] As shown in Figure 1 A false target identification method based on a millimeter wave radar is provided in the embodiments of the present disclosure. The method can include the following steps.

[0041] S110, obtaining a position of a reference object and a position and a speed of at least one target to be identified.

[0042] The reference object is an object that reflects the millimeter wave reflected by the target to be identified. The position of the reference object is a first position. The position of the target to be identified is a second position. The speed of the target to be identified is a first speed.

[0043] In the embodiments, the reference object can be an object that reflects the millimeter wave signal. For example, the reference object can be a railing, a road edge, a super-long vehicle for road measurement, or the like. The reference object can also be a stationary vehicle, an ice cream cone, a wall, or the like. The reference object can reflect the millimeter wave reflected by the target to be identified. The target to be identified can be a target for signal identification. The target to be identified can be a moving target. The first position can be the position of the reference object. The second position can be the position of the target to be identified. The first speed can be the speed of the target to be identified.

[0044] Specifically, the first position of the reference object and the second position and the first speed of the at least one target to be identified are obtained based on the millimeter wave radar. The obtained reference object can be one reference object or multiple reference objects.

[0045] S120, determining a false target existing area based on the first position and the second position.

[0046] It should be noted that, for the millimeter wave radar, the signal of the millimeter wave radar can be disturbed in a complex scene, resulting in problems such as multipath reflection, angle expansion, speed expansion, and distance jitter. Especially when there is an obstruction or a large area of reflecting surface, a mirror image false target can be generated, such as a mirror-symmetrical or related false target.

[0047] In the embodiment, the false target existing area can be an area where a corresponding false target can exist, which is possibly generated by the to-be-identified target. The to-be-identified target can be a real target or a false target. Therefore, when the to-be-identified target is a false target, the corresponding false target is not generated, and when the to-be-identified target is a real target, the corresponding false target can be generated according to actual conditions.

[0048] Specifically, if the reference object is a line that reflects millimeter waves, for example, the reference object is a railing, a road edge, a super-long vehicle for road measurement, or the like, which has a certain length. The mirror projection area of the to-be-identified target relative to the reference object is determined based on the first position and the second position, and the mirror projection area is determined as the false target existing area. If the reference object is a point that reflects millimeter waves, for example, a stationary vehicle, an ice cream cylinder, or a wall. The reflection point of the millimeter wave on the reference object and the position of the vehicle are obtained, and the false target existing area is determined based on the first position, the second position, and the position of the vehicle.

[0049] Optionally, the manner of determining the false target existing area based on the first position and the second position can be: if the reference object is a line that reflects millimeter waves, the first mirror projection area of the to-be-identified target relative to the reference object is determined based on the first position and the second position, and the first mirror projection area is determined as the false target existing area; if the reference object is a point that reflects millimeter waves, a third position of the vehicle is obtained; and the false target existing area is determined based on the first position, the second position, and the third position.

[0050] In the embodiment, the first mirror projection area can be a mirror projection area of the to-be-identified target relative to the reference object. When the reference object is, for example, a railing, a road edge, a super-long vehicle for road measurement, or the like, which has a certain length, the reference object can be approximately a line in the radar signal output. When the reference object is, for example, a stationary vehicle, an ice cream cylinder, or a wall, the reference object can be approximately a point in the radar signal output. The third position can be the position of the vehicle.

[0051] Specifically, if the reference object is a line that reflects millimeter waves, the mirror projection area of the to-be-identified target relative to the reference object is obtained by mirror projection according to the second position of the to-be-identified target relative to the first position of the reference object, and the mirror projection area is determined as the false target existing area. If the reference object is a point that reflects millimeter waves, the reflection point of the millimeter wave on the reference object and the position of the vehicle are obtained, and the false target existing area is determined based on the first position, the second position, and the position of the vehicle.

[0052] Optionally, the manner of determining the false target existing area based on the first position, the second position and the third position can be: obtaining a reflection point of the millimeter wave on the reference object; determining a reference line based on the reflection point and the third position; determining a second mirror projection area of the to-be-identified target relative to the reference line based on the second position and the reference line, and determining the second mirror projection area as the false target existing area.

[0053] In the embodiment, the reflection point can be a point on the reference object that reflects the millimeter wave. The reference line can be a straight line where the reflection point and the third position are connected. The second mirror projection area can be a mirror projection area of the to-be-identified target relative to the reference line.

[0054] Specifically, first, the reflection point of the millimeter wave on the reference object is obtained, and a straight line where the reflection point and the third position are connected is taken as the reference line. Then, a mirror projection area corresponding to the second position of the to-be-identified target relative to the third position of the reference line is obtained, and the mirror projection area is taken as the false target existing area.

[0055] S130, identifying a virtual target in the false target existing area based on the first speed.

[0056] Specifically, first, it is determined whether there is a moving object in the false target existing area. If there is a moving object in the false target existing area, the speed of the moving object is obtained, and the reference object is identified according to the type of the reference object. If the reference object is a line that reflects the millimeter wave, the moving object is identified according to whether the first speed and the speed of the moving object are the same. If the reference object is a point that reflects the millimeter wave, the moving object is identified according to the relative position of the to-be-identified target and the moving object and the first speed and the speed of the moving object, to determine whether the moving target is a virtual target.

[0057] Optionally, the manner of identifying the virtual target in the false target existing area based on the first speed can be: determining whether there is a first target in the false target existing area; if there is a first target in the false target existing area, obtaining a second speed of the first target; and identifying the virtual target in the false target existing area based on the second speed and the first speed.

[0058] In the embodiment, the first target can be a moving target. The second speed can be the speed of the first target. First, it is determined whether there is a first target in the false target existing area. If there is a first target in the false target existing area, the second speed of the first target is obtained, and the first target is identified according to the size and direction of the second speed and the first speed, to determine whether the first target is a virtual target.

[0059] Optionally, the way of identifying the virtual target in the false target existing area based on the second speed and the first speed can be: if the reference object is a line that reflects the millimeter wave, when the second speed and the first speed are the same, the first target is a false target.

[0060] Specifically, Figure 2 A first example diagram of a false target identification method based on a millimeter wave radar provided by the embodiment of the present disclosure; Figure 3 A second example diagram of a false target identification method based on a millimeter wave radar provided by the embodiment of the present disclosure. As shown in Figure 2 and Figure 3 , the reference object is a line that reflects the millimeter wave, and the relationship between the reference object and the position of the target to be identified can be as shown in Figure 2 , or as shown in Figure 3 . When the second speed and the first speed are equal in size and direction, it is determined that the first target is a false target.

[0061] Optionally, the way of identifying the virtual target in the false target existing area based on the second speed and the first speed can be: if the reference object is a point that reflects the millimeter wave, when the target to be identified and the first target are located on the same side of the reference object, the second speed and the first speed are the same, and the first target is a false target; if the reference object is a point that reflects the millimeter wave, when the target to be identified and the first target are located on different sides of the reference object, the second speed and the first speed are equal in size and opposite in direction, and the first target is a false target.

[0062] Figure 4 A third example diagram of a false target identification method based on a millimeter wave radar provided by the embodiment of the present disclosure. As shown in Figure 4 , if the reference object is a point that reflects the millimeter wave, when the target to be identified and the first target are located on the same side of the reference object, the second speed and the first speed are equal in size and direction, and the first target is a false target. Figure 5 A fourth example diagram of a false target identification method based on a millimeter wave radar provided by the embodiment of the present disclosure. As shown in Figure 5 , if the reference object is a point that reflects the millimeter wave, when the target to be identified and the first target are located on different sides of the reference object, the second speed and the first speed are equal in size and opposite in direction, and the first target is a false target.

[0063] Among the above Figure 2 , Figure 3 , Figure 4 and Figure 5 , the mirror target is the first target.

[0064] Optionally, after identifying the virtual target in the false target existing area based on the second speed and the first speed, the method further comprises: marking the false target.

[0065] Specifically, the identified false target can be marked.

[0066] In the embodiment, the false target is marked, and higher-precision target information is provided for subsequent sensor fusion.

[0067] The application discloses a false target identification method based on a millimeter wave radar.

[0068] Embodiment two

[0069] Figure 6 The application also provides a structure diagram of a false target identification device based on a millimeter wave radar. Figure 6 As shown in the figure, the device comprises an acquisition module 210, an area determination module 220, and a virtual target identification module 230.

[0070] The acquisition module 210 is configured to acquire a position of a reference object and positions and speeds of at least one target to be identified.

[0071] The area determination module 220 is configured to determine a false target existing area based on the first position and the second position.

[0072] The virtual target identification module 230 is configured to identify a virtual target in the false target existing area based on the first speed.

[0073] The technical scheme provided by the embodiments of the present disclosure can quickly and effectively identify the false target formed by the reflection of the millimeter wave radar detection target due to the shielding object, and improve the accuracy of target identification.

[0074] Further, the area determination module 220 can be configured to:

[0075] If the reference object is a line that reflects the millimeter wave, a first mirror projection area of the target to be identified relative to the reference object is determined based on the first position and the second position, and the first mirror projection area is determined as a false target existing area;

[0076] If the reference object is a point that reflects the millimeter wave, a third position of the vehicle is obtained;

[0077] A false target existing area is determined based on the first position, the second position, and the third position.

[0078] Further, the area determination module 220 can be configured to:

[0079] A reflection point of the millimeter wave on the reference object is obtained;

[0080] A reference line is determined based on the reflection point and the third position;

[0081] A second mirror projection area of the target to be identified relative to the reference line is determined based on the first position and the second position, and the second mirror projection area is determined as a false target existing area.

[0082] Further, the virtual target identification module 230 can be configured to:

[0083] It is determined whether the false target existing area has a first target;

[0084] If the false target existing area has a first target, a second speed of the first target is obtained;

[0085] A virtual target of the false target existing area is identified based on the second speed and the first speed.

[0086] Further, the virtual target identification module 230 can be configured to:

[0087] If the reference object is a line that reflects the millimeter wave, when the second speed and the first speed are the same, the first target is a false target.

[0088] Further, the virtual target identification module 230 can be configured to:

[0089] If the reference object is a point that reflects the millimeter wave, when the target to be identified and the first target are located on the same side of the reference object, the second speed and the first speed are the same, and the first target is a false target;

[0090] If the reference object is a point that reflects the millimeter wave, when the to-be-identified target and the first target are located on different sides of the reference object, the first target is a false target when the second speed and the first speed are equal in magnitude and opposite in direction.

[0091] Further, the apparatus can further include a marking module.

[0092] The marking module is configured to mark the false target.

[0093] The apparatus can perform the method provided by any of the preceding embodiments of the present application, and has the corresponding function modules and advantages of performing the method. Technical details not described in the present embodiment can be referred to the method provided by any of the preceding embodiments of the present application.

[0094] Embodiment three

[0095] Figure 7 A block diagram of an electronic device 10 that can be used to implement embodiments of the present application. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., headgear, eyewear, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0096] As Figure 7 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., connected to the at least one processor 11 in communication, where the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0097] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0098] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the millimeter wave radar based false target identification method.

[0099] In some embodiments, the millimeter wave radar based false target identification method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the millimeter wave radar based false target identification method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the millimeter wave radar based false target identification method by any other appropriate means, such as by means of firmware.

[0100] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0101] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package and partially on a remote machine or entirely on a remote machine or server.

[0102] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0103] To provide for interaction with a user, the systems and techniques described here 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; 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 acoustic, speech, or tactile input.

[0104] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0105] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0106] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, and the present disclosure is not limited in this regard.

[0107] The specific embodiments described above are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that various modifications, combinations, sub-combinations, and alternatives can be made to the specific embodiments without departing from the spirit and principles of the present disclosure. Any further modifications, equivalents, and / or alternatives come within the scope of the present disclosure as recited by the claims.

Claims

1. A method for identifying false targets based on millimeter-wave radar, characterized in that, include: The position of a reference object and the position and velocity of at least one target to be identified are obtained; wherein, the reference object is an object that reflects the millimeter waves reflected by the target to be identified; the position of the reference object is a first position, the position of the target to be identified is a second position, and the velocity of the target to be identified is a first velocity; Determining the false target existence area based on the first position and the second position includes: if the reference object is a line reflecting the millimeter wave, then determining a first mirror projection area of ​​the target to be identified relative to the reference object based on the first position and the second position, and determining the first mirror projection area as the false target existence area; if the reference object is a point reflecting the millimeter wave, then obtaining the position of the vehicle; the position of the vehicle is a third position; obtaining the reflection point of the millimeter wave on the reference object; determining a reference line based on the reflection point and the third position; determining a second mirror projection area of ​​the target to be identified relative to the reference line based on the second position, and determining the second mirror projection area as the false target existence area; the target to be identified is a real target; the reference object includes: line shape and point shape, wherein, when the reference object is the line shape, the reference object includes at least one of the following: railing, curb, and extra-long vehicle on the roadside; when the reference object is the point shape, the reference object includes at least one of the following: stationary vehicle, traffic cone, and wall; The virtual target in the area where the false target exists is identified based on the first speed.

2. The method according to claim 1, characterized in that, Based on the first speed, the virtual targets in the area where the false targets exist are identified, including: Determine whether the first target exists in the area where the false target exists; If the false target exists in the area where the first target exists, then the second velocity of the first target is obtained; The virtual target in the area where the false target exists is identified based on the second speed and the first speed.

3. The method according to claim 2, characterized in that, Identifying virtual targets in the area where the false target exists based on the second speed and the first speed includes: If the reference object is a line that reflects the millimeter wave, the first target is a false target when the second velocity is the same as the first velocity.

4. The method according to claim 2, characterized in that, Identifying virtual targets in the area where the false target exists based on the second speed and the first speed includes: If the reference object is a point that reflects the millimeter wave, and the target to be identified and the first target are located on the same side of the reference object, and the second velocity and the first velocity are the same, then the first target is a false target. If the reference object is a point that reflects the millimeter wave, and the target to be identified and the first target are located on different sides of the reference object, and the second velocity and the first velocity are equal in magnitude but opposite in direction, then the first target is a false target.

5. The method according to claim 2, characterized in that, After identifying the virtual target in the area where the false target exists based on the second speed and the first speed, the process includes: The false targets are marked.

6. A false target identification device based on millimeter-wave radar, characterized in that, include: An acquisition module is used to acquire the position of a reference object and the position and velocity of at least one target to be identified; wherein, the reference object is an object that reflects the millimeter waves reflected by the target to be identified; the position of the reference object is a first position, the position of the target to be identified is a second position, and the velocity of the target to be identified is a first velocity; The region determination module is used to determine the region where the false target exists based on the first location and the second location; The virtual target recognition module is used to identify virtual targets in the area where the false target exists based on the first speed; The region determination module is configured to: if the reference object is a line reflecting the millimeter wave, determine a first mirror projection area of ​​the target to be identified relative to the reference object based on the first position and the second position, and determine the first mirror projection area as a false target existence area; if the reference object is a point reflecting the millimeter wave, obtain the third position of the vehicle; obtain the reflection point of the millimeter wave on the reference object; determine a reference line based on the reflection point and the third position; determine a second mirror projection area of ​​the target to be identified relative to the reference line based on the second position, and determine the second mirror projection area as a false target existence area; the target to be identified is a real target; the reference object includes: line shape and point shape, wherein, when the reference object is the line shape, the reference object includes at least one of the following: railing, curb, and extra-long vehicle on the roadside; when the reference object is the point shape, the reference object includes at least one of the following: stationary vehicle, traffic cone, and wall.

7. 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 false target identification method based on millimeter-wave radar as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the false target identification method based on millimeter-wave radar as described in any one of claims 1-5.

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