Method, device, equipment and storage medium for improving radar precision

Abstract

The application belongs to the technical field of radars, and discloses a method, device and equipment for improving radar precision and a storage medium. The application determines the corresponding obstacle target of the radar, obtains the initial unit number and the corresponding initial amplitude value of the obstacle target, determines the local peak point corresponding to the obstacle target according to the initial unit number and the initial amplitude value, and determines the target estimation unit number corresponding to the local peak point according to the initial unit number and the initial amplitude value, so as to improve the precision of the radar. According to the application, the local peak point corresponding to the obstacle target is determined according to the initial unit number and the initial amplitude value, and the target estimation unit number corresponding to the local peak point is determined according to the initial unit number and the initial amplitude value, so that the target estimation unit number of the local peak point is more accurate relative to the initial unit number, and the precision of radar measurement, i.e. the precision of measuring the information of the obstacle target through the radar, is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the radar technical field, and particularly relates to a method, device and equipment for improving radar precision and a storage medium. BACKGROUND

[0002] Radar is an electronic device for detecting targets by using electromagnetic waves. The radar transmits electromagnetic waves to irradiate targets and receives the return waves, thereby obtaining information such as the distance, the distance change rate (radial velocity), the azimuth, the height, etc. of the targets from the electromagnetic wave transmitting point. In the process of measuring the distance by using the radar, the distance number of the target can be calculated first, and then the distance between the radar and the target can be calculated according to the distance resolution and the distance number. However, for the high-precision application scenarios of the radar, the radar measurement precision needs to be further improved. Therefore, how to improve the radar measurement precision has become a problem to be solved.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a method, device, equipment and storage medium for improving radar precision, which aims to solve the technical problem of how to improve the radar measurement precision.

[0005] To achieve the above purpose, the present application provides a method for improving radar precision, which comprises the following steps:

[0006] determining the obstacle target corresponding to the radar, and obtaining the initial unit number and the corresponding initial amplitude value of the obstacle target;

[0007] determining the local peak point corresponding to the obstacle target according to the initial unit number and the initial amplitude value;

[0008] determining the target estimation unit number corresponding to the local peak point according to the initial unit number and the initial amplitude value, so as to improve the precision of the radar.

[0009] Optionally, the step of determining the local peak point corresponding to the obstacle target according to the initial unit number and the initial amplitude value specifically comprises:

[0010] selecting a peak amplitude value from the initial amplitude value through a preset condition;

[0011] selecting a peak unit number corresponding to the peak amplitude value from the initial unit number;

[0012] determining the local peak point corresponding to the obstacle target according to the peak amplitude value and the peak unit number.

[0013] Optionally, the step of determining the local peak point corresponding to the obstacle target according to the initial cell number and the initial amplitude value specifically comprises:

[0014] selecting a peak amplitude value from the initial amplitude value through a preset condition;

[0015] selecting a peak cell number corresponding to the peak amplitude value from the initial cell number;

[0016] determining the local peak point corresponding to the obstacle target according to the peak amplitude value and the peak cell number.

[0017] Optionally, the step of determining the target estimation cell number corresponding to the local peak point according to the initial cell number and the initial amplitude value to improve the accuracy of the radar specifically comprises:

[0018] acquiring adjacent points corresponding to the local peak point with the local peak point as a center point;

[0019] selecting adjacent cell numbers corresponding to the adjacent points from the initial cell number and selecting adjacent amplitude values corresponding to the adjacent points from the initial amplitude value;

[0020] determining the target estimation cell number corresponding to the local peak point according to the adjacent cell numbers and the adjacent amplitude values to improve the accuracy of the radar.

[0021] Optionally, the step of determining the target estimation cell number corresponding to the local peak point according to the adjacent cell numbers and the adjacent amplitude values specifically comprises:

[0022] determining adjacent weighting coefficients corresponding to the adjacent points according to the adjacent amplitude values and the peak amplitude value;

[0023] determining the target estimation cell number corresponding to the local peak point according to the adjacent weighting coefficients, the adjacent cell numbers, the adjacent amplitude values, a peak weighting coefficient, the peak cell number and the peak amplitude value.

[0024] Optionally, the step of determining the target estimation cell number corresponding to the local peak point according to the adjacent weighting coefficients, the adjacent cell numbers, the adjacent amplitude values, a peak weighting coefficient, the peak cell number and the peak amplitude value specifically comprises:

[0025] determining the target estimation cell number corresponding to the local peak point according to the adjacent weighting coefficients, the adjacent cell numbers, the adjacent amplitude values, a peak weighting coefficient, the peak cell number and the peak amplitude value through a preset formula, wherein the preset formula is:

[0026]

[0027] In the formula, represents the target estimation unit number, n represents the number of adjacent points plus 1, when i-1=(n-1) / 2, w i represents the peak value weighting coefficient, x i represents the peak unit number, A i represents the peak amplitude value, when i-1≠(n-1) / 2, w i represents the adjacent weighting coefficient, x i represents the adjacent unit number, A i represents the adjacent amplitude value.

[0028] Optionally, the step of acquiring the initial unit number and the corresponding initial amplitude value of the obstacle target specifically comprises:

[0029] acquiring obstacle information of the obstacle target at a current time;

[0030] acquiring the initial unit number corresponding to the obstacle information;

[0031] determining the initial amplitude value according to the initial unit number and a preset mapping relationship.

[0032] In addition, to achieve the above object, the application further provides a device for improving radar precision, which comprises:

[0033] a target determination module, configured to determine an obstacle target corresponding to a radar and acquire an initial unit number and a corresponding initial amplitude value of the obstacle target;

[0034] a peak point determination module, configured to determine a local peak point corresponding to the obstacle target according to the initial unit number and the initial amplitude value;

[0035] a unit number determination module, configured to determine a target estimation unit number corresponding to the local peak point according to the initial unit number and the initial amplitude value, so as to improve the precision of the radar.

[0036] In addition, to achieve the above object, the application further provides a device for improving radar precision, which comprises a memory, a processor and a program for improving radar precision stored in the memory and executable on the processor, and the program for improving radar precision is configured to implement the steps of the method for improving radar precision as described above.

[0037] In addition, to achieve the above object, the application further provides a storage medium, which has a program for improving radar precision stored thereon, and the program for improving radar precision implements the steps of the method for improving radar precision as described above when executed by a processor.

[0038] The application determines the corresponding obstacle target of the radar, obtains the initial cell number and the corresponding initial amplitude value of the obstacle target, then determines the local peak point corresponding to the obstacle target according to the initial cell number and the initial amplitude value, and determines the target estimation cell number corresponding to the local peak point according to the initial cell number and the initial amplitude value, so as to improve the precision of the radar. According to the application, the local peak point corresponding to the obstacle target is determined according to the initial cell number and the initial amplitude value, and the target estimation cell number corresponding to the local peak point is determined according to the initial cell number and the initial amplitude value, so that the target estimation cell number of the local peak point is more accurate relative to the initial cell number, thereby improving the precision of the radar measurement, i.e. improving the precision of the information of the obstacle target measured by the radar. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a structural schematic diagram of the radar precision improving device of the hardware running environment involved in the embodiment scheme of the application.

[0040] Figure 2 is a flowchart of the first embodiment of the radar precision improving method of the application.

[0041] Figure 3 is a flowchart of the second embodiment of the radar precision improving method of the application.

[0042] Figure 4 is a corresponding relationship diagram between the initial cell number and the initial amplitude value of the radar precision improving method of the application.

[0043] Figure 5 is a structural block diagram of the first embodiment of the radar precision improving device of the application.

[0044] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0045] It should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the application.

[0046] Reference Figure 1 , Figure 1 is a structural schematic diagram of the radar precision improving device of the hardware running environment involved in the embodiment scheme of the application.

[0047] As Figure 1As shown in the figure, the radar precision improving apparatus can include a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is configured to realize the connection and communication among the components. The user interface 1003 can include a display, an input unit such as a keyboard, and can further include a standard wired interface and a wireless interface. The network interface 1004 can optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 can be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0048] Those skilled in the art can understand that Figure 1 The structure shown in the figure does not constitute a limitation on the radar precision improving apparatus, and can include more or fewer components than those shown in the figure, or combine certain components, or different component arrangements.

[0049] As shown in the figure, the radar precision improving apparatus can include a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is configured to realize the connection and communication among the components. The user interface 1003 can include a display, an input unit such as a keyboard, and can further include a standard wired interface and a wireless interface. The network interface 1004 can optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 can be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001. Figure 1 As shown in the figure, the radar precision improving apparatus can include a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is configured to realize the connection and communication among the components. The user interface 1003 can include a display, an input unit such as a keyboard, and can further include a standard wired interface and a wireless interface. The network interface 1004 can optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 can be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0050] Figure 1 As shown in the figure, the radar precision improving apparatus can include a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is configured to realize the connection and communication among the components. The user interface 1003 can include a display, an input unit such as a keyboard, and can further include a standard wired interface and a wireless interface. The network interface 1004 can optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 can be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0051] Based on the radar precision improving apparatus described above, the embodiment of the present application provides a radar precision improving method, which will be described below with reference to Figure 2 , Figure 2 The flowchart of the first embodiment of the radar precision improving method of the present application is shown in the figure.

[0052] In this embodiment, the radar precision improving method includes the following steps:

[0053] ​Step S10: determining a radar corresponding obstacle target, and obtaining an initial cell number and a corresponding initial amplitude value of the obstacle target;

[0054] It should be noted that the execution subject of the embodiment can be a device equipped with a radar, such as a vehicle, a mobile phone, etc. The radar can be used to measure the distance between the target and the target angle, etc. The radar can be a millimeter wave radar, a laser radar, etc. The vehicle is taken as an example to describe the embodiment and the following embodiments.

[0055] It can be understood that the radar can emit a signal to the obstacle target. After receiving the signal, the obstacle target can also feed back a signal to the radar to obtain the distance between the radar and the obstacle target, the speed of the obstacle target, etc.

[0056] It should be understood that the initial cell number refers to the cell number of the obstacle target, which has not been processed. For example, when the distance between the obstacle target and the radar is 5 meters, the corresponding initial cell number can be 1.

[0057] Further, in the embodiment, the initial cell number includes an initial distance cell number, an initial speed cell number or an initial angle cell number; and the initial amplitude value includes an initial distance amplitude value, an initial speed amplitude value or an initial angle amplitude value.

[0058] It can be understood that the initial cell number in the embodiment includes an initial distance cell number, an initial speed cell number or an initial angle cell number. The initial distance cell number refers to the cell number of the distance between the obstacle target and the radar. The initial speed cell number refers to the cell number of the speed of the obstacle target. The initial angle cell number refers to the angle between the line connecting the radar and the obstacle target and the vertical direction. Correspondingly, the initial amplitude value also includes an initial distance amplitude value, an initial speed amplitude value or an initial angle amplitude value. The initial distance amplitude value refers to the amplitude value corresponding to the initial distance cell number. The initial speed amplitude value refers to the amplitude value corresponding to the initial speed cell number. The initial angle amplitude value refers to the amplitude value corresponding to the initial angle cell number.

[0059] Further, in order to determine the initial cell number and the initial amplitude value, in the embodiment, the step S10 includes: obtaining obstacle information of the obstacle target at a current time; obtaining the initial cell number corresponding to the obstacle information; and determining the initial amplitude value corresponding to the initial cell number according to a preset mapping relationship.

[0060] It should be noted that the obstacle information refers to the information of the obstacle target at the current time, which can include the distance between the obstacle target and the radar, the speed of the obstacle target, and the angle of the obstacle target relative to the radar.

[0061] It can be understood that the corresponding initial unit number can be determined according to the obstacle information, specifically, a mapping relationship between the obstacle information and the initial unit number can be pre-set, for example, when the distance between the obstacle target and the radar is 10 meters, the corresponding initial distance unit number is 5; when the distance between the obstacle target and the radar is 20 meters, the corresponding initial distance unit number is 10. By analogy, the corresponding initial speed unit number can also be determined according to the speed of the obstacle target, and the corresponding initial angle unit number can be determined according to the angle of the obstacle target relative to the radar.

[0062] It should be understood that the preset mapping relationship refers to the mapping relationship between the unit number and the amplitude value pre-set, and the preset mapping relationship in the embodiment can also include a distance mapping relationship, a speed mapping relationship or an angle mapping relationship, that is, the initial distance amplitude value corresponding to the initial distance unit number is determined through the distance mapping relationship, the initial speed amplitude value corresponding to the initial speed unit number is determined through the speed mapping relationship, and the initial angle amplitude value corresponding to the initial distance unit number is determined through the angle mapping relationship.

[0063] Step S20: determining the local peak point corresponding to the obstacle target according to the initial unit number and the initial amplitude value;

[0064] It can be understood that the local peak point refers to the peak point in the initial amplitude value, and specifically, the points greater than a threshold in the initial amplitude value can be taken as the local peak point, for example, the initial amplitude value is 0.9, 2, 1.5, and the points greater than 1.8 in the initial amplitude value can be taken as the local peak point, that is, the point with the initial amplitude value of 2 is taken as the local peak point.

[0065] Further, in order to accurately determine the local peak point, in the embodiment, the step S20 includes: selecting a peak amplitude value from the initial amplitude value through a preset condition; selecting a peak unit number corresponding to the peak amplitude value from the initial unit number; and determining the local peak point corresponding to the obstacle target according to the peak amplitude value and the peak unit number.

[0066] It should be noted that the preset condition refers to a condition pre-set for screening the initial amplitude value to obtain the peak amplitude value, and the preset condition in the embodiment can also include a preset distance condition, a preset speed condition or a preset angle condition, the distance peak amplitude value can be selected from the initial distance amplitude value through the preset distance condition, the speed peak amplitude value can be selected from the initial speed amplitude value through the preset speed condition, and the angle peak amplitude value can be selected from the initial angle amplitude value through the preset angle condition. For example, when the preset distance condition is greater than 1.2, the values greater than 1.2 in the initial distance amplitude value can be selected as the peak amplitude value.

[0067] It can be understood that, after the peak amplitude value is obtained, since the initial amplitude value and the initial cell number are in one-to-one correspondence, the cell number corresponding to the peak amplitude value can be taken as the peak cell number. The local peak point corresponding to the obstacle target can be determined according to the peak amplitude value and the peak cell number, that is, the horizontal coordinate of the local peak point is the peak cell number, and the vertical coordinate is the peak amplitude value.

[0068] Step S30: determining a target estimated cell number corresponding to the local peak point according to the initial cell number and the initial amplitude value, so as to improve the accuracy of the radar.

[0069] It should be understood that, in the embodiment, the target estimated cell number corresponding to the local peak point can be determined according to the initial cell number and the initial amplitude value. For example, the initial cell number corresponding to the local peak point is 2, and the finally obtained target estimated cell number can be 2.11. The target estimated cell number in the embodiment can also include a target distance cell number, a target speed cell number or a target angle cell number. The target distance cell number can be determined according to the initial distance cell number and the initial distance amplitude value, the target distance cell number can be determined according to the initial speed cell number and the initial speed amplitude value, and the target distance cell number can be determined according to the initial angle cell number and the initial distance angle value.

[0070] In the embodiment, the target estimated cell number corresponding to the local peak point can be determined more accurately. Then, the target estimated cell number is multiplied by the corresponding resolution, and the information of the obstacle target can be obtained. For example, when the target distance cell number corresponding to the local peak point is determined, the target distance cell number is multiplied by the distance resolution, and the distance between the radar and the obstacle target can be obtained.

[0071] In the embodiment, the obstacle target corresponding to the radar is determined, the initial cell number and the corresponding initial amplitude value of the obstacle target are obtained, the local peak point corresponding to the obstacle target is determined according to the initial cell number and the initial amplitude value, and the target estimated cell number corresponding to the local peak point is determined according to the initial cell number and the initial amplitude value, so as to improve the accuracy of the radar. In the embodiment, the local peak point corresponding to the obstacle target is determined according to the initial cell number and the initial amplitude value, and the target estimated cell number corresponding to the local peak point is determined according to the initial cell number and the initial amplitude value. The target estimated cell number of the local peak point is more accurate relative to the initial cell number, so that the accuracy of the radar measurement can be improved, that is, the accuracy of the measurement of the information of the obstacle target by the radar can be improved.

[0072] Reference Figure 3 , Figure 3 The flowchart of the second embodiment of the method for improving the accuracy of the radar.

[0073] Based on the first embodiment described above, in this embodiment, step S30 includes:

[0074] Step S301: Obtain the neighboring points corresponding to the local peak point, with the local peak point as the center point;

[0075] Understandably, adjacent points refer to points centered on a local peak point and adjacent to that local peak point, as shown in the reference section. Figure 4 , Figure 4 This diagram illustrates the correspondence between the initial cell number and the initial amplitude value in one embodiment of the method for improving radar accuracy according to the present invention. Figure 4 As shown, the horizontal axis X represents the initial unit number, and the vertical axis Y represents the initial amplitude value. Figure 4 It can be seen that, Figure 4 (x) k A k (x) is a local peak point, and its adjacent points are (x) k-1 A k-1 ) and (x k+1 A k+1 ), and can also (x k A k The two points on the left and the two points on the right are considered as adjacent points. In this embodiment, the preferred adjacent points are one point on the left and one point on the right, centered on the local peak point.

[0076] Step S302: Select the adjacent cell number corresponding to the adjacent point from the initial cell number, and select the adjacent amplitude value corresponding to the adjacent point from the initial amplitude value;

[0077] It should be understood that adjacent cell numbers corresponding to adjacent points can be selected from the initial cell numbers. For example, if the initial cell numbers are 1, 2, 3, and 4, and the initial cell number of the local peak point is 3, then the adjacent cell numbers corresponding to the adjacent points are 2 and 4. Alternatively, adjacent amplitude values ​​corresponding to adjacent points can be selected from the initial amplitude values. For example, if the initial amplitude values ​​are 1.1, 1.7, 2.1, and 1.8, and the initial amplitude value of the local peak point is 2.1, then the adjacent amplitude values ​​corresponding to the adjacent points are 1.7 and 1.8.

[0078] Step S303: Determine the target estimation unit number and target amplitude value corresponding to the local peak point based on the adjacent unit number and the adjacent amplitude value, so as to improve the accuracy of the radar.

[0079] Further, in order to accurately determine the target estimation cell number, in the embodiment, the step S303 comprises: determining a neighboring weighting coefficient corresponding to the neighboring point according to the neighboring amplitude value and the peak amplitude value; and determining the target estimation cell number corresponding to the local peak point according to the neighboring weighting coefficient, the neighboring cell number, the neighboring amplitude value, the peak weighting coefficient, the peak cell number and the peak amplitude value.

[0080] It can be understood that, in the embodiment, the peak weighting coefficient w k may be 0.5, and the neighboring weighting coefficient corresponding to the neighboring point can be determined according to the neighboring amplitude value and the peak amplitude value. Specifically, taking two neighboring points and one local peak point as an example, the neighboring amplitude value can be obtained by the following formula: w1 represents the weighting coefficient of the neighboring point on the left of the local peak point, A1 represents the amplitude value of the neighboring point on the left of the local peak point, A3 represents the amplitude value of the neighboring point on the right of the local peak point, and w3 represents the weighting coefficient of the neighboring point on the right of the local peak point, wherein w1+2+w3=1.

[0081] In the specific implementation, the target estimation cell number corresponding to the local peak point can be determined according to the neighboring weighting coefficient, the neighboring cell number, the neighboring amplitude value, the peak weighting coefficient, the peak cell number and the peak amplitude value. The neighboring weighting coefficient can include the weighting coefficient of the neighboring point on the left of the local peak point and the weighting coefficient of the neighboring point on the right of the local peak point, and the number of the neighboring points on the left and the right should be consistent. The neighboring cell number can also include the cell number of the neighboring point on the left of the local peak point and the cell number of the neighboring point on the right of the local peak point. The neighboring amplitude value can also include the amplitude value of the neighboring point on the left of the local peak point and the amplitude value of the neighboring point on the right of the local peak point.

[0082] Further, in the embodiment, the step of determining the target estimation cell number corresponding to the local peak point according to the neighboring weighting coefficient, the neighboring cell number, the neighboring amplitude value, the peak weighting coefficient, the peak cell number and the peak amplitude value specifically comprises: determining the target estimation cell number corresponding to the local peak point according to the neighboring weighting coefficient, the neighboring cell number, the neighboring amplitude value, the peak weighting coefficient, the peak cell number and the peak amplitude value by a preset formula, wherein the preset formula is:

[0083]

[0084] In the formula, n represents the number of the neighboring points plus 1, wi represents the weighting coefficient of the neighboring point on the left of the local peak point, xi represents the cell number of the neighboring point on the left of the local peak point, Ai represents the amplitude value of the neighboring point on the left of the local peak point, wj represents the weighting coefficient of the neighboring point on the right of the local peak point, xj represents the cell number of the neighboring point on the right of the local peak point, and Aj represents the amplitude value of the neighboring point on the right of the local peak point. The target estimation cell number, n represents the number of the neighboring points plus 1, when i-1=(n-1) / 2, w i represents the peak weighting coefficient, x i represents the peak cell number, and Ai denotes the peak amplitude value, when i-1≠(n-1) / 2, w i denotes the adjacent weighting coefficient, x i denotes the adjacent cell number, A i denotes the adjacent amplitude value.

[0085] It should be noted that when the number of adjacent points is 2, n=3; when the number of adjacent points is 4, n=5.

[0086] It can be understood that the embodiment can calculate the target estimated cell number corresponding to the local peak point according to the above-mentioned preset formula, for example, when n=3, it indicates that there are two adjacent points and one local peak point, w1 and w3 are adjacent weighting coefficients, w2 is a peak weighting coefficient, A1 and A3 are adjacent amplitude values, and A2 is a peak amplitude value, when n=3, the second point is a local peak point, denotes the target estimated cell number corresponding to the second point.

[0087] The embodiment obtains the adjacent points with the local peak point as the center point, and then selects the adjacent cell numbers corresponding to the adjacent points from the initial cell numbers, and selects the adjacent amplitude values corresponding to the adjacent points from the initial amplitude values, and then determines the target estimated cell number corresponding to the local peak point according to the adjacent cell numbers and the adjacent amplitude values, so as to improve the accuracy of the radar. The embodiment determines the target estimated cell number corresponding to the local peak point according to the adjacent cell numbers and the adjacent amplitude values, which can make the target estimated cell number of the local peak point more accurate relative to the initial cell number, thereby improving the accuracy of radar measurement, that is, improving the accuracy of measuring the information of the obstacle target by the radar.

[0088] Referring to Figure 5 , Figure 5 is a structure block diagram of the first embodiment of the device for improving the accuracy of the radar.

[0089] As Figure 5 shown, the device for improving the accuracy of the radar provided by the embodiment of the present application comprises:

[0090] A target determination module 10 is configured to determine the obstacle target corresponding to the radar, and obtain the initial cell number and the corresponding initial amplitude value of the obstacle target.

[0091] A peak point determination module 20 is configured to determine the local peak point corresponding to the obstacle target according to the initial cell number and the initial amplitude value.

[0092] A cell number determination module 30 is configured to determine the target estimated cell number corresponding to the local peak point according to the initial cell number and the initial amplitude value, so as to improve the accuracy of the radar.

[0093] The embodiment determines the radar corresponding obstacle target, and obtains the initial cell number and the corresponding initial amplitude value of the obstacle target, and then determines the local peak point corresponding to the obstacle target according to the initial cell number and the initial amplitude value, and determines the target estimation cell number corresponding to the local peak point according to the initial cell number and the initial amplitude value, so as to improve the precision of the radar. According to the initial cell number and the initial amplitude value, the local peak point corresponding to the obstacle target is determined, and the target estimation cell number corresponding to the local peak point is determined according to the initial cell number and the initial amplitude value, so that the target estimation cell number of the local peak point is more accurate relative to the initial cell number, thereby improving the precision of the radar measurement, that is, improving the precision of the information of the obstacle target measured by the radar.

[0094] It should be noted that the above-described workflow is only illustrative and does not limit the scope of protection of the present application. In actual application, a person skilled in the art can select part or all of them according to actual needs to achieve the purpose of the embodiment scheme, which is not limited here.

[0095] In addition, technical details not described in detail in the embodiment can be referred to the method for improving the precision of the radar provided by any embodiment of the present application, which will not be described here.

[0096] Based on the first embodiment of the device for improving the precision of the radar, a second embodiment of the device for improving the precision of the radar is proposed.

[0097] In the embodiment, the peak point determination module 20 is further configured to select a peak amplitude value from the initial amplitude value by a preset condition, select a peak cell number corresponding to the peak amplitude value from the initial cell number, and determine a local peak point corresponding to the obstacle target according to the peak amplitude value and the peak cell number.

[0098] Further, the cell number determination module 30 is further configured to obtain a neighboring point corresponding to the local peak point with the local peak point as a center point, select a neighboring cell number corresponding to the neighboring point from the initial cell number and a neighboring amplitude value corresponding to the neighboring point from the initial amplitude value, and determine a target estimation cell number and a target amplitude value corresponding to the local peak point according to the neighboring cell number and the neighboring amplitude value, so as to improve the precision of the radar.

[0099] Further, the cell number determination module 30 is further configured to determine a neighboring weighting coefficient corresponding to the neighboring point according to the neighboring amplitude value and the peak amplitude value, and determine the target estimation cell number corresponding to the local peak point according to the neighboring weighting coefficient, the neighboring cell number, the neighboring amplitude value, a peak weighting coefficient, the peak cell number and the peak amplitude value.

[0100] Furthermore, the unit number determination module 30 is also used to determine the target estimation unit number corresponding to the local peak point according to the adjacent weighting coefficient, the adjacent unit number, the adjacent amplitude value, the peak weighting coefficient, the peak unit number, and the peak amplitude value using a preset formula, wherein the preset formula is:

[0101]

[0102] In the formula, This represents the target estimation unit number, where n represents the number of neighboring points plus 1. When i-1 = (n-1) / 2, w i x represents the peak weighting coefficient. i Indicates the peak unit number, A i This represents the peak amplitude value, where w is the peak amplitude value when i-1 ≠ (n-1) / 2. i x represents the adjacent weighting coefficients. i Indicates the adjacent unit number, A i This refers to the adjacent amplitude values.

[0103] Furthermore, the target determination module 10 is also used to acquire obstacle information of the obstacle target at the current time; acquire the obstacle information to determine the corresponding initial unit number; and determine the corresponding initial amplitude value according to the initial unit number and the preset mapping relationship.

[0104] Furthermore, the initial unit number includes: initial distance unit number, initial velocity unit number, or initial angle unit number; the initial amplitude value includes: initial distance amplitude value, initial velocity amplitude value, or initial angle amplitude value.

[0105] Other embodiments or specific implementations of the device for improving radar accuracy of the present invention can be found in the above-described method embodiments, and will not be repeated here.

[0106] Furthermore, embodiments of the present invention also propose a storage medium storing a program for improving radar accuracy, wherein when the program for improving radar accuracy is executed by a processor, it implements the steps of the method for improving radar accuracy as described above.

[0107] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0108] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0109] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and the necessary general hardware platform, of course, they can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, an optical disk) and includes a plurality of instructions for making a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) execute the methods described in various embodiments of the present application.

[0110] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation made by using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for improving radar accuracy, characterized in that, The method for improving radar accuracy includes the following steps: Identify the obstacle target corresponding to the radar, and obtain the initial cell number and corresponding initial amplitude value of the obstacle target; The local peak point corresponding to the obstacle target is determined based on the initial unit number and the initial amplitude value; The target estimation unit number corresponding to the local peak point is determined based on the initial unit number and the initial amplitude value to improve the accuracy of the radar. The step of determining the target estimation unit number corresponding to the local peak point based on the initial unit number and the initial amplitude value to improve the accuracy of the radar specifically includes: Find the neighboring points corresponding to the local peak point, with the local peak point as the center point; Select the adjacent unit number corresponding to the adjacent point from the initial unit number, and select the adjacent amplitude value corresponding to the adjacent point from the initial amplitude value; The target estimation unit number corresponding to the local peak point is determined based on the adjacent unit number and the adjacent amplitude value to improve the accuracy of the radar.

2. The method for improving radar accuracy as described in claim 1, characterized in that, The step of determining the local peak point corresponding to the obstacle target based on the initial unit number and the initial amplitude value specifically includes: The peak amplitude value is selected from the initial amplitude value based on preset conditions; Select the peak unit number corresponding to the peak amplitude value from the initial unit number; The local peak point corresponding to the obstacle target is determined based on the peak amplitude value and the peak unit number.

3. The method for improving radar accuracy as described in claim 2, characterized in that, The step of determining the target estimation unit number corresponding to the local peak point based on the adjacent unit number and the adjacent amplitude value specifically includes: The adjacent weighting coefficients corresponding to the adjacent points are determined based on the adjacent amplitude values ​​and the peak amplitude values. The target estimation unit number corresponding to the local peak point is determined based on the adjacent weighting coefficient, the adjacent unit number, the adjacent amplitude value, the peak weighting coefficient, the peak unit number, and the peak amplitude value.

4. The method for improving radar accuracy as described in claim 3, characterized in that, The step of determining the target estimation unit number corresponding to the local peak point based on the adjacent weighting coefficient, the adjacent unit number, the adjacent amplitude value, the peak weighting coefficient, the peak unit number, and the peak amplitude value specifically includes: The target estimation unit number corresponding to the local peak point is determined by a preset formula based on the adjacent weighting coefficient, the adjacent unit number, the adjacent amplitude value, the peak weighting coefficient, the peak unit number, and the peak amplitude value, wherein the preset formula is: In the formula, This represents the target estimation unit number, and n represents the number of adjacent points plus 1. When i-1=(n-1) / 2, This represents the peak weighting coefficient. Indicates the peak unit number. This represents the peak amplitude value, when i-1 ≠ (n-1) / 2. Indicates the adjacent weighting coefficients, Indicates the adjacent unit number, This represents the adjacent amplitude values.

5. The method for improving radar accuracy as described in claim 1, characterized in that, The step of obtaining the initial unit number and corresponding initial amplitude value of the obstacle target specifically includes: Obtain the obstacle information of the obstacle target at the current moment; Obtain the obstacle information to determine the corresponding initial unit number; The initial amplitude value is determined based on the initial unit number and the preset mapping relationship.

6. The method for improving radar accuracy as described in any one of claims 1 to 5, characterized in that, The initial unit number includes: initial distance unit number, initial velocity unit number, or initial angle unit number; the initial amplitude value includes: initial distance amplitude value, initial velocity amplitude value, or initial angle amplitude value.

7. A device for improving radar accuracy, characterized in that, The device for improving radar accuracy includes: The target determination module is used to determine the obstacle target corresponding to the radar and obtain the initial unit number and corresponding initial amplitude value of the obstacle target; The peak point determination module is used to determine the local peak point corresponding to the obstacle target based on the initial unit number and the initial amplitude value. The cell number determination module is used to determine the target estimation cell number corresponding to the local peak point based on the initial cell number and the initial amplitude value, so as to improve the accuracy of the radar. The unit number determination module is further configured to obtain the neighboring points corresponding to the local peak point with the local peak point as the center point; select the neighboring unit number corresponding to the neighboring point from the initial unit number, and select the neighboring amplitude value corresponding to the neighboring point from the initial amplitude value; determine the target estimation unit number corresponding to the local peak point based on the neighboring unit number and the neighboring amplitude value, so as to improve the accuracy of the radar.

8. A device for improving radar accuracy, characterized in that, The device includes: a memory, a processor, and a program for improving radar accuracy stored in the memory and executable on the processor, the program for improving radar accuracy being configured to implement the steps of the method for improving radar accuracy as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores a program for improving radar accuracy, which, when executed by a processor, implements the steps of the method for improving radar accuracy as described in any one of claims 1 to 6.

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