Vehicle-mounted radar motion speed determination method, device and equipment

Abstract

This application discloses a method, apparatus, and device for determining the motion speed of a vehicle-mounted radar, relating to the field of autonomous driving technology. The method for determining the motion speed of a vehicle-mounted radar includes: acquiring point cloud information of the current frame of the vehicle-mounted radar, wherein the point cloud information includes the azimuth angle, elevation angle, and radial velocity of each point in the current frame relative to the vehicle-mounted radar; determining static points in the current frame based on the point cloud information; determining a first motion velocity vector corresponding to the set of static points based on the azimuth angle, elevation angle, and radial velocity of the static points relative to the vehicle-mounted radar; and determining a second motion velocity vector corresponding to the vehicle-mounted radar based on the first motion velocity vector. According to the scheme disclosed in this application, the motion velocity vector of the vehicle-mounted radar can be accurately determined.

Description

Technical Field

[0001] This application belongs to the field of autonomous driving technology, and in particular relates to a method, device and equipment for determining the speed of a vehicle-mounted radar. Background Technology

[0002] In recent years, autonomous driving technology has developed rapidly and attracted widespread attention. Environmental perception, path planning, and decision control are the three main modules of autonomous driving technology. Among them, environmental perception is the foundation of the other two. Only with good environmental perception can better path planning be achieved and correct decisions be made.

[0003] When using vehicle-mounted radar for environmental perception, the results are affected by the speed of the vehicle-mounted radar itself. Therefore, it is necessary to estimate the speed of the vehicle-mounted radar.

[0004] In related technologies, the three-dimensional point cloud collected by the vehicle radar is usually projected onto a plane. Then, the two-dimensional point cloud is linearly fitted and key points are extracted. The extracted key points are used to solve the rigid transformation between adjacent frames to obtain the vehicle radar's motion speed.

[0005] However, the speed of movement of the vehicle radar obtained through the above method is inaccurate. Summary of the Invention

[0006] This application provides a method, apparatus, and device for determining the movement speed of vehicle-mounted radar, which can solve the problem of inaccurate movement speed of vehicle-mounted radar.

[0007] In a first aspect, embodiments of this application provide a method for determining the speed of a vehicle-mounted radar, including:

[0008] Acquire the point cloud information of the current frame of the vehicle radar, where the point cloud information includes the azimuth angle, elevation angle and radial velocity of each point in the current frame relative to the vehicle radar;

[0009] Based on the point cloud information, determine the static points in the current frame;

[0010] Based on the azimuth, elevation, and radial velocity of the static points relative to the vehicle-mounted radar, determine the first motion velocity vector corresponding to the set of points composed of static points;

[0011] Based on the first velocity vector, determine the second velocity vector corresponding to the vehicle radar.

[0012] Secondly, embodiments of this application provide a vehicle-mounted radar motion speed determination device, comprising:

[0013] The first acquisition module is used to acquire the point cloud information of the current frame of the vehicle radar. The point cloud information includes the azimuth angle, elevation angle and radial velocity of each point in the current frame relative to the vehicle radar.

[0014] The first determining module is used to determine the static points in the current frame based on the point cloud information;

[0015] The second determining module is used to determine the first motion velocity vector corresponding to the set of static points based on the azimuth, elevation and radial velocity of the static points relative to the vehicle radar.

[0016] The third determining module is used to determine the second motion velocity vector corresponding to the vehicle radar based on the first motion velocity vector.

[0017] Thirdly, embodiments of this application provide an electronic device, which includes: a processor and a memory storing computer program instructions; the processor executes the computer program instructions to implement the vehicle radar motion speed determination method of the first aspect.

[0018] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the vehicle-mounted radar motion speed determination method of the first aspect.

[0019] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the vehicle radar motion speed determination method of the first aspect.

[0020] Sixthly, embodiments of this application provide a vehicle that includes at least one of the following:

[0021] The second aspect provides a vehicle-mounted radar motion speed determination device;

[0022] Electronic equipment provided by the third party;

[0023] The fourth aspect provides a computer-readable storage medium.

[0024] In this embodiment, point cloud information of the current frame of the vehicle-mounted radar is acquired; static points in the current frame are determined based on the point cloud information; a first motion velocity vector corresponding to the set of static points is determined based on the azimuth, elevation, and radial velocity of the static points relative to the vehicle-mounted radar; and a second motion velocity vector corresponding to the vehicle-mounted radar is determined based on the first motion velocity vector. In this way, the motion velocity vector of the vehicle-mounted radar can be accurately determined. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart illustrating the method for determining the motion speed of vehicle-mounted radar provided in an embodiment of this application;

[0027] Figure 2 This is a schematic diagram illustrating the process of determining the speed of a vehicle-mounted radar according to an embodiment of this application;

[0028] Figure 3 This is a schematic diagram of the structure of the vehicle-mounted radar motion speed determination device provided in the embodiments of this application;

[0029] Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0030] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0032] The following description, in conjunction with the accompanying drawings, details the vehicle-mounted radar motion speed determination method, apparatus, and equipment provided in this application through specific embodiments and application scenarios.

[0033] Figure 1This is a flowchart illustrating the method for determining the movement speed of vehicle-mounted radar provided in an embodiment of this application. Figure 1 As shown, the method for determining the speed of vehicle-mounted radar may include:

[0034] Step 101: Obtain the point cloud information of the current frame of the vehicle radar, wherein the point cloud information includes the azimuth angle, pitch angle and radial velocity of each point in the current frame relative to the vehicle radar;

[0035] For example, suppose the point cloud in the current frame of the vehicle radar contains 1000 points, where the azimuth angle of the i-th point relative to the vehicle radar is... The pitch angle is The radial velocity is .

[0036] Then radial velocity Azimuth Pitch angle The three are related as shown in the following formula (1).

[0037]

[0038] In formula (1), , and These are the velocity components of the i-th point relative to the vehicle radar along the X, Y, and Z axes in the three-dimensional coordinate system corresponding to the vehicle radar.

[0039] In some possible implementations of the embodiments of this application, the three-dimensional coordinate system corresponding to the vehicle-mounted radar can be one with the vehicle-mounted radar as the origin, the vehicle's front orientation as the positive Y-axis, the right side of the vehicle as the positive X-axis, and the direction perpendicular to the ground upwards as the positive Z-axis. Wherein, the radar center orientation is the same as the vehicle's front orientation. Let be the speed of the vehicle radar at the i-th point in the direction it faces the front of the vehicle.

[0040] Step 102: Determine the static points in the current frame based on the point cloud information;

[0041] Since the vehicle is traveling on the road and the radar is mounted on the vehicle body, the movement of the radar is usually two-dimensional, and the velocity component of the velocity vector of each point relative to the vehicle radar in the Z-axis direction is 0.

[0042] Assuming the vehicle's yaw rate is ,but ,in, Let be the longitudinal distance between the vehicle-mounted radar and the center of the vehicle's rear axle. Combining this with the above formula (1), we can obtain:

[0043]

[0044] In some possible implementations of this application's embodiments, step 102 may include: for the i-th row of the two-dimensional matrix, determining the column number j in the i-th row corresponding to the vehicle radar's velocity toward the vehicle's front direction for each point based on the azimuth angle, pitch angle, and radial velocity of each point relative to the vehicle radar in the current frame, wherein the number of rows N of the two-dimensional matrix is ​​determined based on the maximum and minimum values ​​of the vehicle's yaw rate, the number of columns M of the two-dimensional matrix is ​​determined based on the maximum and minimum values ​​of the vehicle radar's velocity toward the vehicle's front direction, i is a positive integer not greater than N, and j is a positive integer not greater than M; incrementing the element value of the i-th row and j-th column by 1; and determining the point corresponding to the maximum element value in the two-dimensional matrix in the current frame as a static point.

[0045] In some possible implementations of the embodiments of this application, the vehicle yaw rate can be preset before step 101. maximum value and minimum value The maximum speed of the vehicle radar pointing towards the front of the vehicle. and minimum value ,by For step size pair Discretization is performed to... Discretizing the velocity of the vehicle-mounted radar towards the front of the vehicle with a step size yields the number of rows N and columns M of a two-dimensional matrix. Wherein... , The initial value of each element in an N x M two-dimensional matrix is ​​0.

[0046] In some possible implementations of the embodiments of this application, determining the column number j of the vehicle radar velocity toward the front of the vehicle corresponding to each point in the current frame based on the azimuth angle, elevation angle, and radial velocity of each point relative to the vehicle radar can include: determining the column number j of the vehicle radar velocity toward the front of the vehicle corresponding to each point in the i-th row according to the following formula (3):

[0047]

[0048] In formula (3), Let be the column number in the i-th row corresponding to the velocity of the vehicle radar pointing towards the front of the vehicle at the k-th point. Let be the radial velocity of the k-th point relative to the vehicle-mounted radar. Let be the azimuth angle of the k-th point relative to the vehicle-mounted radar. Let be the elevation angle of the k-th point relative to the vehicle-mounted radar. Let yaw rate step be the vehicle's yaw rate step. This represents the minimum yaw rate of the vehicle. This refers to the longitudinal distance between the vehicle-mounted radar and the center of the vehicle's rear axle. This represents the minimum speed at which the vehicle-mounted radar moves towards the front of the vehicle. The speed step of the vehicle-mounted radar facing the front of the vehicle.

[0049] For the i-th row of a two-dimensional matrix ,but For the k-th point out of the aforementioned 1000 points, the azimuth, elevation, and radial velocity of the k-th point relative to the vehicle-mounted radar, as well as... Substituting into the above formula (2), we can obtain the yaw rate of the vehicle at the k-th point as: The speed corresponding to the vehicle's radar pointing towards the front of the vehicle. Then, based on that speed, and This allows us to calculate the column number in the i-th row corresponding to the velocity of the vehicle radar pointing towards the front of the vehicle at the k-th point. This calculation process can be simplified to calculating the column number j in the i-th row corresponding to the vehicle radar's velocity toward the front of the vehicle at each point using the formula (3) above.

[0050] In some possible implementations of the embodiments of this application, the vehicle yaw rate can also be changed from... Beginning, with To determine the vehicle yaw rate step size, substitute the azimuth, pitch, and radial velocity of each of the 1000 points relative to the vehicle radar into the formula (2) above to obtain a set of vehicle yaw angles and vehicle radar velocities towards the front of the vehicle corresponding to each of the 1000 points. Then, based on the calculated vehicle yaw angles, and Calculate the row number of each of the 1000 points in the two-dimensional matrix, and the calculated velocity of the vehicle's radar in the direction of the vehicle's front. and Calculate the column number of each of the 1000 points in the two-dimensional matrix. The process of calculating the column number can also be simplified to calculating the column number j of the vehicle radar velocity in the i-th row corresponding to each point using the above formula (3).

[0051] For each row of the two-dimensional matrix, the azimuth, pitch and radial velocity of all points in the current frame relative to the vehicle radar are substituted into the above formula (3) to calculate the corresponding column number. After increasing the element value of the corresponding position in the two-dimensional matrix by 1, the maximum element value in the two-dimensional matrix and the position of the maximum element value in the two-dimensional matrix can be obtained. Then, the point corresponding to the position in the current frame can be known. These points are static points.

[0052] Step 103: Determine the first motion velocity vector corresponding to the set of static points based on the azimuth, elevation, and radial velocity of the static points relative to the vehicle radar.

[0053] For example, assume that in step 102, P static points are determined. These P static points are P1, P2, ..., P... P A point set consisting of P static points is represented as... P ={P1, P2, ..., P P Substitute the azimuth, elevation, and radial velocity of each of the P static points relative to the vehicle radar into the above formula (1), and solve using the least squares method to obtain the first velocity vector corresponding to the set of static points.

[0054] That is to Solving the problem yields the first velocity vector corresponding to the set of static points.

[0055] in, Let be the radial velocity of the i-th static point among P static points relative to the vehicle-mounted radar. Let be the azimuth angle of the i-th static point relative to the vehicle-mounted radar. Let be the elevation angle of the i-th static point relative to the vehicle-mounted radar.

[0056] Step 104: Determine the second motion velocity vector corresponding to the vehicle radar based on the first motion velocity vector.

[0057] Since the first velocity vector corresponding to the set of static points is equal in magnitude but opposite in direction to the velocity vector corresponding to the vehicle radar, the first velocity vector corresponding to the set of static points is obtained through step 103. , , After that, the second velocity vector corresponding to the vehicle radar can be determined (- , - , - ).in,- Reflects vehicle speed, - Reflects the radar's vertical sway speed and the vehicle's current yaw rate. .

[0058] In this embodiment, point cloud information of the current frame of the vehicle-mounted radar is acquired; static points in the current frame are determined based on the point cloud information; a first motion velocity vector corresponding to the set of static points is determined based on the azimuth, elevation, and radial velocity of the static points relative to the vehicle-mounted radar; and a second motion velocity vector corresponding to the vehicle-mounted radar is determined based on the first motion velocity vector. In this way, the motion velocity vector of the vehicle-mounted radar can be accurately determined.

[0059] In some possible implementations of the embodiments of this application, the number of moving points in the current frame of the vehicle-mounted radar is greater than the number of static points, which may result in outliers. To prevent the occurrence of outliers and further improve the accuracy of determining the motion velocity vector of the vehicle-mounted radar, the vehicle-mounted radar motion velocity determination method provided in the embodiments of this application may further include: performing time-domain filtering on the second motion velocity vector to obtain the third motion velocity vector corresponding to the vehicle-mounted radar.

[0060] This application does not limit the method used for time-domain filtering of the second motion velocity vector; any available method can be applied to this application.

[0061] In this embodiment of the application, by performing time-domain filtering on the motion velocity vector corresponding to the vehicle-mounted radar, the accuracy of determining the motion velocity vector of the vehicle-mounted radar can be further improved.

[0062] In some possible implementations of the embodiments of this application, performing time-domain filtering on the second motion velocity vector to obtain the third motion velocity vector corresponding to the vehicle radar may include: calculating the first average value of the motion velocity vectors corresponding to the previous F frames of the current frame; calculating the first average value and the second average value of the second motion velocity vector to obtain the third motion velocity vector.

[0063] Then the third velocity vector corresponding to the vehicle radar ,in, This is the second velocity vector corresponding to the vehicle-mounted radar. This represents the average value of the motion velocity vectors corresponding to the previous F frames. , It is the motion velocity vector corresponding to the i-th frame in the previous F frames.

[0064] In some possible implementations of the embodiments of this application, before calculating the first average value of the motion velocity vectors corresponding to the previous F frames of the current frame, the vehicle radar motion velocity determination method provided in the embodiments of this application may further include: removing motion velocity vectors that satisfy the first condition from the motion velocity vectors corresponding to the previous F frames, to obtain A motion velocity vector, wherein the first condition includes that the differential value of the X-axis component of the three-dimensional coordinate system corresponding to the vehicle radar of the motion velocity vector is greater than a first threshold or the differential value of the Y-axis component is greater than a second threshold; correspondingly, calculating the first average value of the motion velocity vectors corresponding to the previous F frames of the current frame may include: calculating The average value of each velocity vector.

[0065] In some possible implementations of the embodiments of this application, the first threshold and the second threshold can be set according to actual needs. For example, the first threshold is 0.2 radians per second (rad / s), and the second threshold is 3.5 meters per second (m / s).

[0066] Then the third velocity vector corresponding to the vehicle radar ,in, This is the second velocity vector corresponding to the vehicle-mounted radar. for The average value of each velocity vector. , for The j-th velocity vector among the velocities.

[0067] Figure 2 This is a schematic diagram illustrating the process of determining the speed of a vehicle-mounted radar according to an embodiment of this application. The process of determining the speed of a vehicle-mounted radar includes the following steps:

[0068] Step 201: Obtain the point cloud information of the current frame of the vehicle radar;

[0069] Step 202: Determine the static points in the current frame based on the point cloud information;

[0070] Step 203: Determine the first velocity vector corresponding to the set of points consisting of static points;

[0071] Step 204: Determine the second motion velocity vector corresponding to the vehicle radar based on the first motion velocity vector;

[0072] Step 205: Obtain the motion velocity vector corresponding to the previous F frames of the current frame;

[0073] Step 206: Remove the motion velocity vectors that satisfy the first condition from the first F frames, and obtain One velocity vector;

[0074] Step 207: Calculation The average value of each velocity vector;

[0075] Step 208: Calculation The average value of the first velocity vector and the average value of the second velocity vector are used to obtain the third velocity vector corresponding to the vehicle radar.

[0076] Corresponding to the above-described method embodiments, this application also provides a vehicle-mounted radar motion speed determination device, such as... Figure 3 As shown. Figure 3 This is a schematic diagram of the vehicle-mounted radar speed determination device 300 provided in the embodiments of this application. The vehicle-mounted radar speed determination device 300 may include:

[0077] The first acquisition module 301 is used to acquire point cloud information of the current frame of the vehicle radar, wherein the point cloud information includes the azimuth angle, elevation angle and radial velocity of each point in the current frame relative to the vehicle radar.

[0078] The first determining module 302 is used to determine static points in the current frame based on point cloud information;

[0079] The second determining module 303 is used to determine the first motion velocity vector corresponding to the set of static points based on the azimuth angle, elevation angle and radial velocity of the static points relative to the vehicle radar.

[0080] The third determining module 304 is used to determine the second motion velocity vector corresponding to the vehicle radar based on the first motion velocity vector.

[0081] In this embodiment, point cloud information of the current frame of the vehicle-mounted radar is acquired; static points in the current frame are determined based on the point cloud information; a first motion velocity vector corresponding to the set of static points is determined based on the azimuth, elevation, and radial velocity of the static points relative to the vehicle-mounted radar; and a second motion velocity vector corresponding to the vehicle-mounted radar is determined based on the first motion velocity vector. In this way, the motion velocity vector of the vehicle-mounted radar can be accurately determined.

[0082] In some possible implementations of embodiments of this application, the first determining module 302 may include:

[0083] The first determining submodule is used to determine the column number j of the vehicle radar's velocity toward the vehicle's front direction for the i-th row of the two-dimensional matrix, based on the azimuth, pitch, and radial velocity of each point relative to the vehicle radar in the current frame. Here, the number of rows N of the two-dimensional matrix is ​​determined based on the maximum and minimum values ​​of the vehicle's yaw rate, and the number of columns M of the two-dimensional matrix is ​​determined based on the maximum and minimum values ​​of the vehicle radar's velocity toward the vehicle's front direction. i is a positive integer not greater than N, and j is a positive integer not greater than M.

[0084] The accumulation submodule is used to increment the value of the element in the i-th row and j-th column by 1;

[0085] The second determination submodule is used to determine the point corresponding to the maximum element value in the two-dimensional matrix in the current frame as a static point.

[0086] In some possible implementations of the embodiments of this application, the first determining submodule may specifically be used for:

[0087] Based on the above formula (3), determine the column number j in the i-th row corresponding to the vehicle radar velocity toward the front of the vehicle at each point.

[0088] In some possible implementations of the embodiments of this application, the vehicle-mounted radar motion speed determination device 300 provided in the embodiments of this application may further include:

[0089] The fourth determining module is used to determine the number of rows N and columns M of a two-dimensional matrix according to the following formula (4):

[0090]

[0091] In formula (4), This represents the maximum yaw rate of the vehicle. This represents the minimum yaw rate of the vehicle. Let yaw rate step be the vehicle's yaw rate step. This represents the maximum speed at which the vehicle-mounted radar moves towards the front of the vehicle. This represents the minimum speed at which the vehicle-mounted radar moves towards the front of the vehicle. The speed step of the vehicle-mounted radar facing the front of the vehicle.

[0092] In some possible implementations of the embodiments of this application, the second determining module 303 may specifically be used for:

[0093] Solve Thus, the first velocity vector is obtained;

[0094] in, Let be the radial velocity of the i-th static point among P static points relative to the vehicle-mounted radar. Let be the azimuth angle of the i-th static point relative to the vehicle-mounted radar. Let be the elevation angle of the i-th static point relative to the vehicle-mounted radar.

[0095] In some possible implementations of the embodiments of this application, the vehicle-mounted radar motion speed determination device 300 provided in the embodiments of this application may further include:

[0096] The filtering module is used to perform time-domain filtering on the second motion velocity vector to obtain the third motion velocity vector corresponding to the vehicle radar.

[0097] In this embodiment of the application, by performing time-domain filtering on the motion velocity vector corresponding to the vehicle-mounted radar, the accuracy of determining the motion velocity vector of the vehicle-mounted radar can be further improved.

[0098] In some possible implementations of embodiments of this application, the filtering module may include:

[0099] The first filtering submodule is used to calculate the average value of the motion velocity vector corresponding to the previous F frames of the current frame;

[0100] The second filtering submodule is used to calculate the first average value and the second average value of the second motion velocity vector to obtain the third motion velocity vector.

[0101] In some possible implementations of the embodiments of this application, the vehicle-mounted radar motion speed determination device 300 provided in the embodiments of this application may further include:

[0102] The removal module is used to remove motion velocity vectors that satisfy the first condition from the motion velocity vectors corresponding to the first F frames, resulting in... A velocity vector, wherein the first condition includes the differential value of the X-axis component of the three-dimensional coordinate system corresponding to the vehicle radar of the velocity vector being greater than a first threshold or the differential value of the Y-axis component being greater than a second threshold.

[0103] Accordingly, the first filtering submodule can specifically be used for:

[0104] calculate The average value of each velocity vector.

[0105] Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0106] The electronic device may include a processor 401 and a memory 402 storing computer program instructions.

[0107] Specifically, the processor 401 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0108] Memory 402 may include mass storage for data or instructions. For example, and not limitingly, memory 402 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where suitable, memory 402 may include removable or non-removable (or fixed) media. Where suitable, memory 402 may be internal or external to an electronic device. In some specific embodiments, memory 402 is a non-volatile solid-state memory.

[0109] In some specific embodiments, the memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the vehicle radar motion speed determination method according to this application.

[0110] The processor 401 reads and executes computer program instructions stored in the memory 402 to implement the vehicle radar motion speed determination method provided in this application embodiment.

[0111] In one example, the electronic device may also include a communication interface 403 and a bus 410. Wherein, as... Figure 4 As shown, the processor 401, memory 402, and communication interface 403 are connected through bus 410 and complete communication with each other.

[0112] The communication interface 403 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0113] Bus 410 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 410 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.

[0114] The electronic device can execute the vehicle radar motion speed determination method provided in the embodiments of this application, thereby achieving the corresponding technical effects of the vehicle radar motion speed determination method provided in the embodiments of this application.

[0115] In addition, in conjunction with the vehicle-mounted radar speed determination method in the above embodiments, this application also provides a computer-readable storage medium for implementation. This computer-readable storage medium stores computer program instructions; when executed by a processor, these computer program instructions implement the vehicle-mounted radar speed determination method provided in this application. Examples of computer-readable storage media include non-transitory computer-readable media, such as ROM, RAM, magnetic disks, or optical disks.

[0116] This application also provides a computer program product. When the instructions in the computer program product are executed by the processor of an electronic device, the electronic device executes the vehicle radar motion speed determination method provided in this application embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0117] This application also provides a vehicle that includes at least one of the following:

[0118] The vehicle-mounted radar motion speed determination device provided in this application embodiment;

[0119] The electronic device provided in the embodiments of this application;

[0120] The computer-readable storage medium provided in the embodiments of this application.

[0121] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0122] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable read-only memory (EROM), floppy disks, compact disc read-only memory (CD-ROM), optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0123] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0124] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0125] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for determining the speed of a vehicle-mounted radar, characterized in that, The method includes: Acquire point cloud information of the current frame of the vehicle radar, wherein the point cloud information includes the azimuth angle, elevation angle and radial velocity of each point in the current frame relative to the vehicle radar; Based on the point cloud information, determine the static points in the current frame; Based on the azimuth, elevation, and radial velocity of the static points relative to the vehicle-mounted radar, determine the first motion velocity vector corresponding to the set of points composed of the static points; Based on the first velocity vector, determine the second velocity vector corresponding to the vehicle radar; Determining the static points in the current frame based on the point cloud information includes: For the i-th row of the two-dimensional matrix, based on the azimuth, pitch, and radial velocity of each point in the current frame relative to the vehicle radar, determine the column number j of the vehicle radar velocity toward the vehicle's front direction corresponding to each point in the i-th row. Here, the number N of the two-dimensional matrix is ​​determined based on the maximum and minimum values ​​of the vehicle's yaw rate, and the number M of the two-dimensional matrix is ​​determined based on the maximum and minimum values ​​of the vehicle radar velocity toward the vehicle's front direction. i is a positive integer not greater than N, and j is a positive integer not greater than M. Increment the value of the element in the i-th row and j-th column by 1; The point corresponding to the maximum element value in the two-dimensional matrix in the current frame is determined as the static point.

2. The method according to claim 1, characterized in that, The step of determining the column number j of the vehicle radar's velocity toward the vehicle's front direction for each point based on the azimuth, elevation, and radial velocity of each point relative to the vehicle radar in the current frame includes: The column number j in the i-th row corresponds to the velocity of the vehicle radar towards the front of the vehicle at each point, as determined by the following formula: in, Let be the column number in the i-th row corresponding to the velocity of the vehicle radar pointing towards the front of the vehicle at the k-th point. Let be the radial velocity of the k-th point relative to the vehicle-mounted radar. Let be the azimuth angle of the k-th point relative to the vehicle-mounted radar. Let be the elevation angle of the k-th point relative to the vehicle-mounted radar. Let the vehicle's yaw rate step be... This represents the minimum yaw rate of the vehicle. This refers to the longitudinal distance between the vehicle-mounted radar and the center of the vehicle's rear axle. This represents the minimum speed at which the vehicle-mounted radar moves towards the front of the vehicle. The speed step of the vehicle-mounted radar facing the front of the vehicle.

3. The method according to claim 1, characterized in that, Before acquiring the point cloud information of the current frame of the vehicle-mounted radar, the method further includes: The number of rows N and columns M of the two-dimensional matrix are determined according to the following formula: in, This represents the maximum yaw rate of the vehicle. This represents the minimum yaw rate of the vehicle. Let the vehicle's yaw rate step be... This represents the maximum speed at which the vehicle-mounted radar moves towards the front of the vehicle. This represents the minimum speed at which the vehicle-mounted radar moves towards the front of the vehicle. The speed step of the vehicle-mounted radar facing the front of the vehicle.

4. The method according to claim 1, characterized in that, The step of determining the first motion velocity vector corresponding to the set of points composed of the static points based on the azimuth, elevation, and radial velocity of the static points relative to the vehicle-mounted radar includes: Solve The first motion velocity vector is obtained; in, Let be the radial velocity of the i-th static point among P static points relative to the vehicle-mounted radar. Let be the azimuth angle of the i-th static point relative to the vehicle-mounted radar. Let be the elevation angle of the i-th static point relative to the vehicle-mounted radar. , and These are the motion velocity components of the first motion velocity vector in the three-dimensional coordinate system corresponding to the vehicle radar, namely the X-axis, Y-axis, and Z-axis. The three-dimensional coordinate system is with the vehicle radar as the origin, the direction of the vehicle's front as the positive Y-axis, the right side of the vehicle as the positive X-axis, and the direction perpendicular to the ground upward as the positive Z-axis.

5. The method according to claim 1, characterized in that, The method further includes: The second motion velocity vector is filtered in the time domain to obtain the third motion velocity vector corresponding to the vehicle radar.

6. The method according to claim 5, characterized in that, The step of performing time-domain filtering on the second motion velocity vector to obtain the third motion velocity vector corresponding to the vehicle-mounted radar includes: Calculate the first average value of the motion velocity vectors corresponding to the previous F frames of the current frame; The third motion velocity vector is obtained by calculating the first average value and the second average value of the second motion velocity vector.

7. The method according to claim 6, characterized in that, Before calculating the first average value of the motion velocity vectors corresponding to the previous F frames of the current frame, the method further includes: Remove the motion velocity vectors that satisfy the first condition from the motion velocity vectors corresponding to the first F frames to obtain A motion velocity vector, wherein the first condition includes the time domain differential value of the X-axis component of the three-dimensional coordinate system corresponding to the vehicle radar of the motion velocity vector being greater than a first threshold or the time domain differential value of the Y-axis component being greater than a second threshold. The calculation of the first average value of the motion velocity vector corresponding to the previous F frames of the current frame includes: Calculate the The average value of each velocity vector.

8. A vehicle-mounted radar motion speed determination device, characterized in that, The device includes: The first acquisition module is used to acquire point cloud information of the current frame of the vehicle radar, wherein the point cloud information includes the azimuth angle, elevation angle and radial velocity of each point in the current frame relative to the vehicle radar; The first determining module is used to determine static points in the current frame based on the point cloud information; The second determining module is used to determine the first motion velocity vector corresponding to the set of points composed of the static points based on the azimuth angle, elevation angle and radial velocity of the static points relative to the vehicle-mounted radar. The third determining module is used to determine the second motion velocity vector corresponding to the vehicle radar based on the first motion velocity vector; The first determining module includes: The first determining submodule is used to determine the column number j of the vehicle radar's velocity toward the vehicle's front direction for the i-th row of the two-dimensional matrix, based on the azimuth angle, pitch angle, and radial velocity of each point in the current frame relative to the vehicle radar. Here, the number of rows N of the two-dimensional matrix is ​​determined based on the maximum and minimum values ​​of the vehicle's yaw rate, and the number of columns M of the two-dimensional matrix is ​​determined based on the maximum and minimum values ​​of the vehicle radar's velocity toward the vehicle's front direction. i is a positive integer not greater than N, and j is a positive integer not greater than M. The accumulation submodule is used to increment the value of the element in the i-th row and j-th column by 1; The second determining submodule is used to determine the point corresponding to the maximum element value in the two-dimensional matrix in the current frame as the static point.

9. An electronic device, characterized in that, The electronic device includes: a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the vehicle radar motion speed determination method as described in any one of claims 1-7.

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