Radar debugging processing method and device, electronic equipment and storage medium

Abstract

The application discloses a radar debugging processing method and device, electronic equipment and a storage medium. The method comprises the following steps: determining first radar configuration information required for target radar to be debugged, wherein the radar configuration information comprises at least two target object flow classifications and radar detection parameters corresponding to different target object flow classifications; determining radar tracking detection results obtained by target object detection of the target radar based on each target object flow classification in the first radar configuration information and the radar detection parameters corresponding to the target object flow classification; and updating the first radar configuration information based on the radar tracking detection results to obtain second radar configuration information, so as to continue the next debugging update by using the second radar configuration information. The present scheme solves the problem that the radar cannot adjust the radar detection operation itself in real time according to the real-time change of the traffic condition due to the use of the same set of parameters for target object detection by configuring different target object flow classifications and corresponding radar detection parameters.

Description

Technical Field

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

[0002] With the continuous upgrading and iteration of intelligent sensing technology, the detection capabilities of various new sensors are constantly being improved, and millimeter-wave radar has gradually become the mainstream traffic detection sensor.

[0003] In the relevant scheme, when the radar sensor is used, the required radar parameters are pre-loaded into the radar sensor, and then detection is performed based on the loaded radar parameters. It can be seen that radar parameters are important for radar detection.

[0004] However, the use of uniform radar parameters often results in the radar being unable to adapt to real-time changes, leading to issues such as missed detections and false detections due to mismatch with real-time conditions, which seriously affects the accuracy of radar detection. Summary of the Invention

[0005] This invention provides a radar debugging and processing method, apparatus, electronic device, and storage medium to solve the problem that radar detection parameters cannot adapt to the detection of changing traffic conditions.

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

[0007] The first radar configuration information that needs to be debugged for the target radar is determined. The radar configuration information includes at least two target object traffic levels and radar detection parameters corresponding to different target object traffic levels. The target object traffic is the number of target objects passing through per unit time.

[0008] The target radar is determined by the radar tracking and detection results obtained by detecting the target object based on the target object traffic level and the radar detection parameters corresponding to the target object traffic level in the first radar configuration information.

[0009] Based on the radar tracking and detection results, the first radar configuration information is debugged and updated to obtain the second radar configuration information, which is then used to continue the next debugging and update.

[0010] According to another aspect of the present invention, a radar debugging processing apparatus is provided, the apparatus comprising:

[0011] The first determining module is used to determine the first radar configuration information that the target radar needs to be debugged. The radar configuration information includes at least two target object traffic levels and radar detection parameters corresponding to different target object traffic levels. The target object traffic is the number of target objects passing through per unit time.

[0012] The second determining module is used to determine the radar tracking and detection result obtained by the target radar based on the radar detection parameters corresponding to each target object traffic level in the first radar configuration information and the target object traffic level;

[0013] The debugging and update module is used to debug and update the first radar configuration information based on the radar tracking and detection results to obtain the second radar configuration information, so as to continue the next debugging and update using the second radar configuration information.

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

[0015] At least one processor; and

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

[0017] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the radar debugging processing method according to any embodiment of the present invention.

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

[0019] The technical solution of this invention determines the first radar configuration information that the target radar needs to be debugged. Based on the traffic flow levels and corresponding radar detection parameters for each target object in the first radar configuration information, the radar tracking and detection results obtained by the target radar using the corresponding radar detection parameters for each target object traffic level can be determined. Then, the first radar configuration information is debugged and updated according to the radar tracking results to obtain the second radar configuration information. Different target object traffic levels are configured according to different target object traffic detection conditions, and the radar detection parameters corresponding to different target object traffic levels are updated synchronously according to these different levels. This solves the problem of the radar always using the same set of parameters for target object detection. By configuring different target object traffic levels and corresponding radar parameters, it avoids the radar's inability to adjust its radar detection parameters in real time according to changes in traffic conditions. This allows the radar to adjust its detection operation in real time according to different target object traffic levels and corresponding radar detection parameters, minimizing the problem of missed detections and false detections due to mismatch between radar detection and real-time conditions, and improving the detection accuracy of traffic radar.

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

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

[0022] Figure 1 This is a flowchart of a radar debugging process provided by an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the interface between the target object traffic classification and the corresponding radar detection parameters in the radar configuration information applicable to the embodiments of the present invention;

[0024] Figure 3 This is a flowchart illustrating the optimization and adjustment of target object traffic classification and radar detection parameters according to embodiments of the present invention.

[0025] Figure 4 This is a flowchart of another radar debugging processing method provided by an embodiment of the present invention.

[0026] Figure 5This is a schematic diagram of the structure of a radar debugging and processing device according to an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of an electronic device that implements the radar debugging processing method of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Figure 1 The present invention provides a flowchart of a radar debugging and processing method. This embodiment is applicable to situations where radar parameters need to be adjusted to adapt to constantly changing traffic conditions. The method can be executed by a radar debugging and processing device, which can be implemented in hardware and / or software and can be configured in any electronic device with network communication capabilities.

[0031] like Figure 1 As shown, the radar debugging process in this embodiment may include:

[0032] S110. Determine the configuration information of the first radar that needs to be debugged for the target radar. The radar configuration information includes at least two target traffic levels and radar detection parameters corresponding to different target traffic levels. The target traffic is the number of target objects passing through per unit time.

[0033] The target radar can be a millimeter-wave radar or a lidar.

[0034] Traffic condition detection is highly real-time and dynamic. For example, traffic condition detection may include target object detection via radar, which places higher demands on radar sensors to accurately detect traffic conditions under different circumstances. If radar still relies on default radar detection parameters for traffic condition detection, using the same set of parameters in real time regardless of the time period, the radar will be unable to adjust its detection parameters according to real-time changes in traffic conditions. This will lead to missed detections and false detections due to mismatch with real-time conditions, severely affecting the detection accuracy of traffic radar.

[0035] Taking into full account the issue that traffic conditions can cause radar detection data to lack consistent high-precision accuracy across different time periods, in traffic scenarios, pedestrians, motor vehicles, and other moving objects on the road are important traffic participants, reflecting the most significant state within the traffic area. Whether traffic is smooth or congested in this area is strongly correlated with the number of motor vehicle participants. The target object can be vehicles, and the target object flow classification can be vehicle flow classification.

[0036] Therefore, this case introduces the concept of target object traffic flow. For sensors such as LiDAR and millimeter-wave radar, target object traffic flow can directly reflect the regional traffic status as a parameter; therefore, it can be used as an important parameter for classifying regional traffic status. (See also...) Figure 2 When configuring the radar detection parameters used by the radar, the traffic flow of the target objects in the target area where the radar is located can be classified. Different traffic flow levels of the target objects can be associated with different radar detection parameters. This allows the radar to adjust the radar detection parameters it needs to use in real time based on the traffic flow level of the target object in the target area where the radar is located, so that the radar can adjust its own detection parameters in real time with the real-time changes in traffic conditions.

[0037] It is understandable that, compared to the flow of target objects, the overall movement speed of the area and the number of targets in the queue can also reflect the state of the area. However, these parameters require more complex algorithms to support them, and the algorithm logic problems will introduce more unreliable factors, increasing the workload and complexity of the judgment. Therefore, after comprehensive consideration, the flow of target objects can be selected to reflect different traffic conditions, and then different radar detection parameters can be implemented based on different traffic conditions.

[0038] As an optional but not limited implementation, determining the configuration information of the first radar that needs to be debugged for the target radar may include:

[0039] When debugging the radar configuration information used by the target radar for the first time, the traffic scene of the target area where the target radar is located is determined. The traffic scene is characterized based on the geographical location, lane type and number of lanes of the target area where the target radar is located. The default radar configuration information associated with the traffic scene of the target area where the target radar is located is determined as the first radar configuration information used by the target radar.

[0040] In the transportation sector, traffic flow data reflecting target objects is statistically analyzed by counting and analyzing the number of target objects periodically passing through a preset cross-section of the radar's target area. A statistical period can be defined as 2-5 traffic light cycles, counting the actual number of target objects passing through within that cycle. The traffic flow of target objects varies depending on the type of traffic scenario. This case uses a one-way 4-lane intersection (1 left turn, 2 straight, 1 right turn) as an example. Each traffic light cycle lasts approximately 120 seconds (2 minutes). The traffic flow of target objects is illustrated using a statistical period of 5 traffic light cycles (10 minutes).

[0041] Taking vehicles as the target object as an example, the first target object traffic level is: this level is during the night or clear weekday time period, when there are few vehicles traveling in the target area where the radar is located, and there are few straight-going vehicles and turning vehicles. Approximately 0-10 vehicles pass through each statistical period, so the number of vehicles corresponding to the first target object traffic level is 0-50.

[0042] Taking vehicles as the target object as an example, the second target object traffic level is: this level is the morning and evening peak hours on sunny weekdays, during commuting hours, when the number of vehicles traveling in the target area where the radar is located increases significantly, with 10-30 vehicles passing through each statistical period. Therefore, the number of vehicles corresponding to the second target object traffic level is 50-150.

[0043] Taking vehicles as the target object as an example, the third target object traffic level is: this level is the morning and evening peak hours on rainy weekdays. Affected by the weather and during the commuting peak hours, the number of vehicles traveling in the target area where the radar is located will further increase. If 30-50 vehicles pass through each statistical period, the number of vehicles corresponding to the third target object traffic level is established as 150-250.

[0044] Based on the above target object traffic classification, different target object traffic classifications can be used to intuitively represent different traffic conditions. Each target object traffic classification specifies the number of target objects required to satisfy the target object traffic classification.

[0045] Meanwhile, in order to configure different radar detection parameters according to different traffic conditions, radar detection parameters are configured for each target traffic level. Based on the above target traffic levels and the corresponding radar detection parameters, the default radar configuration information adapted to a traffic scenario can be determined. The target traffic conditions are also different in different types of traffic scenarios, so the default radar configuration information of radar in different traffic scenarios can be obtained in turn.

[0046] Optionally, the target traffic flow classification included in the default radar configuration information used by the same target radar in different traffic scenarios may be the same or different, and the radar detection parameters corresponding to the traffic flow classification of the same target object in different traffic scenarios may be the same or different.

[0047] As another optional but non-limiting implementation, determining the configuration information of the first radar that needs to be debugged for the target radar may include:

[0048] When the radar configuration information used for the target radar is not being debugged for the first time, the radar configuration information obtained from the previous debugging update is obtained and determined as the first radar configuration information that the target radar needs to be configured for this time.

[0049] S120. The radar tracking and detection results obtained by the target radar based on the target object traffic level and the radar detection parameters corresponding to the target object traffic level in the first radar configuration information are obtained by the target object detection.

[0050] See Figure 2 The radar configuration information includes at least two target traffic flow levels and corresponding radar detection parameters for each level. For each target traffic flow level, the minimum and maximum target traffic flows required to satisfy that level may deviate, and the classification of target traffic flow levels may also be flawed, leading to unreasonable conditions for meeting the target traffic flow level. Furthermore, the radar detection parameters associated with each target traffic flow level may also be inaccurate, resulting in the use of radar detection parameters that do not conform to the current traffic conditions. This can easily cause missed or false detections due to mismatch with real-time data, severely impacting the detection accuracy of traffic radar.

[0051] Therefore, it is necessary to optimize and adjust the traffic classification of each target object in the radar configuration information, as well as the minimum and maximum target object traffic that each traffic classification must satisfy. Simultaneously, the radar detection parameters associated with each target object traffic classification also need to be optimized and adjusted to achieve overall optimization of the radar configuration information. (See also...) Figure 3In order to optimize and adjust the traffic levels of each target object and the radar detection parameters corresponding to the traffic levels of each target object in the radar configuration information, the target radar can be loaded with the traffic levels of each target object and the radar detection parameters corresponding to the traffic levels of each target object, and then the radar tracking and detection results of the target object detection can be obtained according to the traffic levels of each target object and the radar detection parameters corresponding to the traffic levels of each target object.

[0052] S130. Based on the radar tracking and detection results, the configuration information of the first radar is debugged and updated to obtain the configuration information of the second radar, and the second radar configuration information is used to continue debugging and updating.

[0053] See Figure 3 The radar tracking and detection results describe the detection results obtained by the target radar in the target area where the target radar is located, using different traffic level classifications and radar detection parameters corresponding to each target object traffic level classification. Therefore, it can be used to detect whether the radar tracking and detection results meet the requirements. If they do, the target radar can directly load and use the first radar configuration information. If they do not meet the requirements, it is necessary to adjust and update the target object traffic level classification and the radar detection parameters corresponding to the target object traffic level classification in the first radar configuration information according to the relative tracking error of the radar tracking and detection results. Then, the second radar configuration information is used to continue the next debugging and update. This process is repeated multiple times until the radar tracking and detection results of the target object detection using the updated radar configuration information meet the requirements.

[0054] The technical solution of this invention determines the first radar configuration information that the target radar needs to be debugged. Based on the traffic flow levels and corresponding radar detection parameters for each target object in the first radar configuration information, the radar tracking and detection results obtained by the target radar using the corresponding radar detection parameters for each target object traffic level can be determined. Then, the first radar configuration information is debugged and updated according to the radar tracking results to obtain the second radar configuration information. Different target object traffic levels are configured according to different target object traffic detection conditions, and the radar detection parameters corresponding to different target object traffic levels are updated synchronously according to these different levels. This solves the problem of the radar always using the same set of parameters for target object detection. By configuring different target object traffic levels and corresponding radar parameters, it avoids the radar's inability to adjust its radar detection parameters in real time according to changes in traffic conditions. This allows the radar to adjust its detection operation in real time according to different target object traffic levels and corresponding radar detection parameters, minimizing the problem of missed detections and false detections due to mismatch between radar detection and real-time conditions, and improving the detection accuracy of traffic radar.

[0055] Figure 4This invention provides a flowchart of another radar debugging process. The technical solution of this embodiment further optimizes the process of determining the radar tracking and detection results obtained by the target radar based on the radar detection parameters corresponding to each target object traffic level in the first radar configuration information and the target object traffic level in the foregoing embodiment. This embodiment can be combined with various optional solutions in one or more of the above embodiments.

[0056] like Figure 4 As shown, the radar debugging process in this embodiment may include:

[0057] S410. Determine the first radar configuration information that the target radar needs to be debugged. The radar configuration information includes at least two target traffic levels and radar detection parameters corresponding to different target traffic levels. The target traffic is the number of target objects passing through per unit time.

[0058] S420: Determine the current target traffic status detected by the target radar during the current tracking and detection cycle.

[0059] After determining the initial radar configuration information that requires debugging, the radar parameters used vary depending on the traffic flow conditions of different target objects. Therefore, the traffic flow conditions of target objects can be detected in real time through the target radar in subsequent tracking and detection cycles. The traffic flow conditions of target objects in different tracking and detection cycles can be the same or different. The traffic flow conditions of target objects can be described by the number of target objects passing through the target area where the target radar is located per unit time. The target area is the road where the target radar is installed and detected using the target radar.

[0060] As an optional but unrestricted implementation, determining the target object traffic status detected by the target radar during the current tracking and detection cycle may include steps A1-A2:

[0061] Step A1: According to the preset time interval, during the current tracking and detection cycle, the number of target objects that pass through the preset section of the target area where the target radar is located within the preset time period is detected by the target radar.

[0062] Step A2: Based on the number of target objects passing through the preset section of the target area where the target radar is located within a preset time period, determine the target object flow status of the target area where the target radar is located in the current tracking and detection cycle. The target object flow status is represented by the number of target objects passing through the preset section of the target area where the target radar is located per unit time.

[0063] S430. Based on the current target traffic status, determine the target radar's current target traffic level and corresponding radar detection parameters in the current tracking and detection cycle from the first radar configuration information. Different target traffic statuses are associated with different target traffic levels.

[0064] Different target object traffic conditions correspond to different target object traffic levels. The higher the target object traffic level, the larger the target object traffic range within which the target object traffic falls. Different target object traffic levels correspond to different radar detection parameters. Therefore, based on the current target object traffic condition detected by the target radar, the current target object traffic level and the corresponding radar detection parameters can be selected from the various target object traffic levels and their corresponding radar detection parameters included in the first radar configuration information for the current tracking and detection period.

[0065] As an optional but unrestricted implementation, the radar detection parameters include the number of real target confirmation frames and the number of simulated target prediction frames. The number of real target confirmation frames describes the accuracy of distinguishing between real target objects and non-target objects during the radar's target object detection process. The number of simulated target prediction frames describes the degree to which the motion state of the simulated target object matches the motion state of the real target object when the real target object is lost during the radar's target object detection process, by simulating the continued movement and prediction of the target object.

[0066] During the process of target radar detecting target objects, it is necessary to distinguish the real and valid target objects from the surrounding non-target objects such as the ground and trees. At this time, the accuracy of distinguishing target objects from non-target objects can be controlled by using the real target confirmation frame count.

[0067] During the detection of real targets, target radar may lose some data (for a short period of time, about a few hundred milliseconds) due to interference from the surrounding environment. In order to ensure the uniqueness and stability of the target radar's detection of targets, it is necessary to simulate the continued movement of the target object and make predictions. When the target object is detected again in a short period of time, the target radar can associate the real target object it detected with the simulated target object. From the observer's perspective, it will appear that the target object is in a state of stable movement, which is more in line with the actual movement of the target object. At this time, the number of simulated target prediction frames can be used for control and adjustment.

[0068] As an optional but unrestricted implementation, for the target traffic classification in the radar configuration information and the number of real target confirmation frames and the number of simulated target prediction frames included in the radar detection parameters corresponding to the target traffic classification, the number of real target confirmation frames in the radar detection parameters is negatively correlated with the size of the target traffic classification, and the number of simulated target prediction frames in the radar detection parameters is positively correlated with the size of the target traffic classification.

[0069] The radar's detection parameters for target objects vary depending on the target object traffic level. These parameters are divided into two main categories: the number of true target confirmation frames and the number of simulated target prediction frames after a false detection of a true target. The lower the target object traffic level, the more sensitive the radar is to target objects, allowing for a higher threshold for the number of true target confirmation frames and a lower threshold for the number of simulated target prediction frames. Conversely, at higher traffic levels, the target object is often moving slowly or even stopped, reducing the radar's sensitivity and increasing the likelihood of false detections. Therefore, the number of true target confirmation frames needs to be lowered, while the number of simulated target prediction frames needs to be increased to ensure the detected target objects more closely reflect actual operating conditions.

[0070] When there are few target objects, their features are obvious and they can generally be detected well. In this case, the threshold for the number of real target confirmation frames can be increased to more accurately distinguish target objects, while other non-target objects in the environment that may cause interference will be effectively filtered out. However, when there are many target objects, they generally move slowly, which reduces the probability of distinguishing them from their surroundings and makes them easier to lose. In this case, it is necessary to lower the threshold for the number of real target confirmation frames and increase the threshold for the number of simulated target prediction frames to ensure that simulated target objects are present more continuously and stably, thereby improving radar detection accuracy.

[0071] A higher real target confirmation frame rate requires stricter conditions for the radar to detect and recognize a real target as a valid target, resulting in a lower simulated target prediction frame rate. Conversely, a lower real target confirmation frame rate means more lenient conditions for the radar to detect and recognize a real target as a valid target, necessitating an increase in the simulated target prediction frame rate. In short, the ultimate goal of parameter adjustment is to make the targets detected and displayed by the radar more closely resemble the actual movement of the targets.

[0072] S440. Determine the radar tracking and detection results obtained by using the target object traffic level and the radar detection parameters corresponding to the target object traffic level in different tracking and detection cycles.

[0073] As an optional but unrestricted implementation, determining the radar tracking and detection results obtained by the target radar using the target object traffic level and the radar detection parameters corresponding to the target object traffic level in different tracking and detection cycles may include steps B1-B2:

[0074] Step B1: In different tracking and detection cycles, load the target object traffic level and the radar detection parameters corresponding to the target object traffic level for each corresponding tracking and detection cycle through the target radar.

[0075] Step B2: The target radar performs target object detection by loading the radar detection parameters of each corresponding tracking and detection cycle to obtain the radar tracking and detection results. The radar tracking and detection results include the statistical value of the number of past target objects when the target radar performs target object detection.

[0076] S450. Based on the radar tracking and detection results obtained from different tracking and detection cycles, the configuration information of the first radar is debugged and updated to obtain the configuration information of the second radar, so as to continue the next debugging and update using the configuration information of the second radar.

[0077] As an optional but not limited implementation, the configuration information of the second radar is obtained by debugging and updating the configuration information of the first radar based on the radar tracking and detection results, which may include steps C1-C3:

[0078] Step C1: Determine the reference traffic volume in the target area where the target radar is located. The reference traffic volume is based on the statistical values ​​of past target objects obtained by video analysis of the target objects in the target area where the target radar is located.

[0079] Step C2: Determine the target object detection accuracy of the target radar based on the statistical value of the number of past target objects and the reference number of passages in the radar tracking and detection results.

[0080] Step C3: Based on the target object detection accuracy of the target radar, adjust and update the configuration information of the first radar to obtain the configuration information of the second radar.

[0081] When analyzing target flow data based on on-site conditions, the radar can detect and output the radar tracking and detection results in real time. It also periodically outputs these results at set intervals. The accuracy of the target flow detection is calculated by comparing the radar tracking and detection results with the actual detection data. The specific formula for this calculation is as follows:

[0082]

[0083] The actual number of target objects passing through can be obtained by manual counting during the debugging process. During the debugging process, video can be used to assist in the analysis of the actual number of target objects passing through. Combined with the tracking and detection results obtained by radar detection of target objects, the statistical number of target objects passing through can be obtained to obtain the target object traffic detection accuracy.

[0084] After adjusting the parameters, the target object flow accuracy can be statistically analyzed for another 5 minutes to determine whether it meets the accuracy data standard. If the required flow accuracy reaches 95%, the radar configuration information can be confirmed to meet the requirements. If the target object flow accuracy data does not reach the 95% standard, the radar configuration information should be optimized and debugged until the target object flow accuracy meets the requirements and the radar configuration information debugging is completed.

[0085] Alternatively, in addition to traffic flow accuracy as a criterion, the difference between the number of radar-detected targets and the actual number of targets in a certain area at a certain moment can also be used as a criterion. After the testers complete the parameter adjustment, they take the last second before the red light turns green as a still image and evaluate whether the requirements are met by comparing the difference between the number of target objects in the radar preview interface and the number of target objects in the actual scene. For example, at the last second before the red light, there are 15 actual vehicles in the traffic area and 13 vehicles detected by radar. The difference is less than 3 vehicles, which meets the standard. The parameters are confirmed to be valid, and no further parameter adjustment and optimization are required.

[0086] This application proposes a solution that, based on the fact that the flow of traffic objects is a crucial factor affecting traffic, changes radar detection parameters in real time to further improve the accuracy of traffic radar in detecting real-time traffic conditions. It achieves improved radar detection accuracy according to the real-time changes in the flow of traffic objects, promotes higher-dimensional traffic condition detection, adapts to the characteristics of real-time changes in overall traffic area information under different traffic flow states, improves the accuracy of traffic radar data indicator detection, and enhances the scientific nature of intelligent traffic control solutions.

[0087] Optionally, the configuration information of the second radar can be obtained by debugging and updating the configuration information of the first radar based on the radar tracking and detection results, which may include the following process:

[0088] Step D1: Determine the reference traffic volume change in the target area where the target radar is located. The reference traffic volume change is the increase and decrease of past target objects calculated based on video analysis of target objects in the target area where the target radar is located.

[0089] Step D2: Based on the change in the reference traffic volume and the preset lookup table, the radar detection parameters corresponding to the traffic volume levels of each target object in the first radar configuration information are adjusted and updated to obtain the second radar configuration information. The preset lookup table is used to characterize the adjustment of the number of real target confirmation frames and the number of simulated target prediction frames included in the radar detection parameters as the change in the reference traffic volume is adjusted.

[0090] After the initial stage of debugging and transitioning the configuration information of the first radar is completed, for different actual traffic conditions, a detailed pre-set comparison table of various parameters and target traffic flow can be compiled. By real-time detection of changes in the target traffic flow or other traffic factors during the corresponding time period, the parameters can be adjusted in real time to achieve intelligent and automatic adjustment of the number of real target confirmation frames and the number of simulated target prediction frames, as shown in Table 1 below. According to the pre-set comparison table shown in Table 1, by periodically analyzing the changes in the target traffic flow detected by the radar, the corresponding parameter rule logic is called, and the program automatically performs the parameter adjustment task.

[0091] Table 1. Comparison of parameter tuning rules

[0092]

[0093] The technical solution of this invention determines the first radar configuration information that the target radar needs to be debugged. Based on the traffic flow levels and corresponding radar detection parameters for each target object in the first radar configuration information, the radar tracking and detection results obtained by the target radar using the corresponding radar detection parameters for each target object traffic level can be determined. Then, the first radar configuration information is debugged and updated according to the radar tracking results to obtain the second radar configuration information. Different target object traffic levels are configured based on different target object traffic detection conditions, and the radar detection parameters corresponding to different target object traffic levels are updated synchronously according to these different levels. This solves the problem of the radar always using the same set of parameters for target object detection. By configuring different target object traffic levels and corresponding radar parameters, the problem of missed or false detections due to the radar's inability to adjust its detection parameters in real-time to adapt to changes in traffic conditions is minimized, thereby improving the detection accuracy of traffic radar.

[0094] Figure 5 This invention provides a structural block diagram of a radar debugging and processing device. This embodiment is applicable to situations where radar parameters need to be adjusted to adapt to constantly changing traffic conditions. The radar debugging and processing device can be implemented in hardware and / or software and can be configured in any electronic device with network communication capabilities. Figure 5 As shown, the radar debugging processing device in this embodiment may include:

[0095] The first determining module 510 is used to determine the first radar configuration information that the target radar needs to be debugged. The radar configuration information includes at least two target object traffic levels and radar detection parameters corresponding to different target object traffic levels.

[0096] The second determining module 520 is used to determine the radar tracking and detection result obtained by the target radar based on the radar detection parameters corresponding to each target object traffic level in the first radar configuration information and the radar object traffic level;

[0097] The debugging and updating module 530 is used to debug and update the first radar configuration information based on the radar tracking and detection results to obtain the second radar configuration information, so as to continue the next debugging and updating using the second radar configuration information.

[0098] Based on the above embodiments, optionally, the radar tracking and detection results obtained by the target radar based on the target object traffic level and the radar detection parameters corresponding to the target object traffic level in the first radar configuration information include:

[0099] Determine the current target traffic status detected by the target radar in the current tracking and detection cycle;

[0100] Based on the current target object traffic status, the target radar uses the current target object traffic level and the radar detection parameters corresponding to the current target object traffic level in the current tracking and detection cycle from the first radar configuration information. Different target object traffic statuses are associated with different target object traffic levels.

[0101] The radar tracking and detection results are obtained by using the target object traffic level and the radar detection parameters corresponding to the target object traffic level in different tracking and detection cycles.

[0102] Based on the above embodiments, optionally, determining the target object traffic status detected by the target radar in the current tracking and detection cycle includes:

[0103] According to a preset time interval, during the current tracking and detection cycle, the number of target objects that pass through a preset section on the target area where the target radar is located within a preset time period is detected by the target radar.

[0104] Based on the number of target objects passing through a preset section on the target area where the target radar is located within a preset time period, the target object flow status of the target area where the target radar is located in the current tracking and detection cycle is determined. The target object flow status is characterized by the number of target objects passing through the preset section on the target area where the target radar is located per unit time.

[0105] Based on the above embodiments, optionally, different target object traffic conditions correspond to different target object traffic levels. The larger the target object traffic level, the larger the target object traffic range in which the target object traffic corresponding to the target object traffic level is located. Different target object traffic levels correspond to different radar detection parameters. Among the radar detection parameters, the number of real target confirmation frames is negatively correlated with the size of the target object traffic level, and the number of simulated target prediction frames is positively correlated with the size of the target object traffic level.

[0106] Based on the above embodiments, optionally, the radar tracking and detection results obtained by the target radar performing target object detection in different tracking and detection cycles using the target object traffic level and the radar detection parameters corresponding to the target object traffic level for the corresponding tracking and detection cycle include:

[0107] In different tracking and detection cycles, the target radar loads the target object traffic level and the radar detection parameters corresponding to the target object traffic level for each corresponding tracking and detection cycle.

[0108] The radar tracking and detection results are obtained by loading the radar detection parameters of each corresponding tracking and detection cycle to detect the target object. The radar tracking and detection results include the statistical value of the number of past target objects when the target radar detects the target object.

[0109] Based on the above embodiments, optionally, the radar detection parameters include the number of real target confirmation frames and the number of simulated target prediction frames. The number of real target confirmation frames is used to describe the accuracy of distinguishing between real target objects and non-target objects during the radar detection process. The number of simulated target prediction frames is used to describe the degree of fit between the motion state of the simulated target object and the motion state of the real target object when the real target object is lost during the radar detection process.

[0110] Based on the above embodiments, optionally, the second radar configuration information is obtained by debugging and updating the first radar configuration information according to the radar tracking and detection results, including:

[0111] Determine the reference number of passageways in the target area where the target radar is located. The reference number of passageways is based on the statistical values ​​of past target objects obtained by video analysis of target objects in the target area where the target radar is located.

[0112] The target object detection accuracy of the target radar is determined based on the statistical value of the number of past target objects in the radar tracking and detection results and the reference passage number.

[0113] The configuration information of the first radar is adjusted and updated based on the target object detection accuracy of the target radar to obtain the configuration information of the second radar.

[0114] The radar debugging and processing device provided in the embodiments of the present invention can execute the radar debugging and processing method provided in any of the embodiments of the present invention, and has the corresponding functions and beneficial effects of executing the radar debugging and processing method. For details, please refer to the relevant operations of the radar debugging and processing method in the foregoing embodiments.

[0115] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope of the embodiments of this disclosure.

[0116] Figure 6 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0117] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0118] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0119] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as radar debugging processing methods.

[0120] In some embodiments, the radar debugging processing method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the radar debugging processing method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the radar debugging processing method by any other suitable means (e.g., by means of firmware).

[0121] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0122] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0123] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0124] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0125] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0126] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0127] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0128] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A radar commissioning process method, characterized by, include: The radar configuration information for the first radar that needs to be debugged is determined. The radar configuration information includes at least two target object traffic levels and radar detection parameters corresponding to different target object traffic levels. The target object traffic is the number of target objects passing through per unit time. The target radar is determined by performing target object detection based on the target object traffic level and the radar detection parameters corresponding to the target object traffic level in the first radar configuration information. The radar detection parameters include the number of real target confirmation frames and the number of simulated target prediction frames. The number of real target confirmation frames describes the accuracy of the radar in distinguishing between real and non-target objects during target object detection. The number of simulated target prediction frames describes the degree of consistency between the motion state of the simulated target object and the motion state of the real target object when the real target object is lost during target object detection. The number of real target confirmation frames is negatively correlated with the target object traffic level, and the number of simulated target prediction frames is positively correlated with the target object traffic level. Based on the radar tracking and detection results, the first radar configuration information is debugged and updated to obtain the second radar configuration information, which is then used to continue the next debugging and update.

2. The method of claim 1, wherein, The configuration information of the first radar that needs to be debugged for the target radar is determined, including: When the radar configuration information used by the target radar is debugged for the first time, the traffic scene of the target area where the target radar is located is determined. The traffic scene is characterized based on the geographical location of the target area where the target radar is located, the lane type of the target area, and the number of lanes. The default radar configuration information associated with the traffic scene in the target area where the target radar is located is determined as the first radar configuration information that the target radar needs to be debugged.

3. The method of claim 1, wherein, The configuration information of the first radar that needs to be debugged for the target radar is determined, including: When the radar configuration information used for the target radar is not being debugged for the first time, obtain the radar configuration information obtained from the last debugging update; The radar configuration information obtained from the last debugging update has been identified as the first radar configuration information that needs to be debugged this time.

4. The method of claim 1, wherein, The radar tracking and detection results obtained by the target radar based on the target object traffic level and the radar detection parameters corresponding to the target object traffic level in the first radar configuration information include: Determine the current target traffic status detected by the target radar in the current tracking and detection cycle; Based on the current target object traffic status, the target radar uses the current target object traffic level and the radar detection parameters corresponding to the current target object traffic level in the current tracking and detection cycle from the first radar configuration information. Different target object traffic statuses are associated with different target object traffic levels. The radar tracking and detection results are obtained by using the target object traffic level and the radar detection parameters corresponding to the target object traffic level in different tracking and detection cycles.

5. The method of claim 4, wherein, Determining the target object traffic status detected by the target radar in the current tracking and detection cycle includes: According to a preset time interval, during the current tracking and detection cycle, the number of target objects that pass through a preset section on the target area where the target radar is located within a preset time period is detected by the target radar. Based on the number of target objects passing through a preset section on the target area where the target radar is located within a preset time period, the target object flow status of the target area where the target radar is located in the current tracking and detection cycle is determined. The target object flow status is characterized by the number of target objects passing through the preset section on the target area where the target radar is located per unit time.

6. The method of claim 4, wherein, Different target object traffic conditions correspond to different target object traffic levels. The higher the target object traffic level, the larger the target object traffic range in which the target object traffic corresponding to the target object traffic level is located. Different target object traffic levels correspond to different radar detection parameters.

7. The method of claim 4, wherein, The radar tracking and detection results obtained by using the target object traffic level and the corresponding radar detection parameters for different tracking and detection cycles include: In different tracking and detection cycles, the target radar loads the target object traffic level and the radar detection parameters corresponding to the target object traffic level for each corresponding tracking and detection cycle. The radar tracking and detection results are obtained by loading the radar detection parameters of each corresponding tracking and detection cycle to detect the target object. The radar tracking and detection results include the statistical value of the number of past target objects when the target radar detects the target object.

8. The method of claim 1, wherein, Based on the radar tracking and detection results, the configuration information of the first radar is adjusted and updated to obtain the configuration information of the second radar, including: Determine the reference number of passageways in the target area where the target radar is located. The reference number of passageways is based on the statistical values ​​of past target objects obtained by video analysis of target objects in the target area where the target radar is located. The target object detection accuracy of the target radar is determined based on the statistical value of the number of past target objects in the radar tracking and detection results and the reference passage number. The configuration information of the first radar is adjusted and updated based on the target object detection accuracy of the target radar to obtain the configuration information of the second radar.

9. The method of claim 8, wherein, The second radar configuration information is obtained by debugging and updating the first radar configuration information based on the radar tracking and detection results, and also includes: Determine the reference traffic volume change in the target area where the target radar is located. The reference traffic volume change is the increase and decrease of past target objects calculated based on video analysis of target objects in the target area where the target radar is located. Based on the change in the reference traffic volume and the preset lookup table, the radar detection parameters corresponding to the traffic volume levels of each target object in the first radar configuration information are adjusted and updated to obtain the second radar configuration information. The preset lookup table is used to characterize the adjustment of the number of real target confirmation frames and the number of simulated target prediction frames included in the radar detection parameters as the change in the reference traffic volume is adjusted.

10. A radar commissioning processing apparatus characterized by comprising: include: The first determining module is used to determine the first radar configuration information that the target radar needs to be debugged. The radar configuration information includes at least two target object traffic levels and radar detection parameters corresponding to different target object traffic levels. The target object traffic is the number of target objects passing through per unit time. The second determining module is used to determine the radar tracking and detection results obtained by the target radar from the target object detection based on the target object traffic level and the radar detection parameters corresponding to the target object traffic level in the first radar configuration information; wherein, the radar detection parameters include the number of real target confirmation frames and the number of simulated target prediction frames; the number of real target confirmation frames is used to describe the accuracy of the radar in distinguishing between real target objects and non-target objects during the target object detection process, and the number of simulated target prediction frames is used to describe the degree of fit between the motion state of the simulated target object and the motion state of the real target object when the real target object is lost during the target object detection process; the number of real target confirmation frames in the radar detection parameters is negatively correlated with the target object traffic level, and the number of simulated target prediction frames in the radar detection parameters is positively correlated with the target object traffic level; The debugging and update module is used to debug and update the first radar configuration information based on the radar tracking and detection results to obtain the second radar configuration information, so as to continue the next debugging and update using the second radar configuration information.

11. An electronic device, comprising: The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the radar debugging processing method according to any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the radar debugging processing method according to any one of claims 1-9.

Images