Target screening parameter configuration method and device of millimeter wave radar, electronic equipment and storage medium

Abstract

The application provides a target screening parameter configuration method and device of a millimeter wave radar, electronic equipment and a storage medium. The target screening parameter configuration method of the millimeter wave radar comprises the following steps: receiving the total target number of the millimeter wave radar; confirming whether the received total target number is less than or equal to the maximum transmissible target number, and if the total target number is greater than the maximum transmissible target number, an error is reported; receiving configuration parameters, the configuration parameters comprising a plurality of screening target numbers and a plurality of screening item weights; and confirming whether the sum of the plurality of screening target numbers is less than or equal to the total target number, and if the sum of the plurality of screening target numbers is less than or equal to the total target number, performing parameter configuration based on the received configuration parameters, and if the sum of the plurality of screening target numbers is greater than the total target number, an error is reported.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving, and in particular to a method, apparatus, electronic device, and storage medium for configuring target selection parameters for millimeter-wave radar. Background Technology

[0002] As autonomous driving technology continues to develop, current driver assistance technologies that allow drivers to briefly take their hands off the wheel can no longer meet market demands. Market focus has shifted to higher-level driver assistance or autonomous driving technologies. Autonomous driving technology relies on the fusion of multiple sensor targets (such as millimeter-wave radar, front-facing cameras, and LiDAR).

[0003] Typically, the number of targets generated internally by the millimeter-wave radar is set based on the load of the Controller Area Network (CAN). When the millimeter-wave radar is operating, all detected targets are filtered by the internal target filtering logic before being forwarded to the public CAN. The number of forwards corresponds to the number of targets generated. The target type and quantity are initially set and assigned fixed values ​​within the software. If changes to target type and quantity are needed later, the software must be modified and updated. Currently, there is only one target filtering logic, and subsequent modifications are quite complex, failing to meet customer customization needs. Summary of the Invention

[0004] This invention was made to solve the above-mentioned problems. Its purpose is to provide a method, device, electronic device and storage medium for configuring target screening parameters of millimeter-wave radar, which allows users to configure the target screening parameters in the target screening logic, thereby realizing the user's customized needs.

[0005] According to one aspect of the present invention, a method for configuring target screening parameters for a millimeter-wave radar is provided, comprising the following steps: receiving the total number of targets of the millimeter-wave radar; confirming whether the total number of targets received is less than or equal to the maximum number of targets that can be transmitted; if it is greater than the maximum number of targets that can be transmitted, an error is reported; receiving configuration parameters, the configuration parameters including the number of targets for multiple screening items and the weights of multiple screening items; and confirming whether the sum of the number of targets for multiple screening items is less than or equal to the total number of targets; if the sum of the number of targets for multiple screening items is less than or equal to the total number of targets, parameter configuration is performed based on the received configuration parameters; if the sum of the number of targets for multiple screening items is greater than the total number of targets, an error is reported.

[0006] Preferably, when the sum of the number of multiple filtered targets is less than or equal to the total number of targets, the method further includes: confirming whether the sum of the number of multiple filtered targets is less than the total number of targets; if the sum of the number of multiple filtered targets is less than the total number of targets, configuring the remaining target parameters of the remaining target number in a predetermined manner, updating the received configuration parameters based on the remaining target parameters and saving them, wherein the remaining target number is the difference between the total number of targets and the sum of the number of multiple filtered targets; and if the sum of the number of multiple filtered targets is equal to the total number of targets, saving the received configuration parameters.

[0007] Preferably, the number of multiple selection targets includes: the number of moving targets, the number of static targets, the number of adaptive cruise targets, the number of automatic emergency braking targets, and the number of stopped targets.

[0008] Preferably, the weights of the multiple filtering items include: vertical distance weight, horizontal distance weight, target motion attribute weight, and target quality attribute weight.

[0009] Preferably, the predetermined method divides the remaining number of targets into the number of moving targets and the number of static targets based on a pre-set ratio.

[0010] Preferably, the total number of targets and the configuration parameters are input by the user through an input device.

[0011] Preferably, after configuring the parameters based on the received configuration parameters, a message indicating that the target filtering parameters have been successfully configured is displayed.

[0012] According to another aspect of the present invention, a target selection parameter configuration device for millimeter-wave radar is provided, comprising: a receiving module for receiving the total number of targets of the millimeter-wave radar and configuration parameters, the configuration parameters including a plurality of target counts for selection items and a plurality of selection item weights; a confirmation module for confirming whether the input total number of targets is less than or equal to the maximum number of transmittable targets, and if it is greater than the maximum number of transmittable targets, an error is reported; and a configuration module for confirming whether the sum of the plurality of target counts for selection items is less than or equal to the total number of targets, and if the sum of the plurality of target counts for selection items is less than or equal to the total number of targets, parameter configuration is performed based on the received configuration parameters, and if the sum of the plurality of target counts for selection items is greater than the total number of targets, an error is reported.

[0013] According to another aspect of the present invention, an electronic device is provided, characterized in that the electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded by the processor and executing the method described in one aspect of the present invention.

[0014] According to another aspect of the present invention, a computer storage medium is provided, characterized in that the storage medium stores at least one instruction or at least one program, said at least one instruction or said at least one program being loaded by a processor and executing the method described in one aspect of the present invention.

[0015] According to the present invention, the target filtering parameters in the target filtering logic can be configured by the user, thereby realizing the user's customized needs. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the target selection parameter configuration method for millimeter-wave radar provided in an embodiment of the present invention.

[0017] Figure 2 This is a structural block diagram of the target screening parameter configuration device for millimeter-wave radar provided in an embodiment of the present invention.

[0018] Figure 3 This is a structural block diagram of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0020] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. As used herein, the singular forms “a” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the said feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded.

[0021] The embodiments described herein can be described with reference to plan views and / or cross-sectional views using the ideal schematic diagrams of this disclosure. Therefore, the example illustrations can be modified according to manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to those shown in the drawings, but include modifications to configurations formed based on manufacturing processes. Therefore, the areas illustrated in the drawings are schematic in nature, and the shapes of the areas shown in the figures illustrate specific shapes of areas of an element, but are not intended to be limiting.

[0022] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this disclosure, and will not be interpreted as having an idealized or overly formal meaning, unless expressly so defined herein.

[0023] This invention provides a method and apparatus for configuring target selection parameters for millimeter-wave radar, allowing users to configure target selection parameters in the target selection logic themselves, thereby fulfilling users' customized needs. The method and apparatus are based on the same concept; since the principles by which the method and apparatus solve problems are similar, their implementations can be mutually referenced, and repeated details will not be elaborated further.

[0024] The target selection parameter configuration method for millimeter-wave radar provided in this invention is applied to electronic devices, particularly intelligent vehicles. These vehicles may include, but are not limited to, millimeter-wave radar, lidar, ultrasonic radar, cameras, positioning systems such as Global Positioning System (GPS), inertial measurement units (IMUs), speed sensors, acceleration sensors, humidity sensors, light intensity sensors, microphones, and other sensors. They may also include playback devices such as displays, external amplifiers, and speakers. Other devices may also be included, which will not be listed here.

[0025] Figure 1 This is a flowchart illustrating the target selection parameter configuration method for millimeter-wave radar provided in an embodiment of the present invention. This specification provides the method operation steps as shown in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many steps and does not represent the only possible execution order. In actual system or server product execution, the method can be executed sequentially according to the embodiments or drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0026] like Figure 1 As shown, the target selection parameter configuration method for millimeter-wave radar provided in this embodiment includes the following steps.

[0027] S101: The total number of targets N received by the millimeter-wave radar.

[0028] The total number of targets N here refers to the number of targets generated internally by the millimeter-wave radar, and also the number of targets forwarded to the public CAN bus when the millimeter-wave radar is operating. This total number of targets N can be input by the user through an input device.

[0029] S102: Confirm whether the total number of received targets N is less than or equal to the maximum number of transmittable targets.

[0030] If the total number of transmittable targets is less than or equal to the maximum transmittable number, proceed to step S103; if it is greater than the maximum transmittable number, proceed to step S105. The maximum transmittable number here refers to the maximum number of targets that can be transmitted on the CAN bus, which is related to the CAN bus's load. In step S105, since the total number of targets N is greater than the maximum transmittable number, an error is reported, and the reason for the error can be displayed, indicating that the total number of targets is greater than the maximum transmittable number on the CAN bus.

[0031] S103: Receive configuration parameters, which include the number of multiple filter items and the weight of multiple filter items.

[0032] The configuration parameters here are those used in the target selection logic within the millimeter-wave radar. The received configuration parameters can include the number of targets to be selected and the weights of these selection items. The number of targets to be selected can include: the number of moving targets, the number of static targets, the number of targets for adaptive cruise control, the number of targets for automatic emergency braking, and the number of stopped targets. Here, the number of stopped targets represents the number of targets that were originally in motion but are currently stationary. For example, the number of moving targets is N1, the number of static targets is N2, the number of targets for adaptive cruise control is N3, the number of targets for automatic emergency braking is N4, and the number of stopped targets is N5. The weights of these selection items can include: longitudinal distance weight, lateral distance weight, target motion attribute weight, and target mass attribute weight.

[0033] S104: Confirm whether the sum of the number of multiple filtered targets is less than or equal to the total number of targets N.

[0034] If the number of multiple screening item targets described above includes: the number of moving targets, the number of static targets, the number of adaptive cruise targets, the number of automatic emergency braking targets, and the number of stop targets, and the number of moving targets is N1, the number of static targets is N2, the number of adaptive cruise targets is N3, the number of automatic emergency braking targets is N4, and the number of stop targets is N5, then confirm whether the sum of the number of multiple screening item targets is less than or equal to the total number of targets N, that is, confirm whether N1 + N2 + N3 + N4 + N5 ≤ N is satisfied. If it is satisfied, proceed to step S106; if not, proceed to step S107. Of course, the number of multiple screening item targets of the present invention is not limited to this, and more types of screening item targets can be set. At this time, it is to confirm N1 + N2 + N3 + N4 + N5 + …… Ni ≤ N. In step S107, since the sum of the number of multiple screening item targets is greater than the total number of targets N, an error is reported, and the reason for the error can be displayed, prompting that the configured number exceeds the set total number of targets and the number of screening targets needs to be reconfigured.

[0035] In addition, the total number of targets and the configuration parameters are input by the user through the input device.

[0036] S106: Confirm whether the sum of the number of multiple screening item targets is less than the total number of targets.

[0037] When the sum of the number of multiple screening item targets is less than or equal to the total number of targets N, it is necessary to further confirm whether the sum of the number of multiple screening item targets is less than the total number of targets. In the case where the number of moving targets in this embodiment is N1, the number of static targets is N2, the number of adaptive cruise targets is N3, the number of automatic emergency braking targets is N4, and the number of stop targets is N5, confirm whether the sum of the number of multiple screening item targets is less than or equal to the total number of targets N, that is, confirm whether N1 + N2 + N3 + N4 + N5 < N is satisfied. If N1 + N2 + N3 + N4 + N5 < N is satisfied, proceed to step S108; if N1 + N2 + N3 + N4 + N5 < N is not satisfied, that is, N1 + N2 + N3 + N4 + N5 = N, then proceed to step S109.

[0038] S108: Configure the remaining target parameters of the remaining number of targets in a predetermined manner, update the received configuration parameters based on the remaining target parameters and save them.

[0039] The remaining number of targets is the difference between the total number of targets N and the sum of the number of selected targets. In this embodiment, the remaining number of targets = N - (N1 + N2 + N3 + N4 + N5). For the remaining number of targets, parameters are configured using a predetermined method, which can be called the remaining target parameters. The predetermined method can be based on a pre-set ratio to divide the remaining number of targets into moving targets and static targets. If the pre-set ratio of moving targets to static targets is 2:1, then the remaining number of targets is divided into moving targets and static targets according to this ratio. For example, if the remaining number of targets is 3, then 2 are set as moving targets and 1 as a static target. If the remaining number of targets cannot be completely allocated proportionally and there is a remainder, then all remainders are set as moving targets.

[0040] Then, the received configuration parameters are updated and saved based on the remaining target parameters. Assuming, as mentioned above, there are 3 remaining targets, divided into 2 moving targets and 1 static target, the number of moving targets in the received configuration parameters is updated to N1+2, and the number of static targets is updated to N2+1. The updated configuration parameters are then saved; saving the configuration parameters sets them as parameters for the target selection logic within the millimeter-wave radar. At this point, a message indicating successful target selection parameter configuration can be displayed.

[0041] S109: Save the received configuration parameters.

[0042] Since the sum of the number of filters equals the total number of targets, the received configuration parameters can be saved. At this point, a message indicating successful configuration of the target filter parameters can be displayed.

[0043] Figure 2 This is a structural block diagram of the target screening parameter configuration device for millimeter-wave radar provided in an embodiment of the present invention.

[0044] like Figure 2 As shown, the millimeter-wave radar target selection parameter configuration device 200 includes: a receiving module 201, a confirmation module 202, and a configuration module 203.

[0045] The receiving module 201 receives the total number of targets and configuration parameters from the millimeter-wave radar. The configuration parameters include the number of targets for multiple filtering items and the weights of these filtering items. The confirmation module 202 confirms whether the input total number of targets is less than or equal to the maximum number of transmittable targets; if it is greater than the maximum number of transmittable targets, an error is reported. The configuration module 203 confirms whether the sum of the number of targets for multiple filtering items is less than or equal to the total number of targets. If the sum of the number of targets for multiple filtering items is less than or equal to the total number of targets, parameter configuration is performed based on the received configuration parameters; if the sum of the number of targets for multiple filtering items is greater than the total number of targets, an error is reported.

[0046] Figure 3 This is a structural block diagram of the electronic device 300 provided in an embodiment of the present invention. Figure 3 As shown, the present invention also provides an electronic device 300, which includes a processor and a memory. The memory stores at least one instruction or at least one program, which is loaded by the processor and executed by the processor to configure the target screening parameters of the millimeter-wave radar as described in the above embodiments.

[0047] The present invention also provides a computer storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded and executed by a processor to implement the target selection parameter configuration method for millimeter-wave radar described in the above embodiments.

[0048] Optionally, in this embodiment, the storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0049] Those skilled in the art will recognize that the modules, units, and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of electronic hardware and software, the components and steps of the examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can implement the described functions using different methods for each specific application, but such implementations should not be considered beyond the scope of the invention.

[0050] Although the present invention has been described with reference to specific embodiments, those skilled in the art should recognize that the scope of the invention is not limited to the specific combinations of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the present invention.

Claims

1. A method for configuring target selection parameters for millimeter-wave radar, characterized in that, Includes the following steps: The total number of targets received by the millimeter-wave radar; Confirm whether the total number of received targets is less than or equal to the maximum number of transmittable targets. If it is greater than the maximum number of transmittable targets, report an error. Receive configuration parameters, which include the number of multiple filter items and the weight of multiple filter items; as well as Confirm whether the sum of the number of multiple filtered targets is less than or equal to the total number of targets. If the sum of the number of multiple filtered targets is less than or equal to the total number of targets, then configure the parameters based on the received configuration parameters. If the sum of the number of multiple filtered targets is greater than the total number of targets, then report an error.

2. The target selection parameter configuration method for millimeter-wave radar as described in claim 1, characterized in that, If the sum of the number of multiple selected targets is less than or equal to the total number of targets, the method further includes: Confirm whether the sum of the number of the selected items is less than the total number of targets; If the sum of the number of selected targets is less than the total number of targets, then a remaining target parameter for the remaining target number is configured according to a predetermined method. The received configuration parameters are updated and saved based on this remaining target parameter. Here, the remaining target number is the difference between the total number of targets and the sum of the number of selected targets. If the sum of the number of the multiple filtered targets equals the total number of targets, then the received configuration parameters are saved.

3. The target selection parameter configuration method for millimeter-wave radar as described in claim 2, characterized in that, The number of targets for multiple filtering items includes: number of moving targets, number of static targets, number of targets for adaptive cruise control, number of targets for automatic emergency braking, and number of stopped targets.

4. The target selection parameter configuration method for millimeter-wave radar as described in claim 1 or 2, characterized in that, The weights for multiple filtering options include: vertical distance weight, horizontal distance weight, target motion attribute weight, and target quality attribute weight.

5. The target selection parameter configuration method for millimeter-wave radar as described in claim 3, characterized in that, The predetermined method divides the remaining number of targets into the number of moving targets and the number of static targets based on a pre-set ratio.

6. The target selection parameter configuration method for millimeter-wave radar as described in claim 1 or 2, characterized in that, The total number of targets and the configuration parameters are input by the user through an input device.

7. The target selection parameter configuration method for millimeter-wave radar as described in claim 1 or 2, characterized in that, After configuring the parameters based on the received configuration parameters, a message indicating that the target filtering parameters have been successfully configured is displayed.

8. A target selection parameter configuration device for millimeter-wave radar, characterized in that, include: The receiving module is used to receive the total number of targets and configuration parameters of the millimeter-wave radar. The configuration parameters include the number of targets for multiple filtering items and the weights of multiple filtering items. The confirmation module is used to confirm whether the total number of input targets is less than or equal to the maximum number of transmittable targets. If it is greater than the maximum number of transmittable targets, an error is reported. as well as The configuration module is used to confirm whether the sum of the number of multiple filtered targets is less than or equal to the total number of targets. If the sum of the number of multiple filtered targets is less than or equal to the total number of targets, the module configures the parameters based on the received configuration parameters. If the sum of the number of multiple filtered targets is greater than the total number of targets, the module reports an error.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded by the processor and executed as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The storage medium stores at least one instruction or at least one program segment, which is loaded by a processor and executed according to any one of claims 1 to 7.

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