Target recognition method, device and electronic equipment based on millimeter wave radar

Abstract

The embodiments of the present application provide a target recognition method, device and electronic device based on millimeter wave radar, which relate to the field of radar detection technology. The method comprises: generating a target range-Doppler spectrum according to a target echo signal; determining a first Doppler dimension noise floor and a second Doppler dimension noise floor according to the target range-Doppler spectrum, wherein the first Doppler dimension noise floor comprises: a Doppler dimension basic noise floor corresponding to a plurality of distance units, and the second Doppler dimension noise floor comprises: a Doppler dimension rainy day clutter area noise floor corresponding to a plurality of distance units; when it is determined that the weather mode of a target frame is a rainy day mode according to the first Doppler dimension noise floor and the second Doppler dimension noise floor, generating a constant false alarm rate detection result according to the target range-Doppler spectrum; and identifying the type of a target point to be detected according to the constant false alarm rate detection result, wherein the type of a target point to be detected comprises: a real target point and a false target point.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of radar detection technology, and in particular to a target recognition method, device and electronic equipment based on millimeter wave radar. Background Art

[0002] Radar (Radio Detection and Ranging) is a technology that uses radio waves to detect distance, angle or speed.

[0003] At present, radar systems have been widely used in military, civil aviation, weather forecasting, automobile collision avoidance systems, etc. Radar detection performance is easily affected by weather factors. In severe weather conditions such as heavy rain, heavy snow, and fog, the accuracy of radar detection drops sharply, and it is easy to identify false target points.

[0004] In the prior art, most of the methods use manual control of the detection threshold to improve the adaptability of radar detection to harsh environments. However, the above method has a high risk of misjudgment.

[0005] Therefore, a new technical solution is urgently needed to solve the above technical problems. Summary of the invention

[0006] According to the embodiments of the present application, a target recognition method, device and electronic equipment based on millimeter wave radar are provided. The present application is conducive to improving the resolution accuracy of radar detection for real target points and false target points, reducing the risk of misjudgment of real target points and false target points, and thus improving the applicability of radar detection in harsh environments.

[0007] In a first aspect of the present application, a target recognition method based on millimeter wave radar is provided, comprising:

[0008] Generate target range-Doppler spectrum according to target echo signal;

[0009] According to the target range-Doppler spectrum, a first Doppler dimension noise floor and a second Doppler dimension noise floor are determined, wherein the first Doppler dimension noise floor includes: a Doppler dimension basic noise floor corresponding to a plurality of range units, and the second Doppler dimension noise floor includes: a Doppler dimension rainy day clutter area noise floor corresponding to a plurality of range units;

[0010] When it is determined that the weather mode of the target frame is a rainy day mode according to the first Doppler noise floor and the second Doppler noise floor, a constant false alarm rate detection result is generated according to the target range-Doppler spectrum;

[0011] According to the constant false alarm rate detection result, the type of the target point to be detected is identified, wherein the type of the target point to be detected includes: a real target point and a false target point.

[0012] In some feasible implementations, generating a target range-Doppler spectrum according to a target echo signal includes:

[0013] Generate a target time domain sampling signal according to the target echo signal;

[0014] The target range-Doppler spectrum is generated according to the target time domain sampling signal.

[0015] In some feasible implementations, determining the first Doppler noise floor and the second Doppler noise floor according to the target range-Doppler spectrum includes:

[0016] The Doppler dimension corresponding to each distance unit of the target range-Doppler spectrum The amplitudes of the units are evenly divided into M groups;

[0017] For each group The amplitudes are averaged to generate M means corresponding to each distance unit;

[0018] A first Doppler noise floor is determined according to the M mean values, wherein the first Doppler noise floor includes: a minimum value among the M mean values ​​corresponding to each distance unit.

[0019] In some feasible implementations, determining the first Doppler noise floor and the second Doppler noise floor according to the target range-Doppler spectrum further includes:

[0020] According to the starting Doppler index and the ending Doppler index, a target range-Doppler spectrum is extracted to generate target amplitude information, wherein the target amplitude information is amplitude information from the starting Doppler index to the ending Doppler index corresponding to each range unit;

[0021] A second Doppler noise floor is generated according to the target amplitude information, wherein the second Doppler noise floor includes: mean value information of the target amplitude information.

[0022] In some feasible implementations, when it is determined that the weather mode of the target frame is a rainy day mode according to the first Doppler noise floor and the second Doppler noise floor, before generating a constant false alarm rate detection result according to the target range-Doppler spectrum, the method further includes:

[0023] Determine a target ratio statistical result according to the first Doppler noise floor and the second Doppler noise floor, wherein the target ratio is a ratio of the Doppler rainy day clutter area noise floor of the range unit to the basic noise floor;

[0024] Determine the number of target distance units according to the target ratio statistical result and the preset target ratio threshold, wherein the target ratio corresponding to the target distance unit is greater than the preset target ratio threshold;

[0025] When the above number is greater than a first preset number threshold, generating a rainy day flag for the target frame;

[0026] When the number of rainy day signs is greater than the second preset number threshold, it is determined that the weather mode of the target frame is a rainy day mode.

[0027] In some feasible implementations, identifying the type of the target point to be detected according to the constant false alarm rate detection result includes:

[0028] According to the constant false alarm rate detection result, determine the amplitude of the target monitoring point to be detected;

[0029] Determine a first signal-to-noise ratio according to the amplitude and the basic noise floor of the distance unit corresponding to the target monitoring point to be detected, wherein the first signal-to-noise ratio is a ratio of the amplitude to the basic noise floor;

[0030] Determine a second signal-to-noise ratio according to the target range-Doppler spectrum, wherein the second signal-to-noise ratio is a maximum selected constant false alarm rate signal-to-noise ratio of the target monitoring point to be detected;

[0031] Determine a target signal-to-noise ratio value according to the first signal-to-noise ratio and the second signal-to-noise ratio, wherein the target signal-to-noise ratio value is a ratio of the first signal-to-noise ratio to the second signal-to-noise ratio;

[0032] Determining a second signal-to-noise ratio preset threshold and a target signal-to-noise ratio value threshold according to a target ratio value of the target point to be detected;

[0033] When the second signal-to-noise ratio is less than the second signal-to-noise ratio preset threshold value, and the target signal-to-noise ratio value is greater than or equal to the target signal-to-noise ratio value threshold value, identifying the type of the target point to be detected as a false target point;

[0034] When the second signal-to-noise ratio is greater than or equal to the second signal-to-noise ratio preset threshold and the target signal-to-noise ratio value is less than the target signal-to-noise ratio value threshold, the type of the target point to be detected is identified as a real target point.

[0035] In some feasible implementations, determining the second signal-to-noise ratio according to the target range-Doppler spectrum includes:

[0036] According to the target range-Doppler spectrum, the Doppler dimension signal of the target detection point to be tested is extracted;

[0037] Setting the number of protection units to a first number and the number of reference units to a second number;

[0038] The first background noise is determined according to the following formula:

[0039]

[0040] in, is the first background noise, is the Doppler index of the target detection point to be tested, is the signal of the Doppler dimension corresponding to the distance index of the target point to be detected in the target distance-Doppler spectrum, is the first quantity, is the second quantity;

[0041] The second background noise is determined according to the following formula:

[0042] ;

[0043] in, is the second background noise, is the Doppler index of the target detection point to be tested, is the signal of the Doppler dimension corresponding to the distance index of the target point to be detected in the target distance-Doppler spectrum, is the first quantity, is the second quantity;

[0044] The second signal-to-noise ratio is determined according to the following formula:

[0045] in, is the second signal-to-noise ratio, is the first background noise, is the second background noise, is the Doppler index of the target detection point to be tested, The signal in the Doppler dimension corresponding to the distance index of the target point to be detected.

[0046] In a second aspect of the present application, a target recognition device based on millimeter wave radar is provided, comprising:

[0047] A first generating unit, used for generating a target range-Doppler spectrum according to a target echo signal;

[0048] The second generating unit is used to determine a first Doppler dimension noise floor and a second Doppler dimension noise floor according to the target range-Doppler spectrum, wherein the first Doppler dimension noise floor includes: a Doppler dimension basic noise floor corresponding to a plurality of range units, and the second Doppler dimension noise floor includes: a Doppler dimension rainy day clutter area noise floor corresponding to a plurality of range units;

[0049] A third generating unit is used to generate a constant false alarm rate detection result according to the target distance-Doppler spectrum when it is determined that the weather mode of the target frame is a rainy day mode according to the first Doppler noise floor and the second Doppler noise floor;

[0050] The identification unit is used to identify the type of the target point to be detected according to the constant false alarm rate detection result, wherein the type of the target point to be detected includes: a real target point and a false target point.

[0051] In a third aspect of the present application, an electronic device is provided, comprising a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are used by the processor to execute any of the methods described above when the processor is executed.

[0052] In a fourth aspect of the present application, a storage medium is provided, on which program instructions are stored, and the program instructions are used to execute any of the methods described above when running.

[0053] The target recognition method, device and electronic device based on millimeter wave radar provided by the embodiment of the present application, wherein the method includes: generating a target distance-Doppler spectrum according to the target echo signal; determining a first Doppler dimension noise floor and a second Doppler dimension noise floor according to the target distance-Doppler spectrum, wherein the first Doppler dimension noise floor includes: a Doppler dimension basic noise floor corresponding to a plurality of distance units, and the second Doppler dimension noise floor includes: a Doppler dimension rainy day clutter area noise floor corresponding to a plurality of distance units; when the weather mode of the target frame is determined to be a rainy day mode according to the first Doppler dimension noise floor and the second Doppler dimension noise floor, generating a constant false alarm rate detection result according to the target distance-Doppler spectrum; identifying the type of target to be detected point according to the constant false alarm rate detection result, wherein the type of target to be detected point includes: a real target point and a false target point. The present application is conducive to improving the resolution accuracy of radar detection for real target points and false target points, reducing the risk of misjudgment of real target points and false target points, thereby improving the applicability of radar detection to harsh environments.

[0054] It should be understood that the contents described in the Summary of the Invention are not intended to limit the key or important features of the embodiments of the present application, nor are they intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The above and other features, advantages and aspects of the embodiments of the present application will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0056] Figure 1 A schematic diagram of a process of a target recognition method based on millimeter wave radar provided in an embodiment of the present application;

[0057] Figure 2 A schematic structural diagram of a target recognition device based on millimeter-wave radar provided in an embodiment of the present application;

[0058] Figure 3 A structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0059] Figure 4It is a schematic diagram of the structure of a terminal device or a server suitable for implementing the embodiments of the present application. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0061] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0062] According to a first aspect of the present application, the present application provides a target recognition method based on millimeter wave radar. Figure 1 The following is a flow chart of a target recognition method 100 based on millimeter wave radar provided in an embodiment of the present application. Figure 1 As shown, the method 100 includes:

[0063] Step S110: generating a target range-Doppler spectrum according to the target echo signal.

[0064] In some feasible implementations, the above step S110, generating a target range-Doppler spectrum according to the target echo signal, includes:

[0065] Step S111, generating a target time domain sampling signal according to the target echo signal.

[0066] Exemplarily, the signal transmitted by the millimeter radar and the echo signal received by the millimeter radar may be mixed and / or sampled to generate the target time domain sampling signal.

[0067] Step S112, generating a target range-Doppler spectrum according to the target time domain sampling signal.

[0068] Exemplarily, the target time domain sampling signal is subjected to distance dimensioning. Point Fast Fourier Transform (FFT), Doppler Point Fast Fourier Transform (FFT), and / or non-coherent accumulation, to generate a Target distance-Doppler spectrum.

[0069] Based on this, the above method can accurately generate the target time domain sampling signal according to the target echo signal, and accurately generate the target distance-Doppler spectrum according to the above target time domain sampling signal, providing a data basis for the accurate identification of real target points and false target points.

[0070] Step S120, determining a first Doppler dimension noise floor and a second Doppler dimension noise floor according to the target range-Doppler spectrum, wherein the first Doppler dimension noise floor includes: a Doppler dimension basic noise floor corresponding to a plurality of range units, and the second Doppler dimension noise floor includes: a Doppler dimension rainy day clutter area noise floor corresponding to a plurality of range units.

[0071] In some feasible implementations, the above step S120, determining the first Doppler noise floor and the second Doppler noise floor according to the target range-Doppler spectrum, includes:

[0072] Step S121: The Doppler spectrum corresponding to each distance unit of the target range-Doppler spectrum is The amplitudes of the units are equally divided into M groups.

[0073] Step S122, for each group of corresponding The amplitudes are averaged to generate M means corresponding to each distance unit.

[0074] Step S123: determining a first Doppler noise floor according to the M mean values, wherein the first Doppler noise floor comprises: a minimum value among the M mean values ​​corresponding to each distance unit.

[0075] For example, the Doppler spectrum corresponding to each distance unit of the target range-Doppler spectrum can be The amplitudes of the units are divided into M groups equally, and the corresponding The amplitudes are averaged to generate M means corresponding to each distance unit, and the minimum value is taken from the M means corresponding to each distance unit as the first Doppler noise floor corresponding to each distance unit. .

[0076] Based on this, the above method can accurately determine the first Doppler noise floor according to the target distance-Doppler spectrum, and further provide a data basis for the accurate identification of real target points and false target points.

[0077] In some feasible implementations, step S120, determining the first Doppler noise floor and the second Doppler noise floor according to the target range-Doppler spectrum, further includes:

[0078] Step S124 , extracting the target range-Doppler spectrum according to the start Doppler index and the end Doppler index to generate target amplitude information, wherein the target amplitude information is amplitude information from the start Doppler index to the end Doppler index corresponding to each range unit.

[0079] Step S125: Generate a second Doppler noise floor according to the target amplitude information, wherein the second Doppler noise floor includes: mean value information of the target amplitude information.

[0080] For example, the starting Doppler index of the Doppler rain clutter region can be determined according to I 1 and end Doppler index I 2. Extract the Doppler index corresponding to each range unit from the above target range-Doppler spectrum I 1~ I 2, and average the amplitude information to generate the second Doppler noise floor.

[0081] Based on this, the above method can accurately generate target amplitude information according to the starting Doppler index and the ending Doppler index, and accurately generate the second Doppler noise floor according to the above target amplitude information, further providing a data basis for the accurate identification of real target points and false target points.

[0082] In some feasible implementations, in step S130, when it is determined that the weather mode of the target frame is a rainy day mode according to the first Doppler noise floor and the second Doppler noise floor, before generating a constant false alarm rate detection result according to the target range-Doppler spectrum, the method further includes:

[0083] Step S130a: determining a target ratio statistical result according to the first Doppler noise floor and the second Doppler noise floor, wherein the target ratio is a ratio of the Doppler rainy day clutter area noise floor of the range unit to the basic noise floor.

[0084] For example, the target ratio of the Doppler noise floor in the rainy day clutter area to the basic noise floor for each range unit can be calculated based on the first Doppler noise floor and the second Doppler noise floor. .

[0085] Step S130b, determining the number of target distance units according to the target ratio statistical result and the preset target ratio threshold, wherein the target ratio corresponding to the target distance unit is greater than the preset target ratio threshold.

[0086] Exemplarily, the preset target ratio threshold can be Specifically, the target ratio in the distance unit Greater than the above preset target ratio threshold In the case of, determine the above distance unit as the target distance unit, and count the target ratio Continuously greater than the above preset target ratio threshold The number of target distance units.

[0087] Step S130c: when the above number is greater than the first preset number threshold, generate a rainy day flag for the target frame.

[0088] Exemplarily, the first preset number threshold may be P1, and the number of the target distance units may be H1. Specifically, when H1 is greater than P1, a rain flag rainFlag is generated for the target frame.

[0089] Step S130d: when the number of rainy day signs is greater than a second preset number threshold, it is determined that the weather mode of the target frame is a rainy day mode.

[0090] Exemplarily, the second preset number threshold may be G1. Specifically, when the number of rainFlags is greater than the second preset number threshold G1, it is determined that the weather mode of the target frame is a rainy day mode.

[0091] It should be noted that, when the number of rainFlags is less than or equal to the second preset number threshold G1, the weather mode of the target frame is determined to be sunny. It is understandable that when the weather mode of the target frame is determined to be sunny, step S130 does not need to be performed.

[0092] Based on this, the above method can accurately determine the target ratio statistics according to the first Doppler noise floor and the second Doppler noise floor, accurately determine the number of target distance units according to the target ratio statistics and the preset target ratio threshold, accurately generate rainy day signs according to the comparison result of the above number with the first preset number threshold, accurately identify the weather mode of the target frame according to the comparison result of the number of rainy day signs with the second preset number threshold, and provide accurate data support for accurately identifying real target points and false target points when the weather mode of the target frame is determined to be a rainy day mode.

[0093] Step S130 : when it is determined that the weather mode of the target frame is a rainy day mode according to the first Doppler noise floor and the second Doppler noise floor, a constant false alarm rate detection result is generated according to the target range-Doppler spectrum.

[0094] Exemplarily, a constant false alarm rate detection (CFAR) may be performed on the target range-Doppler spectrum to generate the constant false alarm rate detection result.

[0095] Step S140 , identifying the type of the target point to be detected according to the constant false alarm rate detection result, wherein the type of the target point to be detected includes: a real target point and a false target point.

[0096] In some feasible implementations, step S140, identifying the type of the target point to be detected according to the constant false alarm rate detection result includes:

[0097] Step S141, determining the amplitude of the target monitoring point to be detected according to the constant false alarm rate detection result.

[0098] Exemplarily, the above amplitude can be expressed as .

[0099] Step S142, determining a first signal-to-noise ratio according to the amplitude and the basic noise floor of the distance unit corresponding to the target monitoring point to be detected, wherein the first signal-to-noise ratio is a ratio of the amplitude to the basic noise floor.

[0100] Exemplarily, the above basic noise floor can be expressed as Specifically, the first signal-to-noise ratio can be determined according to the following formula: (1)

[0101] in, is the first signal-to-noise ratio, is the amplitude, The basic noise floor.

[0102] Step S143, determining a second signal-to-noise ratio according to the target range-Doppler spectrum, wherein the second signal-to-noise ratio is a maximum selected constant false alarm rate signal-to-noise ratio of the target monitoring point to be detected.

[0103] In some feasible implementations, step S143, determining the second signal-to-noise ratio according to the target range-Doppler spectrum includes:

[0104] Step S143-1, extracting the Doppler dimension signal of the target detection point to be tested according to the target range-Doppler spectrum.

[0105] For example, the signal of the Doppler dimension of the target detection point to be detected can be extracted from the target distance-Doppler spectrum. .

[0106] Step S143-2, setting the number of protection units to a first number and the number of reference units to a second number.

[0107] It should be noted that the protection unit is a distance unit located around the target detection point and is not used for noise estimation. .

[0108] It should be noted that the reference unit is a distance unit located around the target detection point to be tested and / or the protection unit and used to estimate the background noise level. .

[0109] It should be noted that the above-mentioned protection unit, reference unit, first quantity and second quantity can be selected or set according to actual needs and are not specifically limited here.

[0110] Step S143-3, determine the first background noise according to the following formula:

[0111] (2)

[0112] in, is the first background noise, is the Doppler index of the target detection point to be tested, is the signal of the Doppler dimension corresponding to the distance index of the target point to be detected in the target distance-Doppler spectrum, is the first quantity, is the second quantity.

[0113] Step S143-4, determining the second background noise according to the following formula:

[0114] (3)

[0115] in, is the second background noise, is the Doppler index of the target detection point to be tested, is the signal of the Doppler dimension corresponding to the distance index of the target point to be detected in the target distance-Doppler spectrum, is the first quantity, is the second quantity.

[0116] It should be noted that the first background noise may be the background noise of the target detection point to be tested in the first direction of the Doppler dimension. The second background noise may be the background noise of the target detection point to be tested in the second direction of the Doppler dimension. The first Doppler dimension direction may be the left side of the Doppler dimension, and the second Doppler dimension direction may be the right side of the Doppler dimension. That is, the background noise of the target detection point to be tested in the left side of the Doppler dimension may be calculated according to the above formula (3): The background noise of the target detection point on the right side of the Doppler dimension can be calculated according to the above formula (4): .

[0117] Step S143-5: determine the second signal-to-noise ratio according to the following formula:

[0118] (4)

[0119] in, is the second signal-to-noise ratio, is the first background noise, is the second background noise, is the Doppler index of the target detection point to be tested, The signal in the Doppler dimension corresponding to the distance index of the target point to be detected.

[0120] Based on this, the above method can accurately determine the first background noise according to the above formula (2), accurately determine the second background noise according to the above formula (3), and accurately determine the second signal-to-noise ratio according to the above formula (4), thereby providing data support for accurately identifying real target points and false target points based on the constant false alarm rate detection results.

[0121] In some feasible implementations, step S140, identifying the type of the target point to be detected according to the constant false alarm rate detection result, further includes:

[0122] Step S144: determining a target signal-to-noise ratio value according to the first signal-to-noise ratio and the second signal-to-noise ratio, wherein the target signal-to-noise ratio value is a ratio of the first signal-to-noise ratio to the second signal-to-noise ratio.

[0123] For example, the target signal-to-noise ratio value can be expressed as express.

[0124] Specifically, the target signal-to-noise ratio value It can be determined according to the following formula:

[0125] (5)

[0126] in, is the target signal-to-noise ratio value, is the first signal-to-noise ratio, is the second signal-to-noise ratio.

[0127] Step S145, determining a second signal-to-noise ratio preset threshold and a target signal-to-noise ratio value threshold according to the target ratio of the target point to be detected.

[0128] Based on the foregoing, the above target ratio can be used Specifically, the above target ratio is the ratio of the Doppler rain clutter area noise floor to the basic noise floor of the range unit. The second signal-to-noise ratio preset threshold can be used Indicates that the above target signal-to-noise ratio threshold can be used express.

[0129] It should be noted that the above target ratio can be used to The size of the second signal-to-noise ratio preset threshold is set and the target signal-to-noise ratio threshold above .

[0130] Step S146: when the second signal-to-noise ratio is less than the second signal-to-noise ratio preset threshold and the target signal-to-noise ratio value is greater than or equal to the target signal-to-noise ratio value threshold, identify the type of the target point to be detected as a false target point.

[0131] For example, in the above second signal-to-noise ratio Less than the second signal-to-noise ratio preset threshold , and the above target signal-to-noise ratio value Greater than or equal to the above target signal-to-noise ratio threshold In the case of , the target point to be detected is identified as a false target point, that is, the target point to be monitored is a rain clutter point.

[0132] Step S147, when the second signal-to-noise ratio is greater than or equal to the second signal-to-noise ratio preset threshold value, and the target signal-to-noise ratio value is less than the target signal-to-noise ratio value threshold value, identify the type of the target point to be detected as a real target point.

[0133] For example, in the above second signal-to-noise ratio Greater than or equal to the second signal-to-noise ratio preset threshold , and the above target signal-to-noise ratio value The signal-to-noise ratio threshold is smaller than the above target value. In the case of , the type of the target point to be detected is identified as a real target point.

[0134] Based on this, the above method can realize the joint identification of the authenticity of the target to be monitored points by multiple signal-to-noise ratios according to a signal-to-noise ratio, a second signal-to-noise ratio, a target signal-to-noise ratio value, a second signal-to-noise ratio preset threshold and a target signal-to-noise ratio value threshold of each target to be detected in the constant false alarm rate detection result, so as to improve the resolution accuracy of radar detection for real target points and false target points, reduce the risk of misjudgment of real target points and false target points, and thus improve the applicability of radar detection to harsh environments.

[0135] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0136] The above is an introduction to the method embodiment. The following is a further explanation of the scheme described in this application through an apparatus embodiment.

[0137] According to a second aspect of the present application, the present application provides a target recognition device based on millimeter wave radar. Figure 2 A structural schematic diagram of a target recognition device 200 based on millimeter wave radar provided in an embodiment of the present application, such as Figure 2 The device 200 shown includes: a first generating unit 210 , a second generating unit 220 , a third generating unit 230 and an identifying unit 240 .

[0138] The first generating unit 210 is configured to generate a target range-Doppler spectrum according to the target echo signal.

[0139] The second generating unit 220 is used to determine a first Doppler dimension noise floor and a second Doppler dimension noise floor according to the target range-Doppler spectrum, wherein the first Doppler dimension noise floor includes: a Doppler dimension basic noise floor corresponding to a plurality of range units, and the second Doppler dimension noise floor includes: a Doppler dimension rain clutter area noise floor corresponding to a plurality of range units.

[0140] The third generating unit 230 is configured to generate a constant false alarm rate detection result according to the target range-Doppler spectrum when it is determined that the weather mode of the target frame is a rainy day mode according to the first Doppler noise floor and the second Doppler noise floor.

[0141] The identification unit 240 is used to identify the type of the target point to be detected according to the constant false alarm rate detection result, wherein the type of the target point to be detected includes: a real target point and a false target point.

[0142] According to a third aspect of the present application, the present application provides an electronic device. Figure 3 FIG. 1 is a structural diagram of an electronic device 300 provided in an embodiment of the present application. Figure 3 As shown, the electronic device 300 includes a processor 310 and a memory 320, wherein the memory 320 stores computer program instructions, and the computer program instructions are used by the processor 310 to execute any of the above-described methods for target recognition based on millimeter-wave radar when the processor 310 is running.

[0143] According to a fourth aspect of the present invention, a storage medium is also provided, on which program instructions are stored, and the program instructions are used to execute the target recognition method based on millimeter wave radar as described above when running. The storage medium may include, for example, a storage component of a tablet computer, a hard disk of a computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0144] For example, Figure 4 A schematic diagram of the structure of a terminal device or server suitable for implementing an embodiment of the present application is shown.

[0145] like Figure 4 As shown, the terminal device or server includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 to the random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the terminal device or server are also stored. The CPU 401, the ROM 402, and the RAM 403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0146] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed, so that a computer program read therefrom is installed into the storage section 408 as needed.

[0147] In particular, according to an embodiment of the present application, the above method flow steps can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program device, which includes a computer program carried on a machine-readable medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 409, and / or installed from the removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, the above-mentioned functions defined in the system of the present application are executed.

[0148] It should be noted that the computer-readable medium shown in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0149] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program device according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of the code, and the aforementioned module, program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0150] The units or modules involved in the embodiments described in the present application may be implemented by software or hardware. The units or modules described may also be arranged in a processor. The names of these units or modules do not, in some cases, constitute limitations on the units or modules themselves.

[0151] As another aspect, the present application further provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable storage medium stores one or more programs, and when the above programs are used by one or more processors to execute the method described in the present application.

[0152] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of application involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned application concept. For example, the above features are replaced with (but not limited to) technical features with similar functions applied in the present application.

Claims

1. A target recognition method based on millimeter wave radar, characterized in that: include: Generate target range-Doppler spectrum according to target echo signal; Determining a first Doppler dimension noise floor and a second Doppler dimension noise floor according to the target range-Doppler spectrum, wherein the first Doppler dimension noise floor comprises: a Doppler dimension basic noise floor corresponding to a plurality of range units, and the second Doppler dimension noise floor comprises: a Doppler dimension rainy day clutter area noise floor corresponding to a plurality of range units; Determining the first Doppler noise floor and the second Doppler noise floor according to the target distance-Doppler spectrum includes: The Doppler dimension corresponding to each distance unit of the target range-Doppler spectrum is The amplitudes of the units are evenly divided into M groups; For each group The amplitudes are averaged to generate M means corresponding to each distance unit; Determining the first Doppler noise floor according to the M mean values, wherein the first Doppler noise floor includes: a minimum value among the M mean values ​​corresponding to each distance unit; When it is determined that the weather mode of the target frame is a rainy day mode according to the first Doppler noise floor and the second Doppler noise floor, Generating a constant false alarm rate detection result according to the target range-Doppler spectrum; According to the constant false alarm rate detection result, identifying the type of the target point to be detected, wherein the type of the target point to be detected includes: a real target point and a false target point; The identifying the type of the target point to be detected according to the constant false alarm rate detection result includes: Determining the amplitude of the target monitoring point to be detected according to the constant false alarm rate detection result; Determine a first signal-to-noise ratio according to the amplitude and a basic noise floor of a distance unit corresponding to the target monitoring point to be detected, wherein the first signal-to-noise ratio is a ratio of the amplitude to the basic noise floor; Determine a second signal-to-noise ratio according to the target distance-Doppler spectrum, wherein the second signal-to-noise ratio is a maximum selected constant false alarm rate signal-to-noise ratio of the target monitoring point to be detected; Determining a target signal-to-noise ratio value according to the first signal-to-noise ratio and the second signal-to-noise ratio, wherein the target signal-to-noise ratio value is a ratio of the first signal-to-noise ratio to the second signal-to-noise ratio; Determining a second signal-to-noise ratio preset threshold and a target signal-to-noise ratio value threshold according to the target ratio value of the target point to be detected; When the second signal-to-noise ratio is less than the second signal-to-noise ratio preset threshold value, and the target signal-to-noise ratio value is greater than or equal to the target signal-to-noise ratio value threshold value, identifying the type of the target point to be detected as a false target point; When the second signal-to-noise ratio is greater than or equal to the second signal-to-noise ratio preset threshold and the target signal-to-noise ratio value is less than the target signal-to-noise ratio value threshold, the type of the target point to be detected is identified as a real target point.

2. The method according to claim 1, characterized in that Generating a target range-Doppler spectrum according to the target echo signal comprises: Generating a target time domain sampling signal according to the target echo signal; The target range-Doppler spectrum is generated according to the target time domain sampling signal.

3. The method according to claim 1, characterized in that The determining of the first Doppler noise floor and the second Doppler noise floor according to the target distance-Doppler spectrum further comprises: According to the starting Doppler index and the ending Doppler index, the target range-Doppler spectrum is extracted to generate target amplitude information, wherein the target amplitude information is the amplitude information from the starting Doppler index to the ending Doppler index corresponding to each range unit; A second Doppler noise floor is generated according to the target amplitude information, wherein the second Doppler noise floor includes: mean value information of the target amplitude information.

4. The method according to claim 1, characterized in that: When it is determined that the weather mode of the target frame is a rainy day mode according to the first Doppler noise floor and the second Doppler noise floor, before generating a constant false alarm rate detection result according to the target range-Doppler spectrum, the method further includes: Determining a target ratio statistical result according to the first Doppler noise floor and the second Doppler noise floor, wherein the target ratio is a ratio of a Doppler rainy day clutter area noise floor of a range unit to a basic noise floor; Determine the number of target distance units according to the target ratio statistical result and a preset target ratio threshold, wherein the target ratio corresponding to the target distance unit is greater than the preset target ratio threshold; When the number is greater than a first preset number threshold, generating a rainy day flag for the target frame; When the number of the rainy day signs is greater than the second preset number threshold, it is determined that the weather mode of the target frame is a rainy day mode.

5. The method according to claim 1, characterized in that Determining the second signal-to-noise ratio according to the target range-Doppler spectrum includes: Extracting the Doppler dimension signal of the target detection point to be tested according to the target range-Doppler spectrum; Setting the number of protection units to a first number and the number of reference units to a second number; The first background noise is determined according to the following formula: in, is the first background noise, is the Doppler index of the target detection point to be detected, is the signal of the Doppler dimension corresponding to the distance index of the target point to be detected in the target distance-Doppler spectrum, is the first quantity, is the second quantity; The second background noise is determined according to the following formula: ； in, is the second background noise, is the Doppler index of the target detection point to be detected, is the signal of the Doppler dimension corresponding to the distance index of the target point to be detected in the target distance-Doppler spectrum, is the first quantity, is the second quantity; The second signal-to-noise ratio is determined according to the following formula: in, is the second signal-to-noise ratio, is the first background noise, is the second background noise, is the Doppler index of the target detection point to be detected, The signal of the Doppler dimension corresponding to the distance index of the target point to be detected in the target distance-Doppler spectrum.

6. A target recognition device based on millimeter wave radar, characterized in that: include: A first generating unit, used for generating a target range-Doppler spectrum according to a target echo signal; A second generating unit is configured to determine a first Doppler dimension noise floor and a second Doppler dimension noise floor according to the target range-Doppler spectrum, wherein the first Doppler dimension noise floor comprises: a Doppler dimension basic noise floor corresponding to a plurality of range units, and the second Doppler dimension noise floor comprises: a Doppler dimension rainy day clutter area noise floor corresponding to a plurality of range units; Determining the first Doppler noise floor and the second Doppler noise floor according to the target distance-Doppler spectrum includes: The Doppler dimension corresponding to each distance unit of the target range-Doppler spectrum is The amplitudes of the units are evenly divided into M groups; For each group The amplitudes are averaged to generate M means corresponding to each distance unit; Determining the first Doppler noise floor according to the M mean values, wherein the first Doppler noise floor includes: a minimum value among the M mean values ​​corresponding to each distance unit; a third generating unit, configured to generate a constant false alarm rate detection result according to the target range-Doppler spectrum when it is determined that the weather mode of the target frame is a rainy day mode according to the first Doppler noise floor and the second Doppler noise floor; An identification unit, used for identifying the type of the target point to be detected according to the constant false alarm rate detection result, wherein the type of the target point to be detected includes: a real target point and a false target point; The identifying the type of the target point to be detected according to the constant false alarm rate detection result includes: Determining the amplitude of the target monitoring point to be detected according to the constant false alarm rate detection result; Determine a first signal-to-noise ratio according to the amplitude and a basic noise floor of a distance unit corresponding to the target monitoring point to be detected, wherein the first signal-to-noise ratio is a ratio of the amplitude to the basic noise floor; Determine a second signal-to-noise ratio according to the target distance-Doppler spectrum, wherein the second signal-to-noise ratio is a maximum selected constant false alarm rate signal-to-noise ratio of the target monitoring point to be detected; Determining a target signal-to-noise ratio value according to the first signal-to-noise ratio and the second signal-to-noise ratio, wherein the target signal-to-noise ratio value is a ratio of the first signal-to-noise ratio to the second signal-to-noise ratio; Determining a second signal-to-noise ratio preset threshold and a target signal-to-noise ratio value threshold according to the target ratio value of the target point to be detected; When the second signal-to-noise ratio is less than the second signal-to-noise ratio preset threshold value, and the target signal-to-noise ratio value is greater than or equal to the target signal-to-noise ratio value threshold value, identifying the type of the target point to be detected as a false target point; When the second signal-to-noise ratio is greater than or equal to the second signal-to-noise ratio preset threshold and the target signal-to-noise ratio value is less than the target signal-to-noise ratio value threshold, the type of the target point to be detected is identified as a real target point.

7. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are used to execute the method according to any one of claims 1 to 5 when the processor is executed.

8. A storage medium having program instructions stored thereon, wherein the program instructions are used to execute the method according to any one of claims 1 to 5 when run.

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