Radar data processing method, device, computer equipment and storage medium

Abstract

The embodiment of the present application provides a radar data processing method, device, computer equipment and storage medium. The method is applied to the field of radar technology, and the method includes: extracting the speed information of the target based on the radar data, and performing defuzzification processing on the speed information to obtain candidate speed information of the target; extracting abnormal points based on the candidate speed information; selecting the amplitude and phase values ​​to be processed corresponding to the abnormal points in the radar data; performing conjugate processing on the amplitude and phase values ​​to be processed to obtain conjugate amplitude and phase values; based on the amplitude and phase values ​​to be processed and the conjugate amplitude and phase values, correcting the candidate speed information corresponding to the abnormal points to obtain the target speed information. The method is used to correct the error of the defuzzification result and improve the accuracy of the target speed information.

Description

Technical Field

[0001] The present application relates to the field of radar data processing, and in particular to a radar data processing method, device, computer equipment and storage medium. Background Art

[0002] The radar can obtain the speed information of the target within the detection range. When the radial speed of the target relative to the radar exceeds the radar speed measurement range, speed ambiguity will occur.

[0003] In the related art, the speed measured by the radar is deambiguated using a speed deambiguation algorithm. However, due to the limitations of the speed deambiguation algorithm and noise interference from the external environment, errors may occur in the deambiguation result, resulting in low accuracy of the speed information obtained by deambiguation. Summary of the invention

[0004] The embodiments of the present application provide a radar data processing method, apparatus, computer equipment and storage medium to correct errors in deambiguation results and improve the accuracy of target speed information.

[0005] In a first aspect, an embodiment of the present application provides a method for processing radar data, including: extracting speed information of a target based on radar data, and performing defuzzification processing on the speed information to obtain candidate speed information of the target; extracting abnormal points based on the candidate speed information; selecting amplitude and phase values ​​to be processed corresponding to the abnormal points in the radar data; performing conjugate processing on the amplitude and phase values ​​to be processed to obtain conjugate amplitude and phase values; based on the amplitude and phase values ​​to be processed and the conjugate amplitude and phase values, correcting the candidate speed information corresponding to the abnormal points to obtain target speed information.

[0006] In a second aspect, an embodiment of the present application provides a radar data processing device, including:

[0007] A defuzzification processing module is used to extract the speed information of the target based on the radar data, and to perform defuzzification processing on the speed information to obtain candidate speed information of the target;

[0008] A point trace extraction module is used to extract abnormal point traces based on candidate velocity information;

[0009] A selection module is used to select the amplitude and phase values ​​to be processed corresponding to the abnormal point traces in the radar data;

[0010] A conjugate processing module, used for performing conjugate processing on the amplitude and phase values ​​to be processed to obtain conjugate amplitude and phase values;

[0011] The correction module is used to correct the candidate speed information corresponding to the abnormal point trace based on the amplitude and phase value to be processed and the conjugate amplitude and phase value to obtain the target speed information.

[0012] In a third aspect, an embodiment of the present application provides a computer device, comprising: a memory, a processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory, so that the processor executes the first aspect above and / or various possible implementations of the first aspect.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0015] The radar data processing method, apparatus, computer equipment, storage medium and program product provided in the embodiments of the present application extract the speed information of the target based on the radar data, and perform defuzzification processing on the speed information. After the speed information is defuzzified, abnormal point traces are extracted based on the candidate speed information obtained by defuzzification, and the amplitude and phase values ​​to be processed corresponding to the abnormal point traces are conjugate processed to obtain conjugate amplitude and phase values. The phase can be corrected through the conjugate processing, and then the defuzzification result is corrected according to the amplitude and phase values ​​to be processed and the conjugate amplitude and phase values. The error of the defuzzification result can be corrected, the accuracy of the target speed information is improved, and the phenomenon of false targets due to radar speed measurement errors is avoided, thereby improving the reliability of radar detection of targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0017] Figure 1 A schematic diagram of a scenario of a radar data processing method provided in this application;

[0018] Figure 2 Schematic diagram of the radar data processing method provided in this application Figure 1 ;

[0019] Figure 3 Schematic diagram of the process of correcting the candidate speed information provided by this application Figure 1 ;

[0020] Figure 4 Schematic diagram of the process of correcting the candidate speed information provided by this application Figure 2 ;

[0021] Figure 5Schematic diagram of the process of correcting the candidate speed information provided by this application Figure 3 ;

[0022] Figure 6 Schematic diagram of the radar data processing method provided in this application Figure 2 ;

[0023] Figure 7 A schematic diagram showing the comparison of the speed of a single point trace before and after correction provided by the present application;

[0024] Figure 8 A schematic diagram of the single point trace before the velocity correction provided by the present application;

[0025] Fig. 9 A schematic diagram of the speed of a single point trace after correction provided by the present application;

[0026] Fig.10 A schematic diagram for comparing the speed of points with the same distance and speed before and after correction provided by this application;

[0027] Fig.11 A schematic diagram of the structure of a radar data processing device provided in this application;

[0028] Fig.12 A schematic diagram of the structure of the computer device provided for this application.

[0029] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0030] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0031] The radar data processing method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. Among them, the terminal 102 can be but is not limited to various personal computers, laptops, smart phones, tablets, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented with an independent server or a server cluster consisting of multiple servers.

[0032] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0033] Figure 2 Schematic diagram of the radar data processing method provided in this application Figure 1 ,like Figure 2 As shown, the method includes:

[0034] S201, extracting speed information of the target according to radar data, and performing defuzzification processing on the speed information to obtain candidate speed information of the target.

[0035] The radar data is acquired by a radar. In practical applications, the radar data may be radar data acquired by a vehicle-mounted millimeter-wave radar, or radar data acquired by a pulse Doppler radar or a continuous wave radar.

[0036] In an optional manner, before S201, the method further includes: acquiring radar data through a vehicle-mounted millimeter-wave radar.

[0037] Among them, the target is the object detected by the radar. The target can be dynamic or static. The speed information is used to describe the running state of the target. In radar testing, the speed information refers to the radial speed of the target relative to the radar, that is, the speed component of the target along the direction of the line between the radar and the target.

[0038] Specifically, the computer equipment collects radar data through the radar, performs two-dimensional Fourier transform processing on the radar data, obtains the range Doppler map (RD, Range-Doppler) corresponding to the radar data, performs constant false alarm rate (CFAR, Constant False Alarm Rate) detection on the RD map, and obtains the speed information of the target.

[0039] It should be noted that the range Doppler map is a type of image representation in radar data processing. It is mainly used to display information about targets detected by the radar in two dimensions: distance and Doppler frequency. Distance refers to the straight-line distance between the radar and the target. The Doppler frequency is the difference between the received echo frequency and the transmitted frequency when the target moves relative to the radar. This difference is proportional to the speed of the target.

[0040] The RD map is subjected to CFAR detection to obtain the speed information of the target, including obtaining a detection unit from the RD map, placing a protection unit around the detection unit to prevent the detection unit from being affected by the redundant energy of the surrounding signals, and selecting a reference unit around the protection unit; estimating the noise power according to the signal strength in the reference unit, calculating the detection threshold through CFAR detection according to the noise power and the preset false alarm probability, comparing the signal strength of the detection unit with the detection threshold, and determining that the target exists in the detection unit if the signal strength is greater than the detection threshold, otherwise, the target does not exist in the detection unit; obtaining the position of the target in the RD map, and calculating the speed information of the target according to the Doppler frequency of the position.

[0041] It should be noted that when the Doppler frequency of the target exceeds the Doppler frequency range of the radar, speed ambiguity will occur. At this time, the speed information obtained is not the true speed information of the target; speed deambiguation is used to eliminate or reduce the speed ambiguity phenomenon.

[0042] In an optional manner, after obtaining the speed information of the target, the speed information of the target is defuzzified by a defuzzification algorithm to obtain candidate speed information; for example, the speed information of the target can be defuzzified by an AB wave speed defuzzification method; specifically, two waveforms A and B with different maximum unambiguous speeds and mutually prime are obtained, and if the speed information of the same target on the A wave and the B wave is different, then the speed information of the target is an ambiguous speed; the ambiguous speed can be defuzzified by the remainder theorem to obtain candidate speed information; for another example, the speed information of the target can be defuzzified by a multi-pulse repetition frequency method; specifically, the unambiguous speed measurement range of the radar is expanded by alternately using multiple different pulse repetition frequencies, and the candidate speed information is obtained by fusing the measurement results under multiple different pulse repetition frequencies.

[0043] It should be noted that due to the limitation of defuzzification processing, the influence of noise, interference and system error, defuzzification of speed information cannot completely eliminate the problem of ambiguous speed, that is, candidate speed information may include ambiguous speed.

[0044] S202: extract abnormal points based on candidate velocity information.

[0045] Among them, the point trace is the position representation of the target on the radar detection plane, and the point trace can reflect the target's distance, direction and candidate speed information; in practical applications, for continuously detected targets, a series of point traces can be formed, which can be used for target tracking and trajectory generation.

[0046] The abnormal point traces include at least one of a single point trace (isolated point trace) or a point trace with the same distance and speed; the candidate speed information of the abnormal point trace may be a fuzzy speed.

[0047] In some embodiments, S202 includes: determining the point trace of the target based on the candidate speed information; obtaining the road scene corresponding to the radar data; extracting abnormal point traces corresponding to the road scene from the point traces; the abnormal point traces are at least one of a single point trace or a point trace with the same distance and speed.

[0048] Among them, when the radar is a vehicle-mounted millimeter-wave radar, the scenario in which it is used is a road scene for vehicle driving; the road scenes include highway scenes, urban road scenes and rural road scenes; different road scenes may correspond to different abnormal points.

[0049] Exemplarily, when the road scene is a highway scene, the abnormal point traces may include single point traces and point traces with the same distance and speed; when the road scene is an urban road scene, the abnormal point traces may include point traces with the same distance and speed; when the road scene is a rural road scene, the abnormal point traces may include single point traces; it should be noted that this example is for illustration only, and the correspondence between the road scene and the abnormal point traces can also be set according to actual needs.

[0050] Specifically, the computer equipment processes the radar data to obtain the distance, azimuth and candidate speed information of the target, and determines the point trace according to the distance, azimuth and candidate speed information of the target; obtains the road scene corresponding to the radar data, and extracts at least one of a single point trace or a point trace with the same distance and speed from the point trace according to the road scene.

[0051] In the above embodiment, abnormal points are extracted according to the road scene. Different road scenes may correspond to different abnormal points, so that the correction of blur speed is more targeted and adapted to specific road scenes, thereby improving the efficiency of blur speed correction.

[0052] S203, selecting the amplitude and phase values ​​to be processed corresponding to the abnormal point trace in the radar data.

[0053] The amplitude and phase values ​​to be processed may represent complex signals collected by the radar, that is, signals carrying amplitude and phase.

[0054] Specifically, the computer device obtains the position information of the target corresponding to the abnormal point trace, and obtains the amplitude and phase value to be processed corresponding to the abnormal point trace in the radar data based on the position information; when the abnormal point trace is a single point trace, the amplitude and phase value to be processed corresponding to the single point trace is obtained in the radar data; when the abnormal point trace is a point trace with the same distance and speed, the point trace with the same distance and speed includes a first point trace and a second point trace, and the amplitude and phase value to be processed corresponding to the first point trace and the amplitude and phase value to be processed corresponding to the second point trace are obtained in the radar data.

[0055] In some embodiments, selecting the amplitude and phase values ​​to be processed corresponding to the abnormal point traces in the radar data includes: obtaining multi-channel amplitude and phase values ​​corresponding to the abnormal point traces in the radar data; and selecting the amplitude and phase values ​​to be processed that meet the fuzzy conditions from the multi-channel amplitude and phase values ​​corresponding to the abnormal point traces.

[0056] The phase angle of the amplitude and phase value to be processed that meets the fuzzy condition is greater than 180 degrees; it should be noted that the amplitude and phase value to be processed may be the amplitude and phase value corresponding to the fuzzy speed information.

[0057] Specifically, since the radar can have multiple data receiving and transmitting channels, the radar data can include radar data of multiple channels; multi-channel amplitude and phase values ​​are obtained in the radar data of multiple channels according to abnormal point traces; for the amplitude and phase values ​​of each channel, if the phase angle of the amplitude and phase value is greater than 180 degrees, it is determined that the amplitude and phase value meets the fuzzy condition, and the amplitude and phase value is used as the amplitude and phase value to be processed; if the phase angle of the amplitude and phase value is not greater than 180 degrees, the amplitude and phase value does not meet the fuzzy condition.

[0058] In the above embodiment, the amplitude and phase values ​​to be processed that meet the fuzzy condition are selected from the multi-channel amplitude and phase values ​​corresponding to the abnormal point traces. The selected amplitude and phase values ​​to be processed may be the amplitude and phase values ​​corresponding to the fuzzy candidate speed information, so as to facilitate the subsequent correction of the fuzzy candidate speed information.

[0059] S204, performing conjugate processing on the amplitude and phase values ​​to be processed to obtain conjugate amplitude and phase values.

[0060] Specifically, the computer device can perform conjugate processing on the amplitude and phase values ​​to be processed according to the phase ambiguity offset principle to obtain conjugate amplitude and phase values; the phase can be corrected through the conjugate processing so that the ambiguous candidate velocity information can be corrected later through the amplitude value.

[0061] S205 , based on the amplitude-phase value to be processed and the conjugate amplitude-phase value, correct the candidate speed information corresponding to the abnormal point trace to obtain the target speed information.

[0062] Specifically, the computer device performs Fourier transform processing on the amplitude and phase values ​​to be processed to obtain the amplitude values ​​to be processed, performs Fourier transform processing on the conjugate amplitude and phase values ​​to obtain the conjugate amplitude values, compares the amplitude values ​​to be processed and the conjugate amplitude values, and corrects the candidate speed information corresponding to the abnormal point trace according to the comparison result to obtain the target speed information.

[0063] In a possible manner, it is determined whether to correct the candidate speed information based on the comparison result. If it is determined that the candidate speed information needs to be corrected, when the abnormal point trace includes a single point trace, the parameters involved in the defuzzification process can be adjusted, and after the parameters are adjusted, the speed information corresponding to the single point trace is defuzzified again to obtain the target speed information; when the abnormal point trace includes point traces with the same speed and distance, the parameters involved in the defuzzification process can be adjusted, and after the parameters are adjusted, the speed information corresponding to the point traces with the same speed and distance is defuzzified again to obtain the target speed information; or, the point trace with speed ambiguity can be determined in the point traces with the same speed and distance based on the comparison result, the candidate speed information corresponding to the point trace is deleted to obtain the target speed information.

[0064] When the radar is a vehicle-mounted millimeter-wave radar, in a driving scenario, the target-related information measured by the vehicle-mounted millimeter-wave radar can be used for obstacle avoidance prompts. If the radar data is processed and the speed information obtained is ambiguous or erroneous, a false target phenomenon (ghost phenomenon) will occur, which will lead to false prompts. In the intelligent driving scenario, it may cause the vehicle to brake suddenly or change lanes urgently. Correcting the errors in the defuzzification results can improve the accuracy of the speed information, reduce the probability of false prompts, and ensure driving safety.

[0065] The above-mentioned radar data processing method extracts the speed information of the target based on the radar data, and defuzzifies the speed information. After the speed information is defuzzified, abnormal points are extracted based on the candidate speed information obtained by defuzzification, and the amplitude and phase values ​​to be processed corresponding to the abnormal points are conjugate processed to obtain conjugate amplitude and phase values. The phase can be corrected through the conjugate processing, and then the defuzzification result is corrected according to the amplitude and phase values ​​to be processed and the conjugate amplitude and phase values. The error of the defuzzification result can be corrected, the accuracy of the target speed information is improved, and the phenomenon of false targets due to radar speed measurement errors is avoided, thereby improving the reliability of radar detection of targets.

[0066] In some embodiments, based on the amplitude and phase values ​​to be processed and the conjugate amplitude and phase values, the candidate speed information corresponding to the abnormal point trace is corrected to obtain the target speed information, including: performing Fourier transform on the amplitude and phase values ​​to be processed and the conjugate amplitude and phase values ​​respectively to obtain the amplitude value to be processed and the conjugate amplitude value; when the amplitude value to be processed and the conjugate amplitude value meet the correction conditions, the candidate speed information corresponding to the abnormal point trace is corrected to obtain the target speed information.

[0067] Specifically, the computer device performs Fourier transform on the amplitude and phase values ​​to be processed to obtain the amplitude values ​​to be processed, and performs Fourier transform on the conjugate amplitude and phase values ​​to obtain the conjugate amplitude values; by comparing the amplitude values ​​to be processed and the conjugate amplitude values, it can be determined whether the candidate speed information corresponding to the abnormal point trace is a fuzzy speed, that is, whether the candidate speed information needs to be corrected.

[0068] In the case where the abnormal point traces include a single point trace, if the amplitude value to be processed is smaller than the conjugate amplitude value, it is determined that the correction condition is met; in the case where the abnormal point traces include point traces with the same distance and speed, if the amplitude values ​​to be processed of the point traces with the same distance and speed are all smaller than the conjugate amplitude value, it is determined that the correction condition is met, or if the conjugate amplitude values ​​of two point traces in the point traces with the same distance and speed are equal, and the amplitude value to be processed of one point trace is smaller than the amplitude value to be processed of the other point trace, it is determined that the correction condition is met.

[0069] Under the condition of satisfying the correction conditions, when the abnormal point traces include a single point trace, the parameters involved in the defuzzification process can be adjusted, and after adjusting the parameters, the speed information corresponding to the single point trace can be defuzzified again to obtain the target speed information; when the abnormal point traces include the same-distance and same-speed point traces, when the amplitude value to be processed is less than the conjugate amplitude value, the parameters involved in the defuzzification process can be adjusted, and after adjusting the parameters, the speed information corresponding to the same-distance and same-speed point traces can be defuzzified again to obtain the target speed information; or, when the conjugate amplitude values ​​of two point traces in the same-distance and same-speed point traces are equal, and the amplitude value to be processed of one point trace is less than the amplitude value to be processed of the other point trace, the point trace with speed ambiguity can be determined in the same-distance and same-speed point traces according to the comparison result, and the candidate speed information corresponding to the point trace is deleted to obtain the target speed information.

[0070] In the above embodiment, Fourier transform is performed based on the amplitude-phase value to be processed and the conjugate amplitude-phase value to obtain the amplitude value to be processed and the conjugate amplitude value. The amplitude value to be processed and the conjugate amplitude value can be used to determine whether the candidate speed information corresponding to the abnormal point trace is blurred. If the amplitude value to be processed and the conjugate amplitude value meet the correction condition, it means that the candidate speed information corresponding to the abnormal point trace is a blurred speed, and then the candidate speed information is corrected to reduce the blurred speed information.

[0071] In some embodiments, Figure 3As shown, the abnormal point trace includes a single point trace; when the amplitude value to be processed and the conjugate amplitude value meet the correction condition, the candidate speed information corresponding to the abnormal point trace is corrected to obtain the target speed information, including: S301, when the abnormal point trace includes a single point trace, when the amplitude value to be processed is less than the conjugate amplitude value, it is determined that the correction condition is met; S302, the candidate speed information corresponding to the single point trace is eliminated; S303, the fuzzy factor of the defuzzification algorithm used in the defuzzification processing is adjusted; S304, according to the defuzzification algorithm after the fuzzy factor is adjusted, the speed information corresponding to the single point trace is defuzzified to obtain the target speed information.

[0072] The speed information corresponding to the single point trace is the speed information before the defuzzification process is performed.

[0073] Specifically, defuzzifying the speed information to obtain candidate speed information of the target includes: using a defuzzifying algorithm to defuzzify the speed information to obtain candidate speed information of the target.

[0074] In the case where the abnormal point trace includes a single point trace, if the amplitude value to be processed is smaller than the conjugate amplitude value, after the phase deviation is eliminated through conjugate processing, the amplitude value of the single point trace is increased, indicating that the candidate speed information corresponding to the single point trace is blurred, then it is determined that the correction condition is met, the candidate speed information corresponding to the single point trace is eliminated, the fuzzy factor used in the defuzzification algorithm is obtained, the product of the fuzzy factor and the preset multiple is calculated to obtain the adjusted fuzzy factor, and the speed information corresponding to the single point trace is re-defuzzified by using the defuzzification algorithm with the adjusted fuzzy factor to obtain the target speed information corresponding to the single point trace.

[0075] It should be noted that if the amplitude value to be processed is not less than the conjugate amplitude value, that is, after the phase deviation is eliminated by conjugate processing, the amplitude value of the single point trace is not increased, indicating that the candidate velocity information corresponding to the single point trace is not ambiguous, so there is no need to correct the candidate velocity information corresponding to the single point trace.

[0076] In the above embodiment, when the abnormal point trace includes a single point trace, the fuzzy factor is adjusted, and the speed information corresponding to the single point trace is defuzzified again according to the adjusted fuzzy factor to obtain unambiguous target speed information, thereby reducing speed fuzzy solution errors and improving the accuracy of the target speed information measured by the radar.

[0077] In some embodiments, Figure 4As shown, the abnormal point trace includes the same-distance and same-speed point trace, and the same-distance and same-speed point trace includes the first point trace and the second point trace; the amplitude value to be processed includes the first amplitude value to be processed corresponding to the first point trace and the second amplitude value to be processed corresponding to the second point trace; the conjugate amplitude value includes the first conjugate amplitude value corresponding to the first point trace and the second conjugate amplitude value corresponding to the second point trace; when the amplitude value to be processed and the conjugate amplitude value meet the correction condition, the candidate speed information corresponding to the abnormal point trace is corrected to obtain the target speed information, including:

[0078] S401. When the first conjugate amplitude value is equal to the second conjugate amplitude value, the first conjugate amplitude value is equal to the first amplitude value to be processed, and the second conjugate amplitude value is not equal to the second amplitude value to be processed, it is determined that the first correction condition is met; S402. The candidate speed information corresponding to the second point trace is eliminated to obtain the target speed information.

[0079] In an optional manner, when the abnormal point traces include points at the same distance and speed, Fourier transform is performed on the amplitude and phase value to be processed and the conjugate amplitude and phase value to obtain the amplitude value to be processed and the conjugate amplitude and phase value, respectively, including: performing Fourier transform on the amplitude and phase value to be processed of the first point trace to obtain the first amplitude value to be processed, and performing Fourier transform on the conjugate amplitude and phase value of the first point trace to obtain the first conjugate amplitude value; performing Fourier transform on the amplitude and phase value to be processed of the second point trace to obtain the second amplitude value to be processed, and performing Fourier transform on the conjugate amplitude and phase value of the second point trace to obtain the second conjugate amplitude value.

[0080] Specifically, when the first conjugate amplitude value is equal to the second conjugate amplitude value, the first conjugate amplitude value is equal to the first amplitude value to be processed, and the second conjugate amplitude value is not equal to the second amplitude value to be processed, the first correction condition is met, indicating that the amplitude values ​​of the first point trace and the second point trace after conjugation processing are the same, the amplitude values ​​of the first point trace before and after conjugation are unchanged, and the amplitude values ​​of the second point trace before and after conjugation are changed, indicating that the candidate speed information of the first point trace is correct, and the candidate speed information of the second point trace is erroneous. The candidate speed information of the first point trace can be retained, and the candidate speed information of the second point trace can be eliminated to obtain the target speed information.

[0081] In the above embodiment, for points with the same distance and speed, the points with blurred speed in the first point trace and the second point trace can be determined according to the first amplitude value to be processed, the second amplitude value to be processed, the first conjugate amplitude value and the second conjugate amplitude value, and the points with blurred speed can be eliminated to correct the deambiguation result, thereby improving the accuracy of the target speed information measured by the radar.

[0082] In some embodiments, Figure 5As shown, the abnormal point trace includes the same-distance and same-speed point trace, and the same-distance and same-speed point trace includes the first point trace and the second point trace; the amplitude value to be processed includes the first amplitude value to be processed corresponding to the first point trace and the second amplitude value to be processed corresponding to the second point trace; the conjugate amplitude value includes the first conjugate amplitude value corresponding to the first point trace and the second conjugate amplitude value corresponding to the second point trace; when the amplitude value to be processed and the conjugate amplitude value meet the correction condition, the candidate speed information corresponding to the abnormal point trace is corrected to obtain the target speed information, including:

[0083] S501. When the first conjugate amplitude value is not equal to the second conjugate amplitude value, the first conjugate amplitude value is greater than the first amplitude value to be processed, and the second conjugate amplitude value is greater than the second amplitude value to be processed, determine that the second correction condition is met; S502. Eliminate the candidate speed information corresponding to the first point trace and the candidate speed information corresponding to the second point trace; S503. Adjust the fuzziness factor of the defuzzification algorithm used in the defuzzification processing; S504. According to the defuzzification algorithm after adjusting the fuzziness factor, defuzzify the speed information corresponding to the first point trace and the speed information corresponding to the second point trace to obtain the target speed information.

[0084] Specifically, when the first conjugate amplitude value is not equal to the second conjugate amplitude value, the first conjugate amplitude value is greater than the first amplitude value to be processed, and the second conjugate amplitude value is greater than the second amplitude value to be processed, the second correction condition is met, indicating that the amplitude values ​​of the first point trace and the second point trace after the conjugate processing are both better than the amplitude values ​​before the conjugate processing, that is, the candidate speed information of the first point trace and the second point trace is fuzzy speed information; the candidate speed information corresponding to the first point trace and the candidate speed information corresponding to the second point trace are eliminated; the fuzzy factor used in the defuzzification algorithm is obtained, the product of the fuzzy factor and the preset multiple is calculated to obtain the adjusted fuzzy factor, and the speed information of the first point trace and the speed information of the second point trace are re-defuzzified by using the defuzzification algorithm with the adjusted fuzzy factor to obtain the target speed information corresponding to the first point trace and the target speed information corresponding to the second point trace.

[0085] In the above embodiment, for points with the same distance and speed, the candidate speed information of the first point trace and the second point trace is determined to be fuzzy speed information according to the first amplitude value to be processed, the second amplitude value to be processed, the first conjugate amplitude value and the second conjugate amplitude value, and the speed information of the first point trace and the second point trace is defuzzified again according to the adjusted fuzzy factor to obtain unfuzzy target speed information, thereby reducing the fuzzy speed information and improving the accuracy of the target speed information of the radar test.

[0086] Figure 6 Schematic diagram of the radar data processing method provided in this application Figure 2 ,like Figure 6 As shown, in this embodiment Figure 2Based on the embodiment, a method for processing radar data is described in detail, and the method includes:

[0087] S601, extracting speed information of the target according to radar data, and performing defuzzification processing on the speed information to obtain candidate speed information of the target;

[0088] S602, determining a point trace of the target based on the candidate speed information; obtaining a road scene corresponding to the radar data; extracting abnormal point traces corresponding to the road scene from the point traces; the abnormal point traces include at least one of a single point trace or a point trace with the same distance and speed;

[0089] S603, obtaining multi-channel amplitude and phase values ​​corresponding to the abnormal point trace in the radar data; selecting the amplitude and phase values ​​to be processed that meet the fuzzy condition from the multi-channel amplitude and phase values ​​corresponding to the abnormal point trace;

[0090] S604, performing conjugate processing on the amplitude and phase values ​​to be processed to obtain conjugate amplitude and phase values;

[0091] S605, performing Fourier transform on the amplitude and phase value to be processed and the conjugate amplitude and phase value respectively to obtain the amplitude value to be processed and the conjugate amplitude value;

[0092] S606. In the case where the abnormal point trace includes a single point trace, when the amplitude value to be processed is less than the conjugate amplitude value, it is determined that the correction condition is met; the candidate speed information corresponding to the single point trace is eliminated; the fuzziness factor of the defuzzification algorithm used in the defuzzification process is adjusted; the speed information corresponding to the single point trace is defuzzified according to the defuzzification algorithm after the fuzziness factor is adjusted to obtain the target speed information;

[0093] S607, in the case where the abnormal point traces include the same-distance and same-speed point traces, the same-distance and same-speed point traces include a first point trace and a second point trace; the amplitude value to be processed includes a first amplitude value to be processed corresponding to the first point trace and a second amplitude value to be processed corresponding to the second point trace; the conjugate amplitude value includes a first conjugate amplitude value corresponding to the first point trace and a second conjugate amplitude value corresponding to the second point trace;

[0094] S608A, when the first conjugate amplitude value is equal to the second conjugate amplitude value, the first conjugate amplitude value is equal to the first amplitude value to be processed, and the second conjugate amplitude value is not equal to the second amplitude value to be processed, determine that the first correction condition is satisfied; eliminate the candidate speed information corresponding to the second point trace to obtain the target speed information;

[0095] S608B. When the first conjugate amplitude value is not equal to the second conjugate amplitude value, the first conjugate amplitude value is greater than the first amplitude value to be processed, and the second conjugate amplitude value is greater than the second amplitude value to be processed, determine that the second correction condition is met; eliminate the candidate speed information corresponding to the first point trace and the candidate speed information corresponding to the second point trace; adjust the fuzziness factor of the defuzzification algorithm used in the defuzzification processing; according to the defuzzification algorithm after the fuzziness factor is adjusted, defuzzify the speed information corresponding to the first point trace and the speed information corresponding to the second point trace to obtain the target speed information.

[0096] For example, for a single point trace, the comparison between the result of deblurring before and after the result of deblurring after correction is as follows: Figure 7 As shown, the horizontal axis is the number of single-point traces, and the vertical axis is the square of the amplitude value of the single-point trace; Figure 7 It can be seen that the amplitude value after the defuzzification result is corrected is greater than the amplitude value before the defuzzification result is corrected. It can be seen that correcting the defuzzification result can effectively reduce the defuzzification error.

[0097] like Figure 8 As shown in , before the correction is performed, the point trace determined according to the candidate speed information includes a single point trace. After the speed information corresponding to the single point trace is defuzzified again, the single point trace has been corrected, as shown in Fig. 9 shown.

[0098] For the points with the same distance and speed, the comparison between the results of defuzzification before and after correction is performed, as shown in the figure below: Fig.10 As shown, the horizontal axis is the number of points with the same distance and speed, and the vertical axis is the square of the amplitude value of the points with the same distance and speed; for the first point trace and the second point trace in the points with the same distance and speed shown therein, the square of the amplitude value of the first point trace under the candidate speed information is equal to the square of the amplitude value of the first point trace under the correct speed, indicating that the candidate speed information of the first point trace is correct, and the candidate speed information of the second point trace is wrong, and the candidate speed information of the second point trace can be deleted.

[0099] The above-mentioned radar data processing method extracts the speed information of the target based on the radar data, and defuzzifies the speed information. After the speed information is defuzzified, abnormal points are extracted based on the candidate speed information obtained by defuzzification, and the amplitude and phase values ​​to be processed corresponding to the abnormal points are conjugate processed to obtain conjugate amplitude and phase values. The phase can be corrected through the conjugate processing, and then the defuzzification result is corrected according to the amplitude and phase values ​​to be processed and the conjugate amplitude and phase values. The error of the defuzzification result can be corrected, the accuracy of the target speed information is improved, and the phenomenon of false targets due to radar speed measurement errors is avoided, thereby improving the reliability of radar detection of targets.

[0100] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0101] Fig.11 A schematic diagram of the structure of the radar data processing device provided in this application, such as Fig.11 As shown, the radar data processing device 110 provided in this embodiment includes:

[0102] The defuzzification processing module 1101 is used to extract the speed information of the target according to the radar data, and perform defuzzification processing on the speed information to obtain candidate speed information of the target;

[0103] A point trace extraction module 1102 is used to extract abnormal point traces based on candidate velocity information;

[0104] A selection module 1103 is used to select the amplitude and phase values ​​to be processed corresponding to the abnormal point trace in the radar data;

[0105] A conjugate processing module 1104 is used to perform conjugate processing on the amplitude and phase values ​​to be processed to obtain conjugate amplitude and phase values;

[0106] The correction module 1105 is used to correct the candidate speed information corresponding to the abnormal point trace based on the amplitude and phase value to be processed and the conjugate amplitude and phase value to obtain the target speed information.

[0107] In a possible implementation, the correction module 1105 is further used to perform Fourier transform on the amplitude-phase value to be processed and the conjugate amplitude-phase value, respectively, to obtain the amplitude value to be processed and the conjugate amplitude value; when the amplitude value to be processed and the conjugate amplitude value meet the correction conditions, the candidate speed information corresponding to the abnormal point trace is corrected to obtain the target speed information.

[0108] In a possible implementation, the abnormal point trace includes a single point trace; the correction module 1105 is also used to, when the abnormal point trace includes the single point trace, determine that the correction condition is met when the amplitude value to be processed is less than the conjugate amplitude value; eliminate the candidate speed information corresponding to the single point trace; adjust the fuzzy factor of the defuzzification algorithm used in the defuzzification processing; and defuzzify the speed information corresponding to the single point trace according to the defuzzification algorithm after adjusting the fuzzy factor to obtain the target speed information.

[0109] In a possible implementation, the abnormal point trace includes the same-distance and same-speed point trace, and the same-distance and same-speed point trace includes the first point trace and the second point trace; the amplitude value to be processed includes the first amplitude value to be processed corresponding to the first point trace and the second amplitude value to be processed corresponding to the second point trace; the conjugate amplitude value includes the first conjugate amplitude value corresponding to the first point trace and the second conjugate amplitude value corresponding to the second point trace;

[0110] The correction module 1105 is also used to determine that the first correction condition is satisfied when the first conjugate amplitude value is equal to the second conjugate amplitude value, the first conjugate amplitude value is equal to the first amplitude value to be processed, and the second conjugate amplitude value is not equal to the second amplitude value to be processed; and eliminate the candidate speed information corresponding to the second point trace to obtain the target speed information.

[0111] In a possible implementation, the abnormal point trace includes the same-distance and same-speed point trace, and the same-distance and same-speed point trace includes the first point trace and the second point trace; the amplitude value to be processed includes the first amplitude value to be processed corresponding to the first point trace and the second amplitude value to be processed corresponding to the second point trace; the conjugate amplitude value includes the first conjugate amplitude value corresponding to the first point trace and the second conjugate amplitude value corresponding to the second point trace;

[0112] The correction module 1105 is also used to determine that the second correction condition is satisfied when the first conjugate amplitude value is not equal to the second conjugate amplitude value, the first conjugate amplitude value is greater than the first amplitude value to be processed, and the second conjugate amplitude value is greater than the second amplitude value to be processed; eliminate the candidate speed information corresponding to the first point trace and the candidate speed information corresponding to the second point trace; adjust the fuzziness factor of the defuzzification algorithm used in the defuzzification processing; and perform defuzzification processing on the speed information corresponding to the first point trace and the speed information corresponding to the second point trace according to the defuzzification algorithm after the fuzziness factor is adjusted to obtain the target speed information.

[0113] In a possible implementation, the point trace extraction module 1102 is also used to determine the point trace of the target based on the candidate speed information; obtain the road scene corresponding to the radar data; extract abnormal point traces corresponding to the road scene from the point traces; the abnormal point traces include at least one of a single point trace or a point trace with the same distance and speed.

[0114] In a possible implementation, the selection module 1103 is further used to obtain multi-channel amplitude and phase values ​​corresponding to abnormal point traces in the radar data; and select the amplitude and phase values ​​to be processed that meet the fuzzy conditions from the multi-channel amplitude and phase values ​​corresponding to the abnormal point traces.

[0115] The radar data processing device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, which will not be described in detail in this embodiment.

[0116] Fig.12 This is a schematic diagram of the structure of the computer device provided in this application. Fig.12 As shown, the computer device 120 provided in this embodiment includes: at least one processor 1201 and a memory 1202. Optionally, the device 120 also includes a communication component 1203. The processor 1201, the memory 1202 and the communication component 1203 are connected via a bus.

[0117] In a specific implementation process, at least one processor 1201 executes the computer-executable instructions stored in the memory 1202, so that at least one processor 1201 executes the above method.

[0118] The specific implementation process of the processor 1201 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0119] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0120] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0121] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0122] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0123] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0124] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0125] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0126] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0127] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0128] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0129] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0130] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0131] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for processing radar data, characterized in that: include: Extracting speed information of the target according to radar data, and performing defuzzification processing on the speed information to obtain candidate speed information of the target; Extracting abnormal points based on the candidate speed information; Selecting the amplitude and phase values ​​to be processed corresponding to the abnormal point trace in the radar data; Performing conjugate processing on the amplitude and phase values ​​to be processed to obtain conjugate amplitude and phase values; Performing Fourier transform on the amplitude and phase value to be processed and the conjugate amplitude and phase value respectively to obtain an amplitude value to be processed and a conjugate amplitude value; When the amplitude value to be processed and the conjugate amplitude value meet the correction condition, the candidate speed information corresponding to the abnormal point trace is corrected to obtain the target speed information.

2. The method according to claim 1, characterized in that The abnormal point trace includes a single point trace; When the amplitude value to be processed and the conjugate amplitude value meet the correction condition, the candidate speed information corresponding to the abnormal point trace is corrected to obtain the target speed information, including: In the case where the abnormal point trace includes a single point trace, when the amplitude value to be processed is less than the conjugate amplitude value, determining that a correction condition is satisfied; Eliminate candidate velocity information corresponding to the single point trace; Adjusting the fuzziness factor of the defuzzification algorithm used in the defuzzification process; According to the defuzzification algorithm after adjusting the fuzzy factor, the speed information corresponding to the single point trace is defuzzified to obtain the target speed information.

3. The method according to claim 1, characterized in that The abnormal point traces include point traces with the same distance and speed, and the point traces with the same distance and speed include a first point trace and a second point trace; the amplitude value to be processed includes a first amplitude value to be processed corresponding to the first point trace and a second amplitude value to be processed corresponding to the second point trace; The conjugate amplitude value includes a first conjugate amplitude value corresponding to the first point trace and a second conjugate amplitude value corresponding to the second point trace; When the amplitude value to be processed and the conjugate amplitude value meet the correction condition, the candidate speed information corresponding to the abnormal point trace is corrected to obtain the target speed information, including: When the first conjugate amplitude value is equal to the second conjugate amplitude value, the first conjugate amplitude value is equal to the first amplitude value to be processed, and the second conjugate amplitude value is not equal to the second amplitude value to be processed, determining that a first correction condition is satisfied; Eliminate the candidate speed information corresponding to the second point trace to obtain the target speed information.

4. The method according to claim 1, characterized in that: The abnormal point traces include point traces with the same distance and speed, and the point traces with the same distance and speed include a first point trace and a second point trace; the amplitude value to be processed includes a first amplitude value to be processed corresponding to the first point trace and a second amplitude value to be processed corresponding to the second point trace; The conjugate amplitude value includes a first conjugate amplitude value corresponding to the first point trace and a second conjugate amplitude value corresponding to the second point trace; When the amplitude value to be processed and the conjugate amplitude value meet the correction condition, the candidate speed information corresponding to the abnormal point trace is corrected to obtain the target speed information, including: When the first conjugate amplitude value is not equal to the second conjugate amplitude value, the first conjugate amplitude value is greater than the first amplitude value to be processed, and the second conjugate amplitude value is greater than the second amplitude value to be processed, determining that the second correction condition is satisfied; Eliminate candidate speed information corresponding to the first point trace and candidate speed information corresponding to the second point trace; Adjusting the fuzziness factor of the defuzzification algorithm used in the defuzzification process; According to the defuzzification algorithm after adjusting the fuzzy factor, defuzzification processing is performed on the speed information corresponding to the first point trace and the speed information corresponding to the second point trace to obtain target speed information.

5. The method according to any one of claims 1 to 4, characterized in that The step of extracting abnormal points based on the candidate speed information includes: Determine a point track of the target based on the candidate velocity information; Acquire a road scene corresponding to the radar data; Abnormal point traces corresponding to the road scene are extracted from the point traces; the abnormal point traces include at least one of single point traces or point traces with the same distance and speed.

6. The method according to any one of claims 1 to 4, characterized in that The selecting the amplitude and phase values ​​to be processed corresponding to the abnormal point trace in the radar data includes: Acquire multi-channel amplitude and phase values ​​corresponding to the abnormal point trace in the radar data; The amplitude and phase values ​​to be processed that meet the fuzzy conditions are selected from the multi-channel amplitude and phase values ​​corresponding to the abnormal point traces.

7. A radar data processing device, characterized in that: The device comprises: A defuzzification processing module is used to extract the speed information of the target according to the radar data, and perform defuzzification processing on the speed information to obtain candidate speed information of the target; A point trace extraction module, used for extracting abnormal point traces based on the candidate velocity information; A selection module, used for selecting the amplitude and phase values ​​to be processed corresponding to the abnormal point trace in the radar data; A conjugate processing module, used for performing conjugate processing on the amplitude and phase values ​​to be processed to obtain conjugate amplitude and phase values; The correction module is used to perform Fourier transform on the amplitude and phase values ​​to be processed and the conjugate amplitude and phase values ​​respectively to obtain the amplitude value to be processed and the conjugate amplitude value; when the amplitude value to be processed and the conjugate amplitude value meet the correction conditions, the candidate speed information corresponding to the abnormal point trace is corrected to obtain the target speed information.

8. A computer device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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