Ray intensity analysis method, system, terminal and computer-readable storage medium based on interpolation rays

Abstract

The present invention discloses a ray intensity analysis method, system, terminal and computer-readable storage medium based on interpolation rays, the method comprising: projecting a target object to obtain a projection area, screening multiple effective rays from radar rays according to the projection area; obtaining effective parameters of each effective ray, and adding multiple interpolation rays according to the effective ray and the effective parameter, obtaining the interpolation parameter of each interpolation ray; according to each interpolation parameter, distributing the initial effective intensity to all interpolation rays, and obtaining the intensity of the interpolated ray. The present invention effectively reduces the demand for computing resources for ray tracing by screening effective rays and optimizing radar rays, greatly reduces the time for ray intensity calculation, and at the same time, without increasing the amount of calculation, performs discrete processing on the original rays on the same target surface, thereby improving the resolution of ray beam generation.

Description

Technical Field

[0001] The present invention relates to the field of radar ray processing technology, and in particular to a ray intensity analysis method, system, terminal and computer-readable storage medium based on interpolation rays. Background Art

[0002] In traffic monitoring, radar surveillance cameras can monitor information such as vehicle speed, flow and density, effectively alleviating traffic congestion and improving traffic safety; in automobile intelligent assisted driving systems, radar and cameras work together to achieve multiple functions, such as obstacle detection, collision prediction, adaptive cruise control, etc.

[0003] However, the existing radar ray tracing process for target objects has a large demand for computing resources, and often reduces the amount of calculation at the expense of ray accuracy, thereby increasing the calculation speed and achieving the purpose of real-time ray tracing. This leads to excessive resource requirements and low computing efficiency during ray tracing tasks, and low accuracy leads to inaccurate tracking results.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The main purpose of the present invention is to provide a ray intensity analysis method, system, terminal device and computer-readable storage medium based on interpolation rays, aiming to solve the problem in the prior art that radar ray tracing has a large demand for computing resources resulting in low computing efficiency, and the calculation process reduces the amount of calculation at the expense of ray accuracy, thereby causing inaccurate tracking results.

[0006] To achieve the above object, the present invention provides a ray intensity analysis method based on interpolation rays, and the ray intensity analysis method based on interpolation rays comprises the following steps:

[0007] Projecting the target object to obtain a projection area of ​​the target object, and screening a plurality of valid rays from all radar rays according to the projection area;

[0008] Acquire the effective parameters of each of the effective rays, and add a plurality of interpolation rays on the target object according to all the effective rays and the effective parameters, and acquire the interpolation parameters of each of the interpolation rays;

[0009] The initial effective intensity of each effective ray is obtained, and according to each interpolation parameter, all the initial effective intensities are distributed to all the interpolation rays to obtain multiple interpolation intensities and multiple effective intensities, and the total ray intensity of the target object is calculated according to all the interpolation intensities and all the effective intensities.

[0010] Optionally, in the ray intensity analysis method based on interpolation rays, the projection area includes a plurality of projection surfaces;

[0011] The projecting of the target object to obtain a projection area of ​​the target object and screening a plurality of valid rays from all radar rays according to the projection area specifically includes:

[0012] Randomly set radar points, and project the target object from the radar points to obtain a plurality of projection surfaces of the target object, wherein the radar points represent the positions of the radar when emitting radar rays;

[0013] The radar is controlled to transmit a plurality of radar rays toward the target object, and a plurality of effective rays are screened from all the radar rays according to all the projection surfaces.

[0014] Optionally, the ray intensity analysis method based on interpolation rays, wherein the step of controlling the radar to transmit a plurality of radar rays to the target object and screening a plurality of valid rays from all the radar rays according to all the projection surfaces, specifically comprises:

[0015] Controlling the radar to transmit a plurality of radar rays toward the target object, and receiving a plurality of rebound rays reflected by the target object;

[0016] The radar rays corresponding to all the reflected rays are determined to be valid rays, and multiple valid rays in different projection surfaces are screened out according to all the projection surfaces.

[0017] Optionally, the ray intensity analysis method based on interpolation rays, wherein the obtaining of effective parameters of each effective ray, and adding a plurality of interpolation rays on the target object according to all the effective rays and the effective parameters, and obtaining the interpolation parameters of each interpolation ray, specifically includes:

[0018] Acquire effective parameters of all effective rays on each of the projection surfaces, and the projection point of each of the effective rays on the corresponding projection surface;

[0019] According to each of the projection points, a plurality of interpolation rays are added to the target object, and according to the effective parameters corresponding to each of the projection points, the interpolation parameters of each of the interpolation rays are calculated.

[0020] Optionally, the ray intensity analysis method based on interpolation rays, wherein, according to each of the projection points, a plurality of interpolation rays are added to the target object, and according to the effective parameters corresponding to the projection point, the interpolation parameters of each of the interpolation rays are calculated, specifically comprising:

[0021] Randomly connect two projection points on each of the projection planes to obtain corresponding connection lines, and use the midpoints of the connection lines as interpolation points until a preset number of interpolation points are obtained;

[0022] Connecting each of the interpolation points with the radar point to obtain a plurality of interpolation connection lines, and using all of the interpolation connection lines as interpolation rays;

[0023] An average value between the effective parameters of the two projection points corresponding to each interpolation point is calculated, and the average value is used as the interpolation parameter of the interpolation ray corresponding to the interpolation point.

[0024] Optionally, the ray intensity analysis method based on interpolation rays, wherein the obtaining of the initial effective intensity of each of the effective rays, distributing all the initial effective intensities to all the interpolation rays according to each of the interpolation parameters, obtaining a plurality of interpolation intensities and a plurality of effective intensities, and calculating the total ray intensity of the target object according to all the interpolation intensities and all the effective intensities, specifically includes:

[0025] Using a ray tracing algorithm, the initial effective intensity of each effective ray is calculated, and a matching relationship between each interpolation ray and the corresponding two effective rays is determined;

[0026] Determine, according to all the matching relationships, an interpolation parameter of each of the interpolation rays and a valid parameter of the two valid rays corresponding to the interpolation ray;

[0027] According to the ratio between each of the interpolation parameters and the corresponding two effective parameters, decomposing the initial effective intensities corresponding to the two effective rays into the interpolation intensity and the corresponding two effective intensities;

[0028] The total ray intensity of all rays on the target object is calculated based on all the interpolated intensities and all the effective intensities:

[0029] ;

[0030] in, Represents the total intensity of the ray after interpolation, represents the total intensity of the original ray, Indicates the number of valid rays before interpolation on a projection surface. Represents the total number of rays after interpolation on a projection surface. Indicates The interpolated intensity or effective intensity of each ray, Indicates The initial effective intensity of the effective rays, Represents the total ray after interpolation on the projection surface. rays, Represents the effective ray before interpolation on the projection surface. An effective ray.

[0031] Optionally, the ray intensity analysis method based on interpolation rays, wherein the initial effective intensity of each effective ray is obtained, and according to each interpolation parameter, all the initial effective intensities are distributed to all interpolation rays to obtain multiple interpolation intensities and multiple effective intensities, and the total ray intensity of the target object is calculated according to all the interpolation intensities and all the effective intensities, and then further includes:

[0032] Calculating the initial total ray intensity of the target object according to all the initial effective intensities;

[0033] The initial total ray intensity and the total ray intensity are compared to obtain a comparison result.

[0034] In addition, to achieve the above-mentioned purpose, the present invention further provides a ray intensity analysis system based on interpolation rays, wherein the ray intensity analysis system based on interpolation rays comprises:

[0035] A ray screening module, used for projecting a target object to obtain a projection area of ​​the target object, and screening a plurality of effective rays from all radar rays according to the projection area;

[0036] A ray discrete insertion module, used for obtaining effective parameters of each effective ray, and adding a plurality of interpolation rays on the target object according to all the effective rays and the effective parameters, and obtaining interpolation parameters of each interpolation ray;

[0037] The ray intensity calculation module is used to obtain the initial effective intensity of each effective ray, distribute all the initial effective intensities to all the interpolation rays according to each interpolation parameter, obtain multiple interpolation intensities and multiple effective intensities, and calculate the total ray intensity of the target object according to all the interpolation intensities and all the effective intensities.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal device, wherein the terminal device includes: a memory, a processor, and a ray intensity analysis program based on interpolation rays stored in the memory and executable on the processor, wherein the ray intensity analysis program based on interpolation rays implements the steps of the ray intensity analysis method based on interpolation rays as described above when executed by the processor.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a ray intensity analysis program based on interpolation rays, and when the ray intensity analysis program based on interpolation rays is executed by a processor, the steps of the ray intensity analysis method based on interpolation rays as described above are implemented.

[0040] In the present invention, the target object is projected to obtain the projection area of ​​the target object, and according to the projection area, multiple effective rays are screened from all radar rays; the effective parameters of each effective ray are obtained, and according to all the effective rays and the effective parameters, multiple interpolation rays are added to the target object, and the interpolation parameters of each interpolation ray are obtained; the initial effective intensity of each effective ray is obtained, and according to each interpolation parameter, all the initial effective intensities are distributed to all interpolation rays to obtain multiple interpolation intensities and multiple effective intensities, and the total ray intensity of the target object is calculated according to all the interpolation intensities and all the effective intensities. The present invention effectively reduces the demand for computing resources for ray tracing by screening effective rays and optimizing radar rays, greatly reduces the time for ray intensity calculation, and at the same time, without increasing the amount of calculation, the original rays on the same target surface are discretely processed, thereby improving the resolution of ray beam generation. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a flow chart of a preferred embodiment of the ray intensity analysis method based on interpolation rays of the present invention;

[0042] Figure 2 It is a radar detection top view of a preferred embodiment of the ray intensity analysis method based on interpolation rays of the present invention;

[0043] Figure 3 It is a schematic diagram of ray insertion of a preferred embodiment of the ray intensity analysis method based on interpolation rays of the present invention;

[0044] Figure 4 It is a schematic diagram of ray discrete insertion of a preferred embodiment of the ray intensity analysis method based on interpolation rays of the present invention;

[0045] Figure 5 It is a structural diagram of a preferred embodiment of a ray intensity analysis system based on interpolation rays of the present invention;

[0046] Figure 6 It is a structural diagram of a preferred embodiment of the terminal of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0048] The ray intensity analysis method based on interpolation rays described in the preferred embodiment of the present invention is as follows: Figure 1 As shown, the ray intensity analysis method based on interpolation rays includes the following steps:

[0049] Step S10: Project the target object to obtain a projection area of ​​the target object, and select a plurality of valid rays from all radar rays according to the projection area.

[0050] Among them, Figure 2 As shown, the projection area includes multiple projection surfaces. For each projection surface, there are multiple radar rays mapped to the opposite side of the target, so as to screen the effective rays used for calculation and cut the invalid rays, thereby reducing the number of rays that need to be calculated and improving the calculation efficiency.

[0051] Specifically, radar points are randomly set, and a target object is projected from the radar points to obtain a plurality of projection surfaces of the target object, wherein the radar points represent positions of radars when radars emit radar rays; the radar is controlled to emit a plurality of radar rays to the target object, and a plurality of valid rays are screened from all the radar rays according to all the projection surfaces.

[0052] Furthermore, the radar is controlled to transmit a plurality of radar rays toward the target object, and receive a plurality of rebound rays reflected by the target object; the radar rays corresponding to all the rebound rays are determined to be valid rays, and based on all the projection surfaces, a plurality of valid rays in different projection surfaces are screened out.

[0053] Among them, the area for sensing the target object is controlled by setting the ray emission area. The ray emission area is usually a conical area with the vertex of the radar and the radar normal as the axis. Most of the rays emitted evenly do not return to the radar receiving antenna. Therefore, the invalid antennas that cannot return to the radar receiving antenna (that is, the radar rays that are not displayed on the projection surface) are first identified and these invalid antennas are cut off. The other radar rays are valid rays. This can significantly reduce the amount of calculation and improve the calculation efficiency while ensuring the calculation accuracy remains unchanged.

[0054] Step S20: obtaining effective parameters of each effective ray, and adding a plurality of interpolation rays on the target object according to all the effective rays and the effective parameters, and obtaining interpolation parameters of each interpolation ray.

[0055] Among them, high-density rays are a necessary condition to ensure calculation accuracy. However, due to the long-tail effect between calculation accuracy and calculation efficiency, the ray density is usually sparse while ensuring real-time efficiency. Sparse ray density will cause the ray beam angle represented by each ray to become larger and the resolution to decrease, making it impossible to accurately understand the physical processes such as reflection and scattering of rays on the target, resulting in calculation errors. Therefore, after cutting off the invalid rays, the remaining valid rays are discretized, such as Figure 3 As shown, on the basis of avoiding the long-tail effect, the ray density is increased, so that the ray beam angle represented by each ray becomes smaller and the resolution is improved, thereby reducing the calculation error and significantly improving the calculation accuracy.

[0056] Specifically, the effective parameters of all effective rays on each of the projection surfaces and the projection points of each of the effective rays on the corresponding projection surfaces are obtained; according to each of the projection points, a plurality of interpolation rays are added to the target object, and according to the effective parameters corresponding to each of the projection points, the interpolation parameters of each of the interpolation rays are calculated.

[0057] Furthermore, two projection points are randomly connected on each of the projection surfaces to obtain corresponding connecting lines, and the midpoints of the connecting lines are used as interpolation points until a preset number of interpolation points are obtained; each of the interpolation points is connected to the radar point to obtain multiple interpolation connecting lines, and all of the interpolation connecting lines are used as interpolation rays; the average value between the effective parameters of the two projection points corresponding to each of the interpolation points is calculated, and the average value is used as the interpolation parameter of the interpolation ray corresponding to the interpolation point.

[0058] Among them, Figure 4 As shown, for each projection surface, for the projection points of multiple valid rays on the projection surface, any two projection points are connected, and new points are selected on the connecting line as interpolation points. These interpolation points represent new interpolation rays. At the same time, the interpolation parameters of the interpolation rays newly generated in this way are calculated using the effective parameters of the effective rays of the two corresponding projection points, and the average value of the two effective parameters is the interpolation ray of the interpolation ray. In order to solve the problem of insufficient calculation accuracy caused by sparse rays, the rays on the target surface are interpolated according to the characteristics of continuous change of rays to increase the ray density, and the width of each ray beam is reduced to improve the resolution of the rays, thereby improving the calculation accuracy.

[0059] Step S30, obtaining the initial effective intensity of each of the effective rays, distributing all the initial effective intensities to all the interpolation rays according to each of the interpolation parameters, obtaining multiple interpolation intensities and multiple effective intensities, and calculating the total ray intensity of the target object according to all the interpolation intensities and all the effective intensities.

[0060] Specifically, the initial effective intensity of each effective ray is calculated by using a ray tracing algorithm, and a matching relationship between each interpolation ray and the corresponding two effective rays is determined; based on all the matching relationships, an interpolation parameter of each interpolation ray and an effective parameter of the two effective rays corresponding to the interpolation ray are determined; based on a ratio between each interpolation parameter and the corresponding two effective parameters, the initial effective intensity corresponding to the two effective rays is decomposed into an interpolation intensity and two corresponding effective intensities; based on all the interpolation intensities and all the effective intensities, a total ray intensity of all rays on the target object is calculated:

[0061] ;

[0062] in, Represents the total intensity of the ray after interpolation, represents the total intensity of the original ray, Indicates the number of valid rays before interpolation on a projection surface. Represents the total number of rays after interpolation on a projection surface. Indicates The interpolated intensity or effective intensity of each ray, Indicates The initial effective intensity of the effective rays, Represents the total ray after interpolation on the projection surface. rays, Represents the effective ray before interpolation on the projection surface. An effective ray.

[0063] Among them, the rays obtained by the present invention are ray clusters with higher resolution generated by discretizing the ray beam represented by the original rays in order to improve the ray density. The energy of the total rays on the target surface should remain unchanged before and after interpolation. Therefore, according to the ratio of the ray intensity after interpolation, the total energy is distributed to each ray (including the effective ray and the interpolated ray), and then the total ray intensity on the target surface is calculated.

[0064] Further, the initial total ray intensity of the target object is calculated based on all the initial effective intensities; the initial total ray intensity is compared with the total ray intensity to obtain a comparison result. If the result indicates that the initial total ray intensity is inconsistent with the total ray intensity, it indicates that there is a deviation in the calculation and verification is required.

[0065] Specifically, it can be understood through the following embodiments:

[0066] First, the radar echo model is established using the ray tracing method to calculate the process of electromagnetic waves emitted by the radar propagating in space. The ray tracing model uses 100,000 rays, with a maximum of 3 ejections. The ray emission area is ±20° in the horizontal and vertical directions, and the receiving sphere radius is 0.001 times the ray propagation distance. The model is integrated into the simulation software PanoSim (an integrated simulation and testing platform for automotive autonomous driving technology and product development), and the model library in PanoSim is used to generate a scene model.

[0067] Secondly, collect real data from the radar for comparison and verification. Use the radar to target vehicles in actual road scenes, and use the radar sensor to collect the radar echo data. Since the ray data cannot be compared directly, the raw data obtained from the test is transformed using Fast Fourier Transform (FFT) and output in the form of radar echo map range-angle map (a two-dimensional image generated by mapping the signal received by the radar in two dimensions of distance and angle) and range-doppler map (discrete two-dimensional range Doppler map). The ray information calculated by the ray tracing model is also converted into an echo map in the same way for a more intuitive comparison.

[0068] Then, by discretizing effective rays, optimizing rays, and comparing the computational efficiency of the conventional method and the ray optimization method proposed in the present invention, the ray optimization method can significantly reduce the calculation time compared with the normal emission method under different numbers of rays: from 11.79 seconds to 8.6 seconds for 16384 rays, from 26.47 seconds to 16.26 seconds for 108900 rays, and from 55.28 seconds to 37.5 seconds for 1048576 rays, which proves the effectiveness of the ray optimization method of the present invention.

[0069] Finally, the ray enhancement method proposed in the present invention is used to improve the accuracy of the ray, and the radar echograms obtained by this method, the conventional method and the test are compared, and the echograms calculated by different methods are evaluated from the distribution characteristics of the echogram and MSE (Multiscale entropy). The fitting effect of the model is analyzed from the distribution of the echogram. The target distribution on the echogram generated by the measured data shows irregular characteristics, which are caused by the superposition of signals reflected back to the radar from different positions on the target.

[0070] The echo map output by the model established by the present invention can reflect the diffusion of the target echo area caused by factors such as the shape of the target vehicle, and the diffusion distribution shape of the target echo area is very close to the actual radar test result. In contrast, the prediction results of the model without target ray enhancement show that the echo map can reflect the main characteristics of the target echo distribution due to the sparse ray problem, but the distribution details are significantly different from the actual echo map.

[0071] Secondly, the MSE between the test echo graph and the echo graph output by the radar model is used to further compare the overall fitting degree of the echo graph by different radar modeling methods. The results show that the radar model established by the method in this paper is obviously closer to the echo of the real radar, and its MSE is improved by 65.3% compared with the radar model without interpolation enhancement, which is consistent with the distribution characteristics in the echo graph, further proving that the echo modeling method and RF modeling method of the present invention can achieve high-precision simulation of signal-level radar.

[0072] The present invention screens effective rays and optimizes radar rays, thereby effectively reducing the demand for computing resources for ray tracing and significantly reducing the time for ray intensity calculation. At the same time, without increasing the amount of calculation, the original rays on the same target surface are discretely processed, thereby improving the resolution of ray beam generation.

[0073] Furthermore, if Figure 5 As shown, based on the above-mentioned ray intensity analysis method based on interpolation rays, the present invention also provides a ray intensity analysis system based on interpolation rays, wherein the ray intensity analysis system based on interpolation rays includes:

[0074] A ray screening module 51 is used to project the target object to obtain a projection area of ​​the target object, and screen a plurality of effective rays from all radar rays according to the projection area;

[0075] A ray discrete insertion module 52 is used to obtain the effective parameters of each of the effective rays, and add a plurality of interpolation rays on the target object according to all the effective rays and the effective parameters, and obtain the interpolation parameters of each of the interpolation rays;

[0076] The ray intensity calculation module 53 is used to obtain the initial effective intensity of each of the effective rays, distribute all the initial effective intensities to all the interpolation rays according to each of the interpolation parameters, obtain multiple interpolation intensities and multiple effective intensities, and calculate the total ray intensity of the target object according to all the interpolation intensities and all the effective intensities.

[0077] Furthermore, if Figure 6As shown, based on the above-mentioned ray intensity analysis method and system based on interpolation rays, the present invention also provides a terminal accordingly, and the terminal includes a processor 10, a memory 20 and a display 30. Figure 6 Only some components of the terminal are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0078] In some embodiments, the memory 20 may be an internal storage unit of the terminal, such as a hard disk or memory of the terminal. In other embodiments, the memory 20 may also be an external storage device of the terminal, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the terminal. Further, the memory 20 may also include both an internal storage unit of the terminal and an external storage device. The memory 20 is used to store application software and various types of data installed on the terminal, such as the program code of the installation terminal. The memory 20 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a ray intensity analysis program 40 based on interpolation rays is stored on the memory 20, and the ray intensity analysis program 40 based on interpolation rays can be executed by the processor 10, thereby realizing the ray intensity analysis method based on interpolation rays in the present application.

[0079] In some embodiments, the processor 10 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run the program code or process data stored in the memory 20, such as executing the ray intensity analysis method based on interpolation rays.

[0080] In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 30 is used to display information on the terminal and to display a visual user interface. The components of the terminal communicate with each other via a system bus.

[0081] In one embodiment, when the processor 10 executes the ray intensity analysis program 40 based on interpolation rays in the memory 20, the following steps are implemented:

[0082] Projecting the target object to obtain a projection area of ​​the target object, and screening a plurality of valid rays from all radar rays according to the projection area;

[0083] Acquire the effective parameters of each of the effective rays, and add a plurality of interpolation rays on the target object according to all the effective rays and the effective parameters, and acquire the interpolation parameters of each of the interpolation rays;

[0084] The initial effective intensity of each effective ray is obtained, and according to each interpolation parameter, all the initial effective intensities are distributed to all the interpolation rays to obtain multiple interpolation intensities and multiple effective intensities, and the total ray intensity of the target object is calculated according to all the interpolation intensities and all the effective intensities.

[0085] Wherein, the projection area includes a plurality of projection surfaces;

[0086] The projecting of the target object to obtain a projection area of ​​the target object and screening a plurality of valid rays from all radar rays according to the projection area specifically includes:

[0087] Randomly set radar points, and project the target object from the radar points to obtain a plurality of projection surfaces of the target object, wherein the radar points represent the positions of the radar when emitting radar rays;

[0088] The radar is controlled to transmit a plurality of radar rays toward the target object, and a plurality of effective rays are screened from all the radar rays according to all the projection surfaces.

[0089] The step of controlling the radar to transmit a plurality of radar rays to the target object and selecting a plurality of valid rays from all the radar rays according to all the projection surfaces specifically includes:

[0090] Controlling the radar to transmit a plurality of radar rays toward the target object, and receiving a plurality of rebound rays reflected by the target object;

[0091] The radar rays corresponding to all the reflected rays are determined to be valid rays, and multiple valid rays in different projection surfaces are screened out according to all the projection surfaces.

[0092] The step of obtaining the effective parameters of each effective ray, adding a plurality of interpolation rays on the target object according to all the effective rays and the effective parameters, and obtaining the interpolation parameters of each interpolation ray specifically includes:

[0093] Acquire effective parameters of all effective rays on each of the projection surfaces, and the projection point of each of the effective rays on the corresponding projection surface;

[0094] According to each of the projection points, a plurality of interpolation rays are added to the target object, and according to the effective parameters corresponding to each of the projection points, the interpolation parameters of each of the interpolation rays are calculated.

[0095] The adding of a plurality of interpolation rays on the target object according to each of the projection points and calculating the interpolation parameters of each of the interpolation rays according to the effective parameters corresponding to the projection points specifically includes:

[0096] Randomly connect two projection points on each of the projection planes to obtain corresponding connection lines, and use the midpoints of the connection lines as interpolation points until a preset number of interpolation points are obtained;

[0097] Connecting each of the interpolation points with the radar point to obtain a plurality of interpolation connection lines, and using all of the interpolation connection lines as interpolation rays;

[0098] An average value between the effective parameters of the two projection points corresponding to each interpolation point is calculated, and the average value is used as the interpolation parameter of the interpolation ray corresponding to the interpolation point.

[0099] The step of obtaining the initial effective intensity of each effective ray, distributing all the initial effective intensities to all interpolated rays according to each interpolation parameter, obtaining a plurality of interpolation intensities and a plurality of effective intensities, and calculating the total ray intensity of the target object according to all the interpolation intensities and all the effective intensities specifically includes:

[0100] Using a ray tracing algorithm, the initial effective intensity of each effective ray is calculated, and a matching relationship between each interpolation ray and the corresponding two effective rays is determined;

[0101] Determine, according to all the matching relationships, an interpolation parameter of each of the interpolation rays and a valid parameter of the two valid rays corresponding to the interpolation ray;

[0102] According to the ratio between each of the interpolation parameters and the corresponding two effective parameters, decomposing the initial effective intensities corresponding to the two effective rays into the interpolation intensity and the corresponding two effective intensities;

[0103] The total ray intensity of all rays on the target object is calculated based on all the interpolated intensities and all the effective intensities:

[0104] ;

[0105] in, Represents the total intensity of the ray after interpolation, represents the total intensity of the original ray, Indicates the number of valid rays before interpolation on a projection surface. Represents the total number of rays after interpolation on a projection surface. Indicates The interpolated intensity or effective intensity of each ray, Indicates The initial effective intensity of the effective rays, Represents the total ray after interpolation on the projection surface. rays, Represents the effective ray before interpolation on the projection surface. An effective ray.

[0106] The method further comprises: obtaining the initial effective intensity of each effective ray, distributing all the initial effective intensities to all interpolation rays according to each interpolation parameter, obtaining a plurality of interpolation intensities and a plurality of effective intensities, and calculating the total ray intensity of the target object according to all the interpolation intensities and all the effective intensities, and then further comprising:

[0107] Calculating the initial total ray intensity of the target object according to all the initial effective intensities;

[0108] The initial total ray intensity and the total ray intensity are compared to obtain a comparison result.

[0109] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a ray intensity analysis program based on interpolation rays, and when the ray intensity analysis program based on interpolation rays is executed by a processor, the steps of the ray intensity analysis method based on interpolation rays as described above are implemented.

[0110] In summary, the present invention provides a ray intensity analysis method based on interpolation rays and related equipment, the method comprising: projecting a target object to obtain a projection area of ​​the target object, and screening multiple effective rays from all radar rays according to the projection area; obtaining effective parameters of each effective ray, and adding multiple interpolation rays to the target object according to all the effective rays and the effective parameters, and obtaining interpolation parameters of each interpolation ray; obtaining the initial effective intensity of each effective ray, and according to each interpolation parameter, all the initial effective intensities are distributed to all interpolation rays to obtain multiple interpolation intensities and multiple effective intensities, and calculating the total ray intensity of the target object according to all the interpolation intensities and all the effective intensities. The present invention effectively reduces the demand for computing resources for ray tracing by screening effective rays and optimizing radar rays, greatly reduces the time for ray intensity calculation, and at the same time, without increasing the amount of calculation, the original rays on the same target surface are discretely processed, thereby improving the resolution of ray beam generation.

[0111] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or terminal including the element.

[0112] Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the program can be stored in a computer-readable storage medium that can be read by a computer, and the program can include the processes of the above-mentioned method embodiments when executed. The computer-readable storage medium can be a memory, a disk, an optical disk, etc.

[0113] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A ray intensity analysis method based on interpolation rays, characterized in that: The ray intensity analysis method based on interpolation rays includes: Projecting the target object to obtain a projection area of ​​the target object, and screening a plurality of valid rays from all radar rays according to the projection area; Acquire the effective parameters of each of the effective rays, and add a plurality of interpolation rays on the target object according to all the effective rays and the effective parameters, and acquire the interpolation parameters of each of the interpolation rays; Acquiring effective parameters of each effective ray, and adding multiple interpolation rays on the target object according to all the effective rays and the effective parameters, and acquiring the interpolation parameters of each interpolation ray, specifically including: Obtaining effective parameters of all effective rays on each projection surface, and the projection point of each effective ray on the corresponding projection surface; According to each of the projection points, a plurality of interpolation rays are added to the target object, and according to the effective parameters corresponding to each of the projection points, an interpolation parameter of each of the interpolation rays is calculated; Acquire the initial effective intensity of each effective ray, distribute all the initial effective intensities to all the interpolation rays according to each interpolation parameter, obtain a plurality of interpolation intensities and a plurality of effective intensities, and calculate the total ray intensity of the target object according to all the interpolation intensities and all the effective intensities; The obtaining of the initial effective intensity of each effective ray and, according to each interpolation parameter, distributing all the initial effective intensities to all interpolation rays to obtain a plurality of interpolation intensities and a plurality of effective intensities specifically includes: Using a ray tracing algorithm, the initial effective intensity of each effective ray is calculated, and a matching relationship between each interpolation ray and the corresponding two effective rays is determined; Determine, according to all the matching relationships, an interpolation parameter of each of the interpolation rays and a valid parameter of the two valid rays corresponding to the interpolation ray; According to the ratio between each of the interpolation parameters and the corresponding two effective parameters, the initial effective intensities corresponding to the two effective rays are decomposed into the interpolation intensity and the corresponding two effective intensities.

2. The ray intensity analysis method based on interpolation rays according to claim 1, characterized in that: The projection area includes a plurality of projection surfaces; The projecting of the target object to obtain a projection area of ​​the target object and screening a plurality of valid rays from all radar rays according to the projection area specifically includes: Randomly set radar points, and project the target object from the radar points to obtain a plurality of projection surfaces of the target object, wherein the radar points represent the positions of the radar when emitting radar rays; The radar is controlled to transmit a plurality of radar rays toward the target object, and a plurality of effective rays are screened from all the radar rays according to all the projection surfaces.

3. The ray intensity analysis method based on interpolation rays according to claim 2, characterized in that: The controlling the radar to transmit a plurality of radar rays toward the target object and selecting a plurality of valid rays from all the radar rays according to all the projection surfaces specifically includes: Controlling the radar to transmit a plurality of radar rays toward the target object, and receiving a plurality of rebound rays reflected by the target object; The radar rays corresponding to all the reflected rays are determined to be valid rays, and multiple valid rays in different projection surfaces are screened out according to all the projection surfaces.

4. The ray intensity analysis method based on interpolation rays according to claim 1, characterized in that: The adding a plurality of interpolation rays on the target object according to each of the projection points, and calculating the interpolation parameters of each of the interpolation rays according to the effective parameters corresponding to the projection points, specifically includes: Randomly connect two projection points on each of the projection planes to obtain corresponding connection lines, and use the midpoints of the connection lines as interpolation points until a preset number of interpolation points are obtained; Connecting each of the interpolation points with the radar point to obtain a plurality of interpolation connection lines, and using all of the interpolation connection lines as interpolation rays; An average value between the effective parameters of the two projection points corresponding to each interpolation point is calculated, and the average value is used as the interpolation parameter of the interpolation ray corresponding to the interpolation point.

5. The ray intensity analysis method based on interpolation rays according to claim 4, characterized in that: The calculating the total ray intensity of the target object according to all the interpolation intensities and all the effective intensities specifically includes: The total ray intensity of all rays on the target object is calculated based on all the interpolated intensities and all the effective intensities: ； in, Represents the total intensity of the ray after interpolation, represents the total intensity of the original ray, Indicates the number of valid rays before interpolation on a projection surface. Represents the total number of rays after interpolation on a projection surface. Indicates The interpolated intensity or effective intensity of each ray, Indicates The initial effective intensity of the effective rays, Represents the total ray after interpolation on the projection surface. rays, Represents the effective ray before interpolation on the projection surface. An effective ray.

6. The ray intensity analysis method based on interpolation rays according to claim 1, characterized in that: The method further comprises: obtaining an initial effective intensity of each effective ray, distributing all the initial effective intensities to all interpolation rays according to each interpolation parameter, obtaining a plurality of interpolation intensities and a plurality of effective intensities, and calculating a total ray intensity of the target object according to all the interpolation intensities and all the effective intensities, and then: Calculating the initial total ray intensity of the target object according to all the initial effective intensities; The initial total ray intensity and the total ray intensity are compared to obtain a comparison result.

7. A ray intensity analysis system based on interpolation rays, characterized in that: The ray intensity analysis system based on interpolation rays is applied to the ray intensity analysis method based on interpolation rays according to any one of claims 1 to 6, and the ray intensity analysis system based on interpolation rays comprises: A ray screening module, used for projecting a target object to obtain a projection area of ​​the target object, and screening a plurality of effective rays from all radar rays according to the projection area; A ray discrete insertion module, used for obtaining effective parameters of each effective ray, and adding a plurality of interpolation rays on the target object according to all the effective rays and the effective parameters, and obtaining interpolation parameters of each interpolation ray; The ray intensity calculation module is used to obtain the initial effective intensity of each effective ray, distribute all the initial effective intensities to all the interpolation rays according to each interpolation parameter, obtain multiple interpolation intensities and multiple effective intensities, and calculate the total ray intensity of the target object according to all the interpolation intensities and all the effective intensities.

8. A terminal device, characterized in that: The terminal device includes: a memory, a processor, and a ray intensity analysis program based on interpolation rays stored in the memory and executable on the processor. When the ray intensity analysis program based on interpolation rays is executed by the processor, the steps of the ray intensity analysis method based on interpolation rays as described in any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a ray intensity analysis program based on interpolation rays, and when the ray intensity analysis program based on interpolation rays is executed by a processor, the steps of the ray intensity analysis method based on interpolation rays according to any one of claims 1 to 6 are implemented.

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