Radar state detection method and device

Abstract

The invention relates to the technical field of radars, and discloses a radar state detection method and device, and the method comprises the steps: detecting a track coordinate point set of an object detected by a radar in a preset time period; according to the track coordinate point set, detection variable data of the radar is calculated, and the detection variable data is used for indicating the detection state fluctuation condition of the radar; according to the detection variable data, whether the radar meets a state compensation condition is judged, the state compensation condition is used for representing that the detection variable data is larger than or equal to a corresponding preset detection variable data threshold value, and when it is judged that the radar meets the state compensation condition, state compensation control parameters are generated according to the detection variable data; the state compensation control parameter is used for indicating to execute state compensation operation on the radar. According to the invention, the radar state detection accuracy and detection timeliness can be improved, the control accuracy and control efficiency of radar state compensation can be improved, and the stability of radar application and the operation safety of an application scene can be improved.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a radar state detection method and device. Background Art

[0002] With the continuous development of science and technology, wireless sensing devices are used in more and more scenarios. For example, radar is used in traffic scenarios, making traffic sections safer and smoother, bringing great convenience to users.

[0003] Practice has found that since the radar is installed in an external environment, uncontrollable factors in the external environment will cause the calibrated detection parameters to be disturbed by the external environment after the radar is installed, resulting in deviations, which reduces the radar detection accuracy. For this reason, maintenance personnel are usually dispatched to maintain the radar regularly. However, this often fails to accurately and timely detect abnormal conditions of the radar, affecting the normal operation of the radar and application scenarios.

[0004] It can be seen that how to improve the accuracy of radar status detection is particularly important. Summary of the invention

[0005] The present invention provides a radar state detection method and device, which can improve the accuracy of radar state detection.

[0006] In order to solve the above technical problems, the first aspect of the present invention discloses a radar state detection method, the method comprising:

[0007] Detecting a set of track coordinate points of an object detected by the radar within a preset time period;

[0008] Calculating detection variable data of the radar according to the track coordinate point set, wherein the detection variable data is used to indicate fluctuations in the detection state of the radar;

[0009] Based on the detection variable data, it is determined whether the radar satisfies a state compensation condition, and the state compensation condition is used to indicate that the detection variable data is greater than or equal to a corresponding preset detection variable data threshold. When it is determined that the radar satisfies the state compensation condition, a state compensation control parameter is generated based on the detection variable data, and the state compensation control parameter is used to instruct to perform a state compensation operation on the radar.

[0010] As an optional implementation, in the first aspect of the present invention, when the preset time period is a preset first time period, the track coordinate point set is a first coordinate point set in the preset first time period, and the detecting variable data of the radar is calculated according to the track coordinate point set, including:

[0011] For each first coordinate point in the first coordinate point set, calculating the distance between the first coordinate point and the target standard line to obtain a first distance corresponding to the first coordinate point;

[0012] Calculate the distance variance of the object at the first coordinate point according to the first distance corresponding to the first coordinate point and the first distances of all first coordinate points preceding the first coordinate point, wherein the distance variance is used to indicate fluctuation of the first distance;

[0013] Among all the distance variance numbers, a target distance variance number is determined, the target distance variance number is less than or equal to a preset variance number threshold, and the detection variable data includes the target distance variance number.

[0014] As an optional implementation manner, in the first aspect of the present invention, judging whether the radar satisfies the state compensation condition according to the detection variable data includes:

[0015] It is determined whether the target angle value corresponding to the target distance variance number is greater than or equal to a preset angle threshold. When it is determined that the target angle value corresponding to the target distance variance number is greater than or equal to the preset angle threshold, it is determined that the radar meets the state compensation condition.

[0016] As an optional implementation manner, in the first aspect of the present invention, generating a state compensation control parameter according to the detected variable data includes:

[0017] Calculating a self-compensation object coordinate point of the radar and a self-compensation standard line of the target standard line according to the target angle value and the first coordinate point corresponding to the target angle value;

[0018] Generate state compensation control parameters according to the self-compensation object coordinate point and the self-compensation standard line;

[0019] And, the self-compensation standard line has corresponding representative coordinate points, and the representative coordinate points are used to represent the distribution of the self-compensation standard line. The self-compensation object coordinate points of the radar and the self-compensation standard line of the target standard line are calculated according to the target angle value and the first coordinate point corresponding to the target angle value, including:

[0020] Calculate a first compensation weight and a second compensation weight of the first coordinate point according to the target angle value, wherein the first coordinate point includes at least two dimensional coordinates, each of the dimensional coordinates is used to represent the distribution of the object in the dimension, and the first compensation weight and the second compensation weight are different when they correspond to different dimensional coordinates;

[0021] Calculating a self-compensation object coordinate point of the radar according to the first compensation weight and the first coordinate point;

[0022] The representative coordinate point corresponding to the self-compensation standard line of the radar is calculated according to the second compensation weight and the first coordinate point.

[0023] As an optional implementation, in the first aspect of the present invention, when the preset time period is a preset second time period, the track coordinate point set is a second coordinate point set under the preset second time period, and the detecting variable data of the radar is calculated according to the track coordinate point set, including:

[0024] Calculating, according to the second coordinate point set, a mean value of extreme coordinate detection points of the radar, wherein the mean value of extreme coordinate detection points is used to represent an average distribution of extreme coordinate points detected by the radar in the preset second time period;

[0025] For each second coordinate point in the second coordinate point set, a variation value between the second coordinate point and the mean value of the extreme coordinate detection points is calculated, and the detection variable data includes the variation value.

[0026] As an optional implementation manner, in the first aspect of the present invention, the extreme coordinate detection point mean includes at least one extreme coordinate detection point sub-mean, each of the extreme coordinate detection point sub-mean corresponds to a direction, and for each of the second coordinate points in the second coordinate point set, calculating the variation value between the second coordinate point and the extreme coordinate detection point mean includes:

[0027] Determine position information of the second coordinate point relative to other second coordinate points in the second coordinate point set;

[0028] According to the position information, a target extreme coordinate detection point sub-mean is matched with the second coordinate point, wherein the matching degree between the target extreme coordinate detection point sub-mean and the second coordinate point is higher than that between the other extreme coordinate detection point sub-means;

[0029] Calculating a target change value between the second coordinate point and the target extreme coordinate detection point sub-mean of the second coordinate point;

[0030] A reference variation value of each of the extreme coordinate detection point means other than the target extreme coordinate detection point means of the second coordinate point is calculated, wherein the variation value includes the target variation value and the reference variation value.

[0031] As an optional implementation manner, in the first aspect of the present invention, judging whether the radar satisfies the state compensation condition according to the detection variable data includes:

[0032] For each of the second coordinate points, determine whether the target change value and the reference change value of the second coordinate point are both greater than or equal to the corresponding preset change threshold value. When it is determined that the target change value and the reference change value of the second coordinate point are both greater than or equal to the corresponding preset change threshold value, it is determined that the radar meets the state compensation condition.

[0033] A second aspect of the present invention discloses a radar state detection device, the device comprising:

[0034] A detection module, used to detect a set of track coordinate points of an object detected by the radar within a preset time period;

[0035] A calculation module, used for calculating detection variable data of the radar according to the track coordinate point set, wherein the detection variable data is used for indicating the fluctuation of the detection state of the radar;

[0036] A judgment module, used for judging whether the radar satisfies a state compensation condition according to the detection variable data, wherein the state compensation condition is used to indicate that the detection variable data is greater than or equal to a corresponding preset detection variable data threshold;

[0037] A generating module is used to generate a state compensation control parameter according to the detection variable data when the judging module determines that the radar satisfies the state compensation condition, wherein the state compensation control parameter is used to instruct to perform a state compensation operation on the radar.

[0038] As an optional implementation, in the second aspect of the present invention, when the preset time period is a preset first time period, the track coordinate point set is a first coordinate point set under the preset first time period, and the calculation module calculates the detection variable data of the radar according to the track coordinate point set. The specific method includes:

[0039] For each first coordinate point in the first coordinate point set, calculating the distance between the first coordinate point and the target standard line to obtain a first distance corresponding to the first coordinate point;

[0040] Calculate the distance variance of the object at the first coordinate point according to the first distance corresponding to the first coordinate point and the first distances of all first coordinate points preceding the first coordinate point, wherein the distance variance is used to indicate fluctuation of the first distance;

[0041] Among all the distance variance numbers, a target distance variance number is determined, the target distance variance number is less than or equal to a preset variance number threshold, and the detection variable data includes the target distance variance number.

[0042] As an optional implementation, in the second aspect of the present invention, the specific manner in which the judgment module judges whether the radar meets the state compensation condition according to the detection variable data includes:

[0043] It is determined whether the target angle value corresponding to the target distance variance number is greater than or equal to a preset angle threshold. When it is determined that the target angle value corresponding to the target distance variance number is greater than or equal to the preset angle threshold, it is determined that the radar meets the state compensation condition.

[0044] As an optional implementation, in the second aspect of the present invention, the specific manner in which the generating module generates the state compensation control parameter according to the detected variable data includes:

[0045] Calculating a self-compensation object coordinate point of the radar and a self-compensation standard line of the target standard line according to the target angle value and the first coordinate point corresponding to the target angle value;

[0046] Generate state compensation control parameters according to the self-compensation object coordinate point and the self-compensation standard line;

[0047] And, the self-compensation standard line has corresponding representative coordinate points, and the representative coordinate points are used to represent the distribution of the self-compensation standard line. The specific method in which the generation module calculates the self-compensation object coordinate points of the radar and the self-compensation standard line of the target standard line according to the target angle value and the first coordinate point corresponding to the target angle value includes:

[0048] Calculate a first compensation weight and a second compensation weight of the first coordinate point according to the target angle value, wherein the first coordinate point includes at least two dimensional coordinates, each of the dimensional coordinates is used to represent the distribution of the object in the dimension, and the first compensation weight and the second compensation weight are different when they correspond to different dimensional coordinates;

[0049] Calculating a self-compensation object coordinate point of the radar according to the first compensation weight and the first coordinate point;

[0050] The representative coordinate point corresponding to the self-compensation standard line of the radar is calculated according to the second compensation weight and the first coordinate point.

[0051] As an optional implementation, in the second aspect of the present invention, when the preset time period is a preset second time period, the track coordinate point set is a second coordinate point set under the preset second time period, and the calculation module calculates the detection variable data of the radar according to the track coordinate point set. The specific method includes:

[0052] Calculating, according to the second coordinate point set, a mean value of extreme coordinate detection points of the radar, wherein the mean value of extreme coordinate detection points is used to represent an average distribution of extreme coordinate points detected by the radar in the preset second time period;

[0053] For each second coordinate point in the second coordinate point set, a variation value between the second coordinate point and the mean value of the extreme coordinate detection points is calculated, and the detection variable data includes the variation value.

[0054] As an optional implementation, in the second aspect of the present invention, the extreme coordinate detection point mean includes at least one extreme coordinate detection point sub-mean, each of the extreme coordinate detection point sub-mean corresponds to a direction, and for each of the second coordinate points in the second coordinate point set, the specific manner in which the calculation module calculates the variation value between the second coordinate point and the extreme coordinate detection point mean includes:

[0055] Determine position information of the second coordinate point relative to other second coordinate points in the second coordinate point set;

[0056] According to the position information, a target extreme coordinate detection point sub-mean is matched with the second coordinate point, wherein the matching degree between the target extreme coordinate detection point sub-mean and the second coordinate point is higher than that between the other extreme coordinate detection point sub-means;

[0057] Calculating a target change value between the second coordinate point and the target extreme coordinate detection point sub-mean of the second coordinate point;

[0058] A reference variation value of each of the extreme coordinate detection point means other than the target extreme coordinate detection point means of the second coordinate point is calculated, wherein the variation value includes the target variation value and the reference variation value.

[0059] As an optional implementation, in the second aspect of the present invention, the specific manner in which the judgment module judges whether the radar meets the state compensation condition according to the detection variable data includes:

[0060] For each of the second coordinate points, determine whether the target change value and the reference change value of the second coordinate point are both greater than or equal to the corresponding preset change threshold value. When it is determined that the target change value and the reference change value of the second coordinate point are both greater than or equal to the corresponding preset change threshold value, it is determined that the radar meets the state compensation condition.

[0061] A third aspect of the present invention discloses another radar status detection device, the device comprising:

[0062] A memory storing executable program code;

[0063] a processor coupled to the memory;

[0064] The processor calls the executable program code stored in the memory to execute the radar status detection method disclosed in the first aspect of the present invention.

[0065] A fourth aspect of the present invention discloses a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the radar status detection method disclosed in the first aspect of the present invention.

[0066] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0067] In an embodiment of the present invention, a set of track coordinate points of an object detected by the radar within a preset period of time is detected; according to the set of track coordinate points, detection variable data of the radar is calculated, and the detection variable data is used to indicate the fluctuation of the detection state of the radar; according to the detection variable data, it is judged whether the radar meets the state compensation condition, and the state compensation condition is used to indicate that the detection variable data is greater than or equal to the corresponding preset detection variable data threshold value. When it is judged that the radar meets the state compensation condition, a state compensation control parameter is generated according to the detection variable data, and the state compensation control parameter is used to indicate the execution of the state compensation operation on the radar. It can be seen that the implementation of the present invention can calculate the detection variable data for indicating the fluctuation of the detection state of the radar according to the set of track coordinate points of the object detected by the radar within the preset period of time, improve the detection accuracy of the radar detection state fluctuation, judge whether the radar meets the state compensation condition through the calculated detection variable data, and when the judgment result is yes, generate the state compensation control parameter for indicating the execution of the state compensation operation on the radar according to the detection variable data, thereby improving the control accuracy and control efficiency of the radar state compensation while improving the accuracy and timeliness of the radar state detection, and improving the stability of the radar application and the operation safety of the application scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0069] Figure 1 It is a flow chart of a radar status detection method disclosed in an embodiment of the present invention;

[0070] Figure 2 It is a horizontal angle picture scene diagram of radar state detection disclosed in an embodiment of the present invention;

[0071] Figure 3 It is a flow chart of another radar state detection method disclosed in an embodiment of the present invention;

[0072] Figure 4 It is a structural schematic diagram of a radar state detection device disclosed in an embodiment of the present invention;

[0073] Figure 5 It is a structural schematic diagram of another radar status detection device disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0074] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0075] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or ends.

[0076] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0077] The present invention discloses a radar state detection method and device, which can calculate detection variable data indicating the fluctuation of the detection state of the radar according to the set of track coordinate points of the object detected by the radar within a preset time period, improve the detection accuracy of the radar detection state fluctuation, judge whether the radar meets the state compensation condition through the calculated detection variable data, and when the judgment result is yes, generate a state compensation control parameter for indicating the execution of the state compensation operation on the radar according to the detection variable data, thereby improving the control accuracy and control efficiency of the radar state compensation while improving the accuracy and timeliness of the radar state detection, and improving the stability of the radar application and the operation safety of the application scenario. The following are detailed descriptions.

[0078] Embodiment 1

[0079] See also Figure 1 , Figure 1 : is a flow chart of a radar status detection method disclosed in an embodiment of the present invention. Figure 1 The radar status detection method described can be applied to radar equipment, and can also be applied to smart devices related to radar equipment, including but not limited to one or more of cloud devices, edge computing devices, relay devices, base station devices, city management devices, and smart network devices, which are not limited in the embodiments of the present invention. Figure 1 As shown, the radar status detection method may include the following operations:

[0080] 101. Detect a set of track coordinate points of an object detected by the radar within a preset period of time;

[0081] In the embodiment of the present invention, the above-mentioned object corresponds to the application scenario of the above-mentioned radar. Optionally, the above-mentioned object can be a fixed / moving reference object such as a person, a car, an animal, or a plant.

[0082] 102. Calculate detection variable data of the radar according to the track coordinate point set, where the detection variable data is used to indicate the fluctuation of the detection state of the radar;

[0083] In an embodiment of the present invention, as an optional implementation, when the above-mentioned preset time period is a preset first time period, the above-mentioned track coordinate point set is a first coordinate point set under the preset first time period, and the above-mentioned calculation of the detection variable data of the radar based on the track coordinate point set includes:

[0084] For each first coordinate point in the first coordinate point set, calculate the distance between the first coordinate point and the target standard line to obtain a first distance corresponding to the first coordinate point;

[0085] Calculate the distance variance of the object at the first coordinate point according to the first distance corresponding to the first coordinate point and the first distances of all first coordinate points preceding the first coordinate point, where the distance variance is used to indicate the fluctuation of the first distance;

[0086] Among all the distance variance numbers, a target distance variance number is determined, the target distance variance number is less than or equal to a preset variance number threshold, and the detection variable data includes the target distance variance number.

[0087] In the embodiment of the present invention, optionally, the above-mentioned target standard line includes but is not limited to reference lines such as lane lines and sidewalk lines, as long as they have a reference function.

[0088] It should be noted that the previous first coordinate point of the first first coordinate point may be empty, and the previous first coordinate point is not limited to one, as long as it is the first coordinate point whose first distance is calculated before the current first coordinate point.

[0089] It can be seen that the implementation of this optional embodiment can, after detecting the first coordinate point set of the object detected by the radar in the preset first time period, calculate, for each first coordinate point in the first coordinate point set, the distance between the first coordinate point and the target standard line to obtain the first distance corresponding to the first coordinate point, and calculate the distance variance number of the object at the first coordinate point according to the first distance corresponding to each first coordinate point and the first distances of all previous first coordinate points of each first coordinate point. The distance variance number is used to represent the fluctuation of the first distance, which can further improve the detection accuracy and timeliness of the radar detection state fluctuation. Among all distance variance numbers, the target distance variance number that is less than or equal to the preset variance number threshold is determined, so as to improve the calculation accuracy, scientificity and feasibility of the detection variable data, which is conducive to improving the accuracy and timeliness of radar state detection.

[0090] 103. Judging whether the radar satisfies a state compensation condition according to the detection variable data, where the state compensation condition is used to indicate that the detection variable data is greater than or equal to a corresponding preset detection variable data threshold;

[0091] In the embodiment of the present invention, as another optional implementation, the above-mentioned judging whether the radar meets the state compensation condition according to the detected variable data includes:

[0092] It is determined whether the target angle value corresponding to the target distance variance number is greater than or equal to a preset angle threshold. When it is determined that the target angle value corresponding to the target distance variance number is greater than or equal to the preset angle threshold, it is determined that the radar meets the state compensation condition.

[0093] In an embodiment of the present invention, optionally, the above-mentioned target angle value is calculated by determining the first coordinate point corresponding to the target distance variance number, or it can be obtained by perception after determining the first coordinate point corresponding to the target distance variance number, and the perception signal may include a communication perception fusion frame structure, and the above-mentioned communication perception fusion frame structure may be determined in combination with the application scenario, location information, surrounding environment, etc. of the radar.

[0094] Optional, such as Figure 2 As shown, Figure 2 It is a horizontal angle screen scene diagram of a radar status detection disclosed in an embodiment of the present invention. The above-mentioned target angle value is used to represent the angle value between the extension line of the corresponding direction and the target standard line when the object is at the first coordinate point corresponding to the above-mentioned target distance variance number; further optionally, the above-mentioned target angle value is used to represent the deflection angle value of the target standard line in the radar detection screen.

[0095] It can be seen that the implementation of this optional embodiment can determine whether the radar meets the state compensation conditions by calculating the target distance variance number and judging whether the target angle value corresponding to the target distance variance number is greater than or equal to the preset angle threshold, thereby improving the accuracy and scientificity of the judgment that the radar meets the state compensation conditions, and is conducive to improving the control accuracy and control efficiency of the radar state compensation.

[0096] 104. When it is determined that the radar meets the state compensation condition, a state compensation control parameter is generated according to the detection variable data, and the state compensation control parameter is used to instruct to perform a state compensation operation on the radar.

[0097] In an embodiment of the present invention, optionally, the above-mentioned state compensation operation may specifically include one or more of a self-compensation correction operation of the radar, an alarm operation, a state recording operation, and a feedback detection variable data operation. Further optionally, the above-mentioned alarm operation may include but is not limited to one or more forms such as sound, light, image, remote alarm, etc. Specifically, the above-mentioned detection variable data may also be reflected in one or more forms such as different alarm frequencies, volumes, brightness, patterns, text signals, etc., and the embodiment of the present invention does not specifically limit this.

[0098] In the embodiment of the present invention, optionally, the above-mentioned alarm operation may be triggered and executed immediately when it is determined that the radar meets the state compensation condition, or may be triggered and executed in combination with different environmental conditions in which the above-mentioned radar is located;

[0099] In the embodiment of the present invention, as an optional implementation, the state compensation control parameter includes an alarm control parameter. When the state compensation operation includes an alarm operation, the generation method of the alarm control parameter corresponding to the alarm operation includes:

[0100] Obtaining environmental status information detected by the radar in a preset third time period, where the environmental status information is used to indicate an environmental condition of a detection area corresponding to the radar, where the detection area includes a plurality of detection sub-areas divided in advance, and optionally, each detection sub-area has an area function identifier for indicating a functional role of the detection sub-area, and each area function identifier corresponds to a preset area additional value;

[0101] For each detection sub-area, a state fluctuation value of the detection sub-area is calculated according to the environmental state information and the regional function identifier of the detection sub-area, where the state fluctuation value is used to indicate the environmental state fluctuation of the detection sub-area after determining that the radar meets the state compensation condition;

[0102] According to all state fluctuation values, in all detection sub-areas, at least one target alarm area and an alarm control parameter of each target alarm area are determined, wherein the target alarm area is used to indicate an area where an alarm operation is applied;

[0103] Optionally, the alarm control parameters of each target alarm area may be different, that is, matching one or more specific alarm operations of sound, light, and image, wherein the intensity and frequency of sound and light, as well as the style of the image and the alarm frequency are all related to the above-mentioned area function identification and status fluctuation value.

[0104] It can be seen that the implementation of this optional embodiment can, after determining that the radar meets the state compensation condition, calculate the state fluctuation value used to represent the environmental state fluctuation of the detection sub-area after determining that the radar meets the state compensation condition by obtaining the environmental state information detected by the radar in the preset third time period and the area function identifier of each detection sub-area in the detection area, thereby determining at least one target alarm area in all detection sub-areas to represent the area where the alarm operation is applied, based on all state fluctuation values, improve the execution control accuracy of the radar alarm operation, the accuracy and scientificity of determining the execution timing, reduce the possibility of accidental damage to other objects in the radar detection area caused by the alarm operation, and further help to improve the control accuracy of the radar state compensation. In this optional embodiment, as another optional implementation, after all state fluctuation values ​​are calculated, the triggering conditions for triggering the self-compensation correction operation of the radar may include:

[0105] Calculate the total state fluctuation value of the detection area according to all state fluctuation values, where the total state fluctuation value is used to indicate the overall environmental state fluctuation of the detection area after determining that the radar meets the state compensation condition;

[0106] It is determined whether the total value of the state fluctuation is greater than or equal to a preset state fluctuation threshold. When it is determined that the total value of the state fluctuation is less than or equal to the preset state fluctuation threshold, a self-compensation correction operation of the radar is triggered.

[0107] It can be seen that the implementation of the embodiment of the present invention can calculate the detection variable data for indicating the detection state fluctuation of the radar according to the set of track coordinate points of the objects detected by the radar within the preset time period, thereby improving the detection accuracy of the radar detection state fluctuation. Through the calculated detection variable data, it is judged whether the radar meets the state compensation conditions, and when the judgment result is yes, the state compensation control parameters for indicating the execution of state compensation operation on the radar are generated according to the detection variable data, thereby improving the control accuracy and control efficiency of the radar state compensation while improving the radar state detection accuracy and detection timeliness, thereby improving the stability of the radar application and the operational safety of the application scenario.

[0108] In an embodiment of the present invention, as another optional implementation, the above-mentioned generating state compensation control parameters according to the detected variable data includes:

[0109] Calculate the self-compensation object coordinate point of the radar and the self-compensation standard line of the target standard line according to the target angle value and the first coordinate point corresponding to the target angle value;

[0110] Generate state compensation control parameters according to the self-compensation object coordinate points and the self-compensation standard line;

[0111] Optionally, the above-mentioned self-compensation standard line has corresponding representative coordinate points, and the representative coordinate points are used to indicate the distribution of the self-compensation standard line. The above-mentioned calculation of the self-compensation object coordinate point of the radar and the self-compensation standard line of the target standard line according to the target angle value and the first coordinate point corresponding to the target angle value includes:

[0112] Calculate a first compensation weight and a second compensation weight of a first coordinate point according to the target angle value, wherein the first coordinate point includes at least two dimensional coordinates, each dimensional coordinate is used to represent the distribution of the object in the dimension, and the first compensation weight and the second compensation weight are different when they correspond to different dimensional coordinates;

[0113] Calculating a self-compensation object coordinate point of the radar according to the first compensation weight and the first coordinate point;

[0114] According to the second compensation weight and the first coordinate point, a representative coordinate point corresponding to the self-compensation standard line of the radar is calculated.

[0115] In an embodiment of the present invention, optionally, the first compensation weight and the second compensation weight mentioned above may be the same or different. It should be noted that the same numerical value but different meanings are also referred to as different, such as -sin(30°) and sin(-30°) have the same numerical value but different meanings.

[0116] It can be seen that the implementation of this optional embodiment can, after calculating the target angle value and the first coordinate point, further determine, for the different dimensional coordinates included in the first coordinate point, the first compensation weight for calculating the self-compensation object coordinate point of the radar and the second compensation weight for calculating the representative coordinate point corresponding to the self-compensation standard line of the radar for each dimensional coordinate, thereby further improving the calculation accuracy of the above-mentioned self-compensation object coordinate point and self-compensation standard line, and improving the control accuracy and scientificity of the radar state compensation.

[0117] Further optionally, the above-mentioned self-compensation object coordinate point is calculated by a first formula, and the first formula is:

[0118] Px2=Px1*cos(-θ)-sin(-θ)*Py1;

[0119] Py2=Py1*cos(-θ)+sin(-θ)*Px1;

[0120] Wherein, (Px2, Py2) is used to represent the self-compensation object coordinate point, (Px1, Py1) is used to represent the first coordinate point, θ is used to represent the target angle value, and all the additional weights corresponding to the above-mentioned first coordinate point are the above-mentioned first compensation weights;

[0121] Further optionally, the representative coordinate point corresponding to the self-compensation standard line is calculated by a second formula, which is:

[0122] Lx2=Lx1*cos(θ)-sin(θ)*Ly1;

[0123] Ly2=Ly1*cos(θ)+sin(θ)*Lx1;

[0124] Among them, (Lx2, Ly2) is used to represent the representative coordinate point corresponding to the above-mentioned self-compensation standard line, (Lx1, Ly1) is used to represent the original coordinate point corresponding to the target standard line, optionally, the above-mentioned original coordinate point can be calculated based on the above-mentioned first coordinate point, or can be generated in combination with other reference objects after the object is determined, and the above-mentioned other reference objects are used to represent objects other than the above-mentioned objects, and the objects may have relevant identifications to improve the accuracy of determining the target standard line, θ is used to represent the target angle value, and all the corresponding additional weights in the above-mentioned first coordinate point are the above-mentioned second compensation weights;

[0125] Further optionally, when the above-mentioned first coordinate point includes multiple dimensional coordinates, the numbers of corresponding first compensation weights and second compensation weights are also adaptively adjusted. The specific numerical values ​​are related to the actual application scenario, and the embodiment of the present invention does not specifically limit this.

[0126] In the embodiment of the present invention, optionally, the above-mentioned state compensation operation may also include an operation of feeding back the self-compensation object coordinate point and the self-compensation standard line, a self-compensation control operation, and the like.

[0127] It can be seen that the implementation of this optional embodiment can, after detecting that the radar meets the state compensation conditions, calculate the radar's self-compensation object coordinate point and the self-compensation standard line of the target standard line according to the calculated target angle value and the first coordinate point corresponding to the target angle value, so as to correct the original calibration parameters of the radar being interfered with, thereby generating state compensation control parameters based on the calculated self-compensation object coordinate point and the self-compensation standard line to correct the radar state, thereby improving the accuracy and timeliness of radar state detection, and improving the control accuracy and timeliness of radar state compensation, which is beneficial to improving the stability of radar applications and the operational safety of application scenarios; at the same time, by disclosing a specific calculation method for the self-compensation object coordinate point and the self-compensation standard line, the calculation accuracy, scientificity and feasibility of the self-compensation object coordinate point and the self-compensation standard line can be further improved, which is beneficial to further improving the control accuracy and scientificity of radar state compensation.

[0128] Embodiment 2

[0129] See also Figure 3 , Figure 3 FIG. 1 is a flow chart of another radar status detection method disclosed in an embodiment of the present invention. Figure 3 The radar status detection method described can be applied to radar equipment, and can also be applied to smart devices related to radar equipment, including but not limited to one or more of cloud devices, edge computing devices, relay devices, base station devices, city management devices, and smart network devices, which are not limited in the embodiments of the present invention. Figure 3 As shown, the radar status detection method may include the following operations:

[0130] 201. Detecting a track coordinate point set of an object detected by a radar within a preset time period. When the preset time period is a preset second time period, the track coordinate point set is a second coordinate point set in the preset second time period.

[0131] In the embodiment of the present invention, optionally, the second coordinate point set corresponds to the first coordinate point set in the embodiment of the present invention. Further optionally, the second time period is different from the first time period, and there may be an intersection.

[0132] 202. Calculate the mean of the extreme coordinate detection points of the radar according to the second coordinate point set, where the mean of the extreme coordinate detection points is used to represent the average distribution of the extreme coordinate points detected by the radar in the preset second time period;

[0133] In an embodiment of the present invention, optionally, the above-mentioned extreme coordinate points are used to represent edge coordinate points of the radar detection screen, and there is a preset distance threshold between the edge coordinate points and the edge frame of the radar detection screen. Further optionally, the above-mentioned extreme coordinate points are not limited to a specific direction, and can be a fully surrounded direction. The specific direction can be obtained by establishing a coordinate system in the radar detection screen, for example: 30 degrees north-east. Further optionally, the reference direction of the above-mentioned coordinate system can be set by the actual application scenario.

[0134] 203. For each second coordinate point in the second coordinate point set, calculate a variation value between the second coordinate point and a mean value of the extreme coordinate detection point, wherein the detection variable data includes the variation value, and the detection variable data is used to indicate a fluctuation of a detection state of the radar;

[0135] In an embodiment of the present invention, optionally, the above-mentioned change value is used to represent the degree of change between the second coordinate point and the mean of the extreme coordinate detection points, while the mean of the extreme coordinate detection points is still a point, which is only used to represent the average distribution of the extreme coordinate points detected by the radar in the preset second time period.

[0136] In the embodiment of the present invention, as an optional implementation manner, the extreme coordinate detection point mean includes at least one extreme coordinate detection point sub-mean, each extreme coordinate detection point sub-mean corresponds to a direction, and for each second coordinate point in the second coordinate point set, the above-mentioned calculation of the change value between the second coordinate point and the extreme coordinate detection point mean includes:

[0137] Determine position information of the second coordinate point relative to other second coordinate points in the second coordinate point set;

[0138] According to the position information, the mean of the target extreme coordinate detection points of the second coordinate point is matched, and the matching degree between the mean of the target extreme coordinate detection points and the second coordinate point is higher than that between the means of other extreme coordinate detection points;

[0139] Calculating a target change value between the second coordinate point and a sub-mean of a target extreme coordinate detection point of the second coordinate point;

[0140] A reference variation value of each extreme coordinate detection point mean value other than the second coordinate point and the target extreme coordinate detection point mean value of the second coordinate point is calculated, and the variation value includes a target variation value and a reference variation value.

[0141] It can be seen that the implementation of this optional embodiment can further determine the position information of each second coordinate point of the object detected by the radar within the preset second time period compared with other second coordinate points, and then match the second coordinate point with the highest matching degree, which can be understood as the mean of the target extreme coordinate detection point in the direction closest to the target coordinate point. By calculating the target change value between the second coordinate point and the mean of the target extreme coordinate detection point of the second coordinate point, and calculating the reference change value of the mean of each extreme coordinate detection point other than the second coordinate point and the mean of the target extreme coordinate detection point of the second coordinate point, it is beneficial to further improve the detection comprehensiveness of the detection variable data, improve the accuracy of radar state detection in multiple directions and dimensions, and improve the control accuracy and timeliness of radar state compensation.

[0142] 204. Judging whether the radar satisfies a state compensation condition according to the detection variable data, where the state compensation condition is used to indicate that the detection variable data is greater than or equal to a corresponding preset detection variable data threshold;

[0143] In the embodiment of the present invention, as another optional implementation, the above-mentioned judging whether the radar meets the state compensation condition according to the detected variable data includes:

[0144] For each second coordinate point, determine whether the target change value and the reference change value of the second coordinate point are both greater than or equal to the corresponding preset change threshold. When it is determined that the target change value and the reference change value of the second coordinate point are both greater than or equal to the corresponding preset change threshold, it is determined that the radar meets the state compensation condition.

[0145] It can be seen that the implementation of this optional embodiment can determine whether the target change value and the reference change value of each second coordinate point are both greater than or equal to the corresponding preset change threshold, and when there is a second coordinate point whose target change value and the reference change value are both greater than or equal to the corresponding preset change threshold, determine that the radar meets the state compensation condition, improve the accuracy and stability of radar state detection, and reduce the occurrence of radar state detection misjudgment caused by virtual screen and combined image, thereby further improving the accuracy of radar state detection and the accuracy of radar state compensation control.

[0146] 205. When it is determined that the radar meets the state compensation condition, a state compensation control parameter is generated according to the detection variable data, and the state compensation control parameter is used to instruct to perform a state compensation operation on the radar.

[0147] In the embodiment of the present invention, for other supplementary explanations of step 201 to step 205, please refer to the supplementary explanations of step 101 to step 104 in the first embodiment, which will not be described in detail in the embodiment of the present invention.

[0148] It can be seen that the implementation of the embodiment of the present invention can calculate the mean of the extreme coordinate detection points used to represent the average distribution of the extreme coordinate points detected by the radar in the preset second time period after detecting the second coordinate point set of the object detected by the radar in the preset second time period, and judge whether the radar meets the state compensation condition by calculating the change value between the second coordinate point and the mean of the extreme coordinate detection point, so that when the judgment is yes, the state compensation control parameter is generated according to the detection variable data, and the state compensation control parameter is used to instruct the execution of the state compensation operation on the radar, thereby further detecting the stereoscopic radar state detection from the global picture dimension level of the radar, from the horizontal angle, to the pitch angle, further improving the comprehensiveness, accuracy and timeliness of the radar state detection, which is conducive to further improving the accuracy and timeliness of the radar state compensation control.

[0149] Embodiment 3

[0150] See also Figure 4 , Figure 4 : is a schematic diagram of the structure of a radar status detection device disclosed in an embodiment of the present invention. The radar status detection device can be applied to radar equipment, and can also be applied to smart devices related to radar equipment, including but not limited to one or more of cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and smart network devices, which are not limited in the embodiment of the present invention. Figure 4 As shown, the radar status detection device may include:

[0151] The detection module 301 is used to detect a set of track coordinate points of an object detected by the radar within a preset period of time;

[0152] A calculation module 302, used to calculate the detection variable data of the radar according to the track coordinate point set, the detection variable data is used to indicate the fluctuation of the detection state of the radar;

[0153] A judgment module 303, used to judge whether the radar meets a state compensation condition according to the detection variable data, where the state compensation condition is used to indicate that the detection variable data is greater than or equal to a corresponding preset detection variable data threshold;

[0154] The generating module 304 is used to generate a state compensation control parameter according to the detected variable data when the judging module 303 judges that the radar meets the state compensation condition. The state compensation control parameter is used to instruct to perform a state compensation operation on the radar.

[0155] It can be seen that the implementation of the embodiment of the present invention can calculate the detection variable data for indicating the detection state fluctuation of the radar according to the set of track coordinate points of the objects detected by the radar within the preset time period, thereby improving the detection accuracy of the radar detection state fluctuation. Through the calculated detection variable data, it is judged whether the radar meets the state compensation conditions, and when the judgment result is yes, the state compensation control parameters for indicating the execution of state compensation operation on the radar are generated according to the detection variable data, thereby improving the control accuracy and control efficiency of the radar state compensation while improving the radar state detection accuracy and detection timeliness, thereby improving the stability of the radar application and the operational safety of the application scenario.

[0156] In the embodiment of the present invention, as an optional implementation, when the above-mentioned preset time period is a preset first time period, the above-mentioned track coordinate point set is a first coordinate point set under the preset first time period, and the above-mentioned calculation module 302 calculates the detection variable data of the radar according to the track coordinate point set. The specific manner includes:

[0157] For each first coordinate point in the first coordinate point set, calculate the distance between the first coordinate point and the target standard line to obtain a first distance corresponding to the first coordinate point;

[0158] Calculate the distance variance of the object at the first coordinate point according to the first distance corresponding to the first coordinate point and the first distances of all first coordinate points preceding the first coordinate point, where the distance variance is used to indicate the fluctuation of the first distance;

[0159] Among all the distance variance numbers, a target distance variance number is determined, the target distance variance number is less than or equal to a preset variance number threshold, and the detection variable data includes the target distance variance number.

[0160] It can be seen that the implementation of this optional embodiment can, after detecting the first coordinate point set of the object detected by the radar in the preset first time period, calculate, for each first coordinate point in the first coordinate point set, the distance between the first coordinate point and the target standard line to obtain the first distance corresponding to the first coordinate point, and calculate the distance variance number of the object at the first coordinate point according to the first distance corresponding to each first coordinate point and the first distances of all previous first coordinate points of each first coordinate point. The distance variance number is used to represent the fluctuation of the first distance, which can further improve the detection accuracy and timeliness of the radar detection state fluctuation. Among all distance variance numbers, the target distance variance number that is less than or equal to the preset variance number threshold is determined, so as to improve the calculation accuracy, scientificity and feasibility of the detection variable data, which is conducive to improving the accuracy and timeliness of radar state detection.

[0161] In this optional embodiment, as an optional implementation, the specific manner in which the above-mentioned judgment module 303 judges whether the radar meets the state compensation condition according to the detection variable data includes:

[0162] It is determined whether the target angle value corresponding to the target distance variance number is greater than or equal to a preset angle threshold. When it is determined that the target angle value corresponding to the target distance variance number is greater than or equal to the preset angle threshold, it is determined that the radar meets the state compensation condition.

[0163] It can be seen that the implementation of this optional embodiment can determine whether the radar meets the state compensation conditions by calculating the target distance variance number and judging whether the target angle value corresponding to the target distance variance number is greater than or equal to the preset angle threshold, thereby improving the accuracy and scientificity of the judgment that the radar meets the state compensation conditions, and is conducive to improving the control accuracy and control efficiency of the radar state compensation.

[0164] In this optional embodiment, as another optional implementation, the specific manner in which the above-mentioned generating module 304 generates the state compensation control parameter according to the detected variable data includes:

[0165] Calculate the self-compensation object coordinate point of the radar and the self-compensation standard line of the target standard line according to the target angle value and the first coordinate point corresponding to the target angle value;

[0166] Generate state compensation control parameters according to the self-compensation object coordinate points and the self-compensation standard line;

[0167] Optionally, the above-mentioned self-compensation standard line has corresponding representative coordinate points, and the representative coordinate points are used to represent the distribution of the self-compensation standard line. The above-mentioned generation module 304 calculates the self-compensation object coordinate point of the radar and the self-compensation standard line of the target standard line according to the target angle value and the first coordinate point corresponding to the target angle value. The specific method includes:

[0168] Calculate a first compensation weight and a second compensation weight of a first coordinate point according to the target angle value, wherein the first coordinate point includes at least two dimensional coordinates, each dimensional coordinate is used to represent the distribution of the object in the dimension, and the first compensation weight and the second compensation weight are different when they correspond to different dimensional coordinates;

[0169] Calculating a self-compensation object coordinate point of the radar according to the first compensation weight and the first coordinate point;

[0170] According to the second compensation weight and the first coordinate point, the representative coordinate point corresponding to the self-compensation standard line of the radar is calculated. It can be seen that the implementation of this optional embodiment can calculate the self-compensation object coordinate point of the radar and the self-compensation standard line of the target standard line according to the calculated target angle value and the first coordinate point corresponding to the target angle value after detecting that the radar meets the state compensation condition, so as to correct the original calibration parameters of the radar being interfered, thereby generating state compensation control parameters based on the calculated self-compensation object coordinate point and the self-compensation standard line to correct the radar state, while improving the accuracy and timeliness of radar state detection, improving the control accuracy and timeliness of radar state compensation, which is conducive to improving the stability of radar application and the operational safety of application scenarios; at the same time, by disclosing a specific calculation method of the self-compensation object coordinate point and the self-compensation standard line, the calculation accuracy, scientificity and feasibility of the self-compensation object coordinate point and the self-compensation standard line can be further improved, which is conducive to further improving the control accuracy and scientificity of radar state compensation.

[0171] In the embodiment of the present invention, as another optional implementation, when the above-mentioned preset time period is the preset second time period, the above-mentioned track coordinate point set is the second coordinate point set under the preset second time period, and the above-mentioned calculation module 302 calculates the detection variable data of the radar according to the track coordinate point set. The specific manner includes:

[0172] According to the second coordinate point set, the mean value of the extreme coordinate detection points of the radar is calculated, and the mean value of the extreme coordinate detection points is used to represent the average distribution of the extreme coordinate points detected by the radar in the preset second time period;

[0173] For each second coordinate point in the second coordinate point set, a variation value between the second coordinate point and the mean value of the extreme coordinate detection points is calculated, and the detection variable data includes the variation value.

[0174] It can be seen that the implementation of the embodiment of the present invention can calculate the mean of the extreme coordinate detection points used to represent the average distribution of the extreme coordinate points detected by the radar in the preset second time period after detecting the second coordinate point set of the object detected by the radar in the preset second time period, and judge whether the radar meets the state compensation condition by calculating the change value between the second coordinate point and the mean of the extreme coordinate detection point, so that when the judgment is yes, the state compensation control parameter is generated according to the detection variable data, and the state compensation control parameter is used to instruct the execution of the state compensation operation on the radar, thereby further detecting the stereoscopic radar state detection from the global picture dimension level of the radar, from the horizontal angle, to the pitch angle, further improving the comprehensiveness, accuracy and timeliness of the radar state detection, which is conducive to further improving the accuracy and timeliness of the radar state compensation control.

[0175] In this optional embodiment, as an optional implementation, the extreme coordinate detection point mean includes at least one extreme coordinate detection point sub-mean, each extreme coordinate detection point sub-mean corresponds to a direction, and for each second coordinate point in the second coordinate point set, the specific manner in which the calculation module 302 calculates the variation value between the second coordinate point and the extreme coordinate detection point mean includes:

[0176] Determine position information of the second coordinate point relative to other second coordinate points in the second coordinate point set;

[0177] According to the position information, the mean of the target extreme coordinate detection points of the second coordinate point is matched, and the matching degree between the mean of the target extreme coordinate detection points and the second coordinate point is higher than that between the means of other extreme coordinate detection points;

[0178] Calculating a target change value between the second coordinate point and a sub-mean of a target extreme coordinate detection point of the second coordinate point;

[0179] A reference variation value of each extreme coordinate detection point mean value other than the second coordinate point and the target extreme coordinate detection point mean value of the second coordinate point is calculated, and the variation value includes a target variation value and a reference variation value.

[0180] It can be seen that the implementation of this optional embodiment can further determine the position information of each second coordinate point of the object detected by the radar within the preset second time period compared with other second coordinate points, and then match the second coordinate point with the highest matching degree, which can be understood as the mean of the target extreme coordinate detection point in the direction closest to the target coordinate point. By calculating the target change value between the second coordinate point and the mean of the target extreme coordinate detection point of the second coordinate point, and calculating the reference change value of the mean of each extreme coordinate detection point other than the second coordinate point and the mean of the target extreme coordinate detection point of the second coordinate point, it is beneficial to further improve the detection comprehensiveness of the detection variable data, improve the accuracy of radar state detection in multiple directions and dimensions, and improve the control accuracy and timeliness of radar state compensation.

[0181] In this optional embodiment, as another optional implementation, the specific manner in which the above-mentioned judgment module 303 judges whether the radar meets the state compensation condition according to the detection variable data also includes:

[0182] For each second coordinate point, determine whether the target change value and the reference change value of the second coordinate point are both greater than or equal to the corresponding preset change threshold. When it is determined that the target change value and the reference change value of the second coordinate point are both greater than or equal to the corresponding preset change threshold, it is determined that the radar meets the state compensation condition.

[0183] It can be seen that the implementation of this optional embodiment can determine whether the target change value and the reference change value of each second coordinate point are both greater than or equal to the corresponding preset change threshold, and when there is a second coordinate point whose target change value and the reference change value are both greater than or equal to the corresponding preset change threshold, determine that the radar meets the state compensation condition, improve the accuracy and stability of radar state detection, and reduce the occurrence of radar state detection misjudgment caused by virtual screen and combined image, thereby further improving the accuracy of radar state detection and the accuracy of radar state compensation control.

[0184] Embodiment 4

[0185] See also Figure 5 , Figure 5 : is a schematic diagram of the structure of another radar status detection device disclosed in an embodiment of the present invention. The radar status detection device can be applied to radar equipment, and can also be applied to smart devices related to radar equipment, including but not limited to one or more of cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and smart network devices, which are not limited in the embodiment of the present invention. Figure 5 As shown, the radar status detection device may include:

[0186] The memory 401 stores executable program codes.

[0187] A processor 402 is coupled to the memory 401 .

[0188] The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the radar state detection method described in the first embodiment of the present invention or the second embodiment of the present invention.

[0189] Embodiment 5

[0190] An embodiment of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the steps in the radar state detection method described in Embodiment 1 or Embodiment 2 of the present invention.

[0191] Embodiment 6

[0192] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer storage medium storing a computer program, and the computer program is operable to enable a computer to execute the steps in the radar state detection method described in Embodiment 1 or Embodiment 2.

[0193] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0194] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0195] Finally, it should be noted that the radar status detection method and device disclosed in the embodiments of the present invention disclose only the preferred embodiments of the present invention, which are only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A radar state detection method, characterized in that: The method comprises: Detecting a set of track coordinate points of an object detected by the radar within a preset time period; Calculating detection variable data of the radar according to the track coordinate point set, wherein the detection variable data is used to indicate fluctuations in the detection state of the radar; Based on the detection variable data, it is determined whether the radar satisfies a state compensation condition, and the state compensation condition is used to indicate that the detection variable data is greater than or equal to a corresponding preset detection variable data threshold. When it is determined that the radar satisfies the state compensation condition, a state compensation control parameter is generated based on the detection variable data, and the state compensation control parameter is used to instruct to perform a state compensation operation on the radar.

2. The radar status detection method according to claim 1, characterized in that: When the preset time period is a preset first time period, the track coordinate point set is a first coordinate point set in the preset first time period, and the detecting variable data of the radar is calculated according to the track coordinate point set, including: For each first coordinate point in the first coordinate point set, calculating the distance between the first coordinate point and the target standard line to obtain a first distance corresponding to the first coordinate point; Calculate the distance variance of the object at the first coordinate point according to the first distance corresponding to the first coordinate point and the first distances of all first coordinate points preceding the first coordinate point, wherein the distance variance is used to indicate fluctuation of the first distance; Among all the distance variance numbers, a target distance variance number is determined, the target distance variance number is less than or equal to a preset variance number threshold, and the detection variable data includes the target distance variance number.

3. The radar status detection method according to claim 2, characterized in that: The step of judging whether the radar satisfies a state compensation condition according to the detected variable data includes: It is determined whether the target angle value corresponding to the target distance variance number is greater than or equal to a preset angle threshold. When it is determined that the target angle value corresponding to the target distance variance number is greater than or equal to the preset angle threshold, it is determined that the radar meets the state compensation condition.

4. The radar status detection method according to claim 3, characterized in that: The step of generating a state compensation control parameter according to the detected variable data comprises: Calculating a self-compensation object coordinate point of the radar and a self-compensation standard line of the target standard line according to the target angle value and the first coordinate point corresponding to the target angle value; Generate state compensation control parameters according to the self-compensation object coordinate point and the self-compensation standard line; And, the self-compensation standard line has corresponding representative coordinate points, and the representative coordinate points are used to represent the distribution of the self-compensation standard line. The self-compensation object coordinate points of the radar and the self-compensation standard line of the target standard line are calculated according to the target angle value and the first coordinate point corresponding to the target angle value, including: Calculate a first compensation weight and a second compensation weight of the first coordinate point according to the target angle value, wherein the first coordinate point includes at least two dimensional coordinates, each of the dimensional coordinates is used to represent the distribution of the object in the dimension, and the first compensation weight and the second compensation weight are different when they correspond to different dimensional coordinates; Calculating a self-compensation object coordinate point of the radar according to the first compensation weight and the first coordinate point; The representative coordinate point corresponding to the self-compensation standard line of the radar is calculated according to the second compensation weight and the first coordinate point.

5. The radar status detection method according to any one of claims 1 to 4, characterized in that: When the preset time period is the preset second time period, the track coordinate point set is the second coordinate point set in the preset second time period, and the detecting variable data of the radar is calculated according to the track coordinate point set, including: Calculating, according to the second coordinate point set, a mean value of extreme coordinate detection points of the radar, wherein the mean value of extreme coordinate detection points is used to represent an average distribution of extreme coordinate points detected by the radar in the preset second time period; For each second coordinate point in the second coordinate point set, a variation value between the second coordinate point and the mean value of the extreme coordinate detection points is calculated, and the detection variable data includes the variation value.

6. The radar status detection method according to claim 5, characterized in that: The extreme coordinate detection point mean includes at least one extreme coordinate detection point sub-mean, each of the extreme coordinate detection point sub-mean corresponds to a direction, and for each of the second coordinate points in the second coordinate point set, calculating the variation value between the second coordinate point and the extreme coordinate detection point mean includes: Determine position information of the second coordinate point relative to other second coordinate points in the second coordinate point set; According to the position information, a target extreme coordinate detection point sub-mean is matched with the second coordinate point, wherein the matching degree between the target extreme coordinate detection point sub-mean and the second coordinate point is higher than that between the other extreme coordinate detection point sub-means; Calculating a target change value between the second coordinate point and the target extreme coordinate detection point sub-mean of the second coordinate point; A reference variation value of each of the extreme coordinate detection point means other than the target extreme coordinate detection point means of the second coordinate point is calculated, wherein the variation value includes the target variation value and the reference variation value.

7. The radar status detection method according to claim 6, characterized in that: The step of judging whether the radar satisfies a state compensation condition according to the detected variable data includes: For each of the second coordinate points, determine whether the target change value and the reference change value of the second coordinate point are both greater than or equal to the corresponding preset change threshold value. When it is determined that the target change value and the reference change value of the second coordinate point are both greater than or equal to the corresponding preset change threshold value, it is determined that the radar meets the state compensation condition.

8. A radar status detection device, characterized in that: The device comprises: A detection module, used to detect a set of track coordinate points of an object detected by the radar within a preset time period; A calculation module, used for calculating the detection variable data of the radar according to the track coordinate point set, wherein the detection variable data is used for indicating the fluctuation of the detection state of the radar; A judgment module, used for judging whether the radar satisfies a state compensation condition according to the detection variable data, wherein the state compensation condition is used to indicate that the detection variable data is greater than or equal to a corresponding preset detection variable data threshold; A generating module is used to generate a state compensation control parameter according to the detection variable data when the judging module determines that the radar satisfies the state compensation condition, wherein the state compensation control parameter is used to instruct to perform a state compensation operation on the radar.

9. A radar status detection device, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the radar status detection method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the radar status detection method according to any one of claims 1 to 7.

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