Radar target processing method, electronic device and computer program product

Abstract

The invention provides a radar target processing method, electronic equipment and a computer program product, according to the radar target processing method provided by the invention, the position overlapping relationship between initial radar targets can be determined according to the position information of the initial radar targets obtained through radar target detection; according to the relative credibility between the initial radar targets with the position overlapping relation, determining whether the initial radar targets belong to mistakenly-detected targets or not; and the accuracy of a radar target detection result is improved.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a radar target processing method, electronic equipment and a computer program product. Background Art

[0002] At present, radar equipment has excellent detection performance and performs well in night, rainy, foggy and other environments, and can better identify static and dynamic targets around. Therefore, people gradually begin to use radar equipment to detect and track various targets in the surrounding environment. However, in complex environments, due to factors such as the relative driving direction between traffic participants and radar equipment, the characteristic structure of traffic participants themselves, and radar noise, multiple radar targets may be mistakenly identified as multiple different radar targets based on multiple radar reflection points at the same radar target, thereby affecting the accuracy of radar target detection results. Summary of the invention

[0003] Based on this, the present invention provides a radar target processing method, an electronic device and a computer program product. By adopting the radar target processing method, it is possible to identify whether the initial radar target obtained by radar target detection is a false detection target, which is beneficial to improving the accuracy of the radar target detection result.

[0004] In one aspect, the present invention provides a radar target processing method, the method comprising:

[0005] Acquire the position information of the initial radar target obtained through radar target detection;

[0006] Determining the position overlap relationship between the initial radar targets according to the position information of the initial radar targets;

[0007] Determining whether the initial radar target is a misdetected target according to the relative credibility between the initial radar targets having the position overlapping relationship; wherein the relative credibility is used to reflect the possibility that any initial radar target is a real radar target relative to another initial radar target having the position overlapping relationship with it.

[0008] Furthermore, in some implementations, determining the position overlap relationship between the initial radar targets according to the position information of the initial radar targets includes:

[0009] According to the position information of any two of the initial radar targets, determining whether there is an overlapping area between the any two initial radar targets to obtain a first determination result;

[0010] If the first judgment result indicates that there is an overlapping area between the any two initial radar targets, it is determined that there is a position overlapping relationship between the any two initial radar targets.

[0011] Further, in some implementations, after determining whether there is an overlapping area between any two of the initial radar targets, the method further includes:

[0012] If the first judgment result indicates that there is no overlapping area between any two of the initial radar targets, determining the running trajectory prediction data of the any two initial radar targets within a first future time period;

[0013] According to the running trajectory prediction data, determining whether there is an overlap between any two of the initial radar targets within a first future time period, and obtaining a second determination result;

[0014] If the second judgment result indicates that there is an overlap between any two of the initial radar targets within the first future time period, it is determined that there is a position overlap relationship between the any two initial radar targets.

[0015] Furthermore, in some implementations, determining whether the initial radar target is a misdetected target according to the relative credibility between the initial radar targets having the position overlapping relationship includes:

[0016] Determining a preset arrangement order between designated radar targets in the initial radar targets; wherein any designated radar target has the position overlapping relationship with at least one other initial radar target;

[0017] In the order of arrangement position from front to back, each of the designated radar targets is taken as a target to be detected in turn, so as to determine whether the target to be detected is a false detection target according to the relative credibility between the target to be detected and the initial radar target having the position overlapping relationship with the target to be detected.

[0018] Furthermore, in some embodiments, determining whether the target to be detected is a misdetected target according to the relative credibility between the target to be detected and the initial radar target having the position overlapping relationship therewith includes:

[0019] Calculating the relative credibility of the target to be detected and the preset radar target respectively; wherein the preset radar target is the initial radar target that has the position overlapping relationship with the target to be detected and is arranged in the frontmost order;

[0020] If the relative credibility of the target to be detected is less than the relative credibility of the preset radar target, it is determined that the target to be detected is a misdetected target, and the position overlap relationship between the target to be detected and other initial radar targets is deleted;

[0021] If the relative credibility of the target to be detected is greater than the relative credibility of the preset radar target, it is determined that the preset radar target is a misdetected target, and the position overlap relationship between the preset radar target and other initial radar targets is deleted;

[0022] Determine whether there are other initial radar targets having the position overlapping relationship with the target to be detected, and obtain a third determination result;

[0023] If the third judgment result indicates that there is no other initial radar target having the position overlapping relationship with the target to be detected, it is determined that the target to be detected is not a false detection target;

[0024] If the third judgment result indicates that there are other initial radar targets that have the position overlapping relationship with the target to be detected, the relative credibility between the target to be detected and the other initial radar targets that have the position overlapping relationship with the target to be detected is calculated in order from front to back, until it is determined whether the target to be detected is a false detection target based on the relative credibility.

[0025] Furthermore, in some embodiments, before calculating the relative credibility of the target to be detected and the preset radar target respectively, the method further includes:

[0026] determining whether, in the process of determining whether other targets to be detected are misdetected targets, the current target to be detected has been determined to be a misdetected target, thereby obtaining a fourth determination result;

[0027] If the fourth judgment result indicates that the current target to be detected is determined to be a falsely detected target before determining whether the other targets to be detected are falsely detected targets, it is determined whether there is the initial radar target having the position overlapping relationship with the current target to be detected, to obtain a fifth judgment result;

[0028] If the fifth judgment result indicates that there is no initial radar target having the position overlapping relationship with the current target to be detected, it is determined that the current target to be detected is not a misdetected target;

[0029] The calculating the relative credibility of the target to be detected and the preset radar target respectively includes:

[0030] If the fifth judgment result indicates that there is the initial radar target having the position overlapping relationship with the current target to be detected, then the relative credibility corresponding to the current target to be detected and the preset radar target is calculated respectively.

[0031] Furthermore, in some implementations, the calculating the relative credibility of the target to be detected and the preset radar target respectively includes:

[0032] According to the preset parameters of the target to be detected and the preset radar target, the relative credibility corresponding to the target to be detected and the preset radar target is calculated;

[0033] The preset parameters include: at least one of a first parameter reflecting the survival time of the target, a second parameter reflecting the probability that the target belongs to a preset obstacle, a third parameter reflecting the variance of the lateral distance between the target and the radar device, and a fourth parameter reflecting the variance of the longitudinal distance between the target and the radar device;

[0034] The first parameter of the target to be detected is positively correlated with the relative credibility of the target to be detected, and the first parameter of the preset radar target is positively correlated with the relative credibility of the preset radar target; and / or,

[0035] The second parameter of the target to be detected is positively correlated with the relative credibility of the target to be detected, and the second parameter of the preset radar target is positively correlated with the relative credibility of the preset radar target; and / or,

[0036] The third parameter of the target to be detected is negatively correlated with the relative credibility of the target to be detected, and the third parameter of the preset radar target is negatively correlated with the relative credibility of the preset radar target; and / or,

[0037] The fourth parameter of the target to be detected is negatively correlated with the relative credibility of the target to be detected, and the fourth parameter of the preset radar target is negatively correlated with the relative credibility of the preset radar target.

[0038] Furthermore, in some implementations, after determining whether the initial radar target is a misdetected target, the method further includes:

[0039] For any of the initial radar targets, if it is determined that the initial radar target is a misdetected target, determining whether the initial radar target is a misdetected target within the most recent second time period, to obtain a sixth determination result;

[0040] If the sixth judgment result indicates that the initial radar target is a misdetected target within the most recent second period of time, radar target detection processing is prohibited for the initial radar target.

[0041] Further, in some embodiments, after determining the position overlap relationship between the initial radar targets according to the position information of the initial radar targets, the method further includes:

[0042] For any of the initial radar targets, if there is no other initial radar target having the position overlapping relationship with the initial radar target, it is determined that the initial radar target is not a misdetected target.

[0043] Furthermore, in some implementations, after determining whether the initial radar target is a misdetected target, the method further includes:

[0044] If it is determined that the initial radar target is not a falsely detected target, then determining whether the initial radar target is not a falsely detected target within a recent third period of time, to obtain a seventh determination result;

[0045] If the seventh judgment result indicates that the initial radar target is not a falsely detected target within the latest third time period, the target data of the initial radar target is sent to a preset device so that the preset device obtains the target data of a credible radar target.

[0046] Further, in some embodiments, the initial radar target is obtained by performing radar target detection on data collected by a radar device mounted on the vehicle;

[0047] The sending the target data of the initial radar target to a preset device includes:

[0048] Target data for the initial radar target is sent to a target vehicle controller via a vehicle bus at the vehicle.

[0049] Furthermore, in some implementations, the radar device is a millimeter wave radar device.

[0050] On the other hand, the present invention further provides an electronic device, comprising: a processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the above method.

[0051] Furthermore, in some embodiments, the electronic device includes: at least one of a domain controller and a radar device.

[0052] On the other hand, the present invention further provides a computer program product having at least one instruction stored thereon, wherein the at least one instruction implements the steps of the above method when executed by a controller.

[0053] According to the radar target processing method provided by the present invention, the position overlap relationship between each initial radar target can be determined based on the position information of the initial radar target obtained through radar target detection; and then, based on the relative credibility between the initial radar targets with the position overlap relationship, it is determined whether the initial radar target is a misdetected target; which is conducive to improving the accuracy of the radar target detection result.

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

[0055] Figure 1 A schematic diagram of a flow chart of a radar target processing method provided by an embodiment of the present invention;

[0056] Figure 2 A schematic diagram of an application scenario of a radar target processing method provided by an embodiment of the present invention;

[0057] Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. 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 making creative work are within the scope of protection of the present invention.

[0059] In the description of one or more embodiments of the present invention, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0060] At present, when performing radar target detection, multiple radar reflection points are often detected for the same target object. Therefore, it is necessary to analyze and classify the characteristics of each radar reflection point in order to cluster the radar reflection points belonging to the same target object, thereby obtaining the radar target detection result.

[0061] However, when the target object is large (e.g., a truck), or when the target object is not traveling parallel to the radar device, and when the propagation and reflection of the radar wave are disturbed, there may be significant differences in the radial velocity or radial distance between the radar reflection points belonging to the same target object, resulting in the inability to effectively identify the various radar reflection points detected for the same target object. In addition, it is possible to mistakenly identify multiple different radar targets based on multiple radar reflection points belonging to the same target object, resulting in the inclusion of misdetected targets in the radar target detection results, affecting the accuracy of the radar target detection results.

[0062] Based on this, the present invention proposes a radar target processing method, which can first determine the position overlap relationship between each initial radar target according to the position information of the initial radar target obtained through radar target detection; and then determine whether the initial radar target is a misdetected target according to the relative credibility between the initial radar targets with position overlap relationship; it is beneficial to improve the accuracy of radar target detection results, and also beneficial to reduce interference with other functions implemented based on radar target detection results, and has good practicality.

[0063] See also Figure 1 , which is a flow chart of a radar target processing method provided by an embodiment of the present invention. From a program perspective, the execution subject of the process may be a program for performing radar target processing. Alternatively, the execution subject of the process may also be a radar device or other device (for example, a vehicle equipped with a radar device or a domain controller at a vehicle, etc.) equipped with a program for performing radar target processing, which is not specifically limited.

[0064] The following is for Figure 1 The process shown is described in detail, and the radar target processing method may specifically include the following steps:

[0065] Step S102, obtaining the position information of the initial radar target obtained through radar target detection.

[0066] In an embodiment of the present invention, a radar device may be used in advance to collect data about the surrounding environment, so as to perform radar target detection on the collected radar perception data, thereby obtaining the location information of the initial radar target. The location information of the initial radar target is generally information that can reflect the area where the initial radar target is located; for example, the location information of the initial radar target may include a preset number of corner point location data of the area where the initial radar target is located, or may also include the center point location data of the area where the initial radar target is located, as well as the length data, width data, etc. of the area where the initial radar target is located, without specific limitation. The above-mentioned radar device may be a millimeter wave radar device, or may also be other types of radar devices, without specific limitation.

[0067] Step S104: determining the position overlap relationship between the initial radar targets according to the position information of the initial radar targets.

[0068] In the embodiment of the present invention, since the distribution positions of multiple radar reflection points belonging to the same target object are usually relatively concentrated, when multiple different initial radar targets are mistakenly identified based on the multiple radar reflection points belonging to the same target object, the areas where these initial radar targets that may be misdetected targets are located often overlap; and, under normal circumstances, the areas where different initial radar targets are located should not overlap; therefore, the positional overlap relationship between the initial radar targets can be determined based on the position information of each initial radar target, so as to further screen out the misdetected targets from the initial radar targets with the positional overlap relationship.

[0069] Step S106, determining whether the initial radar target is a misdetected target based on the relative credibility between the initial radar targets having the position overlapping relationship; wherein the relative credibility is used to reflect the possibility that any of the initial radar targets is a real radar target relative to another initial radar target having the position overlapping relationship with it.

[0070] In an embodiment of the present invention, for multiple initial radar targets with overlapping positions, the attribute information or other relevant data of each initial radar target can be combined to evaluate the possibility that a certain initial radar target is a real radar target (i.e., not a false detection target) relative to other initial radar targets with overlapping positions, so as to obtain the relative credibility between the multiple initial radar targets with overlapping positions. By taking the initial radar targets with relatively low credibility as false detection targets (i.e., non-real radar targets with risks), accurate and effective filtering of false detection targets in the initial radar targets can be achieved, thereby facilitating the improvement of the accuracy of radar target detection results, and also facilitating the reduction of interference with other functions implemented based on radar target detection results, and having good practicality.

[0071] In practical applications, after determining that the initial radar target is a misdetected target, the field value of the preset field in the attribute information of the initial radar target can be set to a preset value reflecting that it is a misdetected target; and when determining that the initial radar target is not a misdetected target, the field value of the preset field in the attribute information of the initial radar target can be set to a preset value reflecting that it is not a misdetected target, or the field value of the preset field can be set to empty. In this way, it is possible to conveniently distinguish whether each initial radar target is a misdetected target.

[0072] Subsequently, by sending relevant data of the initial radar target that is not a false detection target to the target controller at the vehicle, the target controller can implement the automatic emergency braking (Autonomous Emergency Braking, AEB), adaptive cruise control (Adaptive Cruise Control, ACC), etc. based on the above radar target detection results, which is beneficial to improve the effectiveness and accuracy of the implementation results of the above vehicle functions, thereby ensuring the safety of vehicle operation.

[0073] In a feasible implementation manner, determining the position overlap relationship between the initial radar targets according to the position information of the initial radar targets may include:

[0074] According to the position information of any two of the initial radar targets, it is determined whether there is an overlapping area between the any two initial radar targets to obtain a first determination result.

[0075] If the first judgment result indicates that there is an overlapping area between the any two initial radar targets, it is determined that there is a position overlapping relationship between the any two initial radar targets.

[0076] In an embodiment of the present invention, the current location of any two initial radar targets can be determined based on the position information of the two initial radar targets, so that it can be identified whether there is an overlapping area between the two initial radar targets; if so, a position overlapping relationship between the two initial radar targets can be established, which is convenient and quick.

[0077] In a feasible implementation manner, after determining whether there is an overlapping area between any two of the initial radar targets, the following steps may also be included:

[0078] If the first judgment result indicates that there is no overlapping area between any two of the initial radar targets, then the running trajectory prediction data of the any two initial radar targets within a first future time period is determined.

[0079] According to the running trajectory prediction data, it is determined whether there is an overlap between any two of the initial radar targets within a first future time period, and a second determination result is obtained.

[0080] If the second judgment result indicates that there is an overlap between any two of the initial radar targets within the first future time period, it is determined that there is a position overlap relationship between the any two initial radar targets.

[0081] If the second judgment result indicates that there is no overlap between any two of the initial radar targets within the first future time period, it is determined that there is no position overlap relationship between any two of the initial radar targets.

[0082] In an embodiment of the present invention, since the radar reflection points detected during radar target detection are sparse, the identification result generated based on the position information of the two initial radar targets for whether there is currently an overlapping area between the two initial radar targets may not be accurate, thereby affecting the accuracy of the position overlapping relationship between the initial radar targets; and, if the two initial radar targets are not currently overlapping, but are about to overlap, there may often be a misdetected target between the two. Based on this, if the first judgment result indicates that there is no overlapping area between the two initial radar targets, it is also possible to identify whether the two initial radar targets may overlap within the first time period in the future. If so, the position overlapping relationship between the two initial radar targets can also be established. This is conducive to improving the accuracy of the position overlapping relationship between the initial radar targets that is finally determined.

[0083] Specifically, the running trajectory prediction data of the two initial radar targets in the first future time period can be determined based on the position information, running direction information, running speed information and running acceleration information of the two initial radar targets; combined with the size information of the two initial radar targets, the areas where the two initial radar targets are located at various moments in the first future time period can be determined; if the areas where the two initial radar targets are located overlap at least one moment in the first future time period, a second judgment result indicating that there is an overlap between the two initial radar targets in the first future time period can be obtained, and then the position overlap relationship between the two initial radar targets can be established, which is convenient and quick. Among them, the first future time period can be the time period between the current moment and the moment in the future that reaches the first time period from the current moment; the first time period can be from tens of milliseconds to several seconds, and there is no specific limitation on this.

[0084] In practical applications, the currently identified initial radar targets can be sorted first to obtain an initial radar target sequence. For example, the initial radar targets can be arranged in ascending order according to the target unique identifiers corresponding to the initial radar targets, or the initial radar targets can be arranged according to other strategies, which are not specifically limited. Then, according to the order of the initial radar targets in the initial radar target sequence from front to back, the initial radar targets are selected in turn as source targets to decide whether to establish a position overlap relationship between the source target and the initial radar target that is sorted after the source target in the initial radar target sequence according to the scheme in the above embodiment; this is conducive to avoiding repeated judgments on whether it is necessary to establish a position overlap relationship between two initial radar targets, thereby saving computing resources and improving the operation efficiency of the scheme.

[0085] For ease of understanding, an example is given to illustrate this. Assume that there are currently initial radar targets 1-3 arranged from front to back. First, the initial radar target 1 can be used as the source target, and it is determined in turn whether it is necessary to establish a position overlap relationship between the initial radar target 1 and the initial radar target 2, and whether it is necessary to establish a position overlap relationship between the initial radar target 1 and the initial radar target 3; secondly, the initial radar target 2 can be used as the source target, and it is determined whether it is necessary to establish a position overlap relationship between the initial radar target 2 and the initial radar target 3. Afterwards, the initial radar target 3 can also be used as the source target; however, since there is no initial radar target located after the source target, it can jump to the end step. At this point, it has been determined whether it is necessary to establish a position overlap relationship between each initial radar target, and the operating efficiency is relatively high.

[0086] In practical applications, the historical running trajectory data of any two of the initial radar targets within the target historical time period less than or equal to the target time length from the current moment can also be determined. If it is determined based on the historical running trajectory data that any two of the initial radar targets overlap within the target historical time period, it can also be determined that there is a positional overlap relationship between the any two initial radar targets; this is conducive to further improving the accuracy and comprehensiveness of the positional overlap relationship between the determined initial radar targets, and no further elaboration is given on this.

[0087] In a feasible implementation manner, determining whether the initial radar target is a misdetected target according to the relative credibility between the initial radar targets having the position overlapping relationship may include:

[0088] Determine a preset arrangement order between designated radar targets in the initial radar targets; wherein any designated radar target has the position overlapping relationship with at least one other initial radar target.

[0089] In the order of arrangement position from front to back, each of the designated radar targets is taken as a target to be detected in turn, so as to determine whether the target to be detected is a false detection target according to the relative credibility between the target to be detected and the initial radar target having the position overlapping relationship with the target to be detected.

[0090] In the embodiment of the present invention, after step S104 is executed, if a position overlap relationship is established between a certain initial radar target and other initial radar targets, the initial radar target can be used as a designated radar target to filter out misdetected targets from the designated radar targets.

[0091] Specifically, in order to improve the efficiency of identifying whether a designated radar target is a false detection target, the preset arrangement order of each designated radar target can be determined first; for example, the designated radar targets can be arranged from small to large according to their unique target identifiers, or they can be arranged according to other strategies, which are not specifically limited. Subsequently, each designated radar target can be taken as a target to be detected in order from front to back in arrangement position, and the target to be detected and the initial radar target with a positional overlap relationship with the target to be detected and the target with a relatively low credibility can be taken as a false detection target, which is convenient, fast and accurate.

[0092] Of course, each of the designated radar targets may also be used as a target to be detected in sequence according to the arrangement position from back to front, and then it is identified whether the target to be detected is a false detection target, and no specific limitation is made to this.

[0093] Optionally, determining whether the target to be detected is a misdetected target according to the relative credibility between the target to be detected and the initial radar target having the position overlapping relationship therewith may include:

[0094] The relative credibility of the target to be detected and the preset radar target respectively corresponding to each other is calculated; wherein the preset radar target is the initial radar target which has the position overlapping relationship with the target to be detected and is arranged at the front.

[0095] If the relative credibility of the target to be detected is less than the relative credibility of the preset radar target, it is determined that the target to be detected is a misdetected target, and the position overlap relationship between the target to be detected and other initial radar targets is deleted.

[0096] If the relative credibility of the target to be detected is greater than the relative credibility of the preset radar target, it is determined that the preset radar target is a misdetected target, and the position overlap relationship between the preset radar target and other initial radar targets is deleted.

[0097] It is determined whether there are other initial radar targets having the position overlapping relationship with the target to be detected, and a third determination result is obtained.

[0098] If the third judgment result indicates that there is no other initial radar target having the position overlapping relationship with the target to be detected, it is determined that the target to be detected is not a misdetected target.

[0099] If the third judgment result indicates that there are other initial radar targets that have the position overlapping relationship with the target to be detected, the relative credibility between the target to be detected and the other initial radar targets that have the position overlapping relationship with the target to be detected is calculated in order from front to back, until it is determined whether the target to be detected is a false detection target based on the relative credibility.

[0100] Optionally, before calculating the relative credibility of the target to be detected and the preset radar target respectively, the following method may also be included:

[0101] It is determined whether, in the process of determining whether other targets to be detected are misdetected targets, the current target to be detected has been determined to be a misdetected target, to obtain a fourth determination result.

[0102] If the fourth judgment result indicates that the current target to be detected is determined to be a falsely detected target in the process of determining whether other targets to be detected are falsely detected targets, the next designated radar target can be continuously used as the target to be detected for falsely detected target identification processing.

[0103] If the fourth judgment result indicates that the current target to be detected is determined to be a falsely detected target before determining whether other targets to be detected are falsely detected targets, then it is determined whether there is an initial radar target that has the position overlapping relationship with the current target to be detected, and a fifth judgment result is obtained.

[0104] If the fifth judgment result indicates that there is no initial radar target having the position overlapping relationship with the current target to be detected, it is determined that the current target to be detected is not a misdetected target.

[0105] Correspondingly, the calculating the relative credibility of the target to be detected and the preset radar target respectively may include:

[0106] If the fifth judgment result indicates that there is the initial radar target having the position overlapping relationship with the current target to be detected, then the relative credibility corresponding to the current target to be detected and the preset radar target is calculated respectively.

[0107] In the embodiments of this specification, for ease of understanding, an example is given for illustrating the principle of determining whether a target to be detected is a falsely detected target based on relative credibility.

[0108] Example 1

[0109] Assume that there are designated radar targets 1-3 arranged from front to back; wherein, designated radar target 2 and designated radar target 3 both have a position overlapping relationship with designated radar target 1, and designated radar target 2 and designated radar target 3 also have a position overlapping relationship with each other.

[0110] Based on this, first, the designated radar target 1 can be taken as the target to be detected; the relative credibility of the designated radar target 1 and the designated radar target 2 respectively is calculated; if the relative credibility of the designated radar target 1 is less than the relative credibility of the designated radar target 2, it can be determined that the designated radar target 1 is a misdetected target; and, the position overlapping relationship between the designated radar target 1 and the designated radar targets 2, 3, etc. is deleted, so that the radar targets that currently have a position overlapping relationship with the designated radar target 2 only include the designated radar target 3.

[0111] Then, the designated radar target 2 can be used as the target to be detected; at this time, the relative credibility between the designated radar target 2 and the designated radar target 3 can be calculated. If the relative credibility of the designated radar target 2 is greater than the relative credibility of the designated radar target 3, it can be determined that the designated radar target 3 is a misdetected target; and the position overlap relationship between the designated radar target 3 and the designated radar target 2 is deleted. Subsequently, since it is determined that there is no radar target with a position overlap relationship with the designated radar target 2, it can be determined that the designated radar target 2 is not a misdetected target.

[0112] Subsequently, designated radar target 3 can be used as a target to be detected; at this time, since designated radar target 3 has been determined to be a falsely detected target in the process of falsely detected target identification processing with designated radar target 2 as a target to be detected, it is not necessary to perform other falsely detected target identification processing on designated radar target 3. And since designated radar target 3 is the last designated radar target, it has been identified whether all designated radar targets are falsely detected targets, so the falsely detected target identification process can be terminated.

[0113] Example 2

[0114] Assume that there are designated radar targets 4-8 arranged from front to back; wherein designated radar targets 5 and 6 both have a positional overlap relationship with designated radar target 4, and designated radar target 7 and designated radar target 8 also have a positional overlap relationship.

[0115] Based on this, first, the designated radar target 4 can be used as the target to be detected; the relative credibility of the designated radar target 4 and the designated radar target 5 can be calculated; if the relative credibility of the designated radar target 4 is greater than the relative credibility of the designated radar target 5, it can be determined that the designated radar target 5 is a misdetected target; and the position overlap relationship between the designated radar target 5 and the designated radar target 4 is deleted. Subsequently, the relative credibility of the designated radar target 4 and the designated radar target 6 can be calculated; if the relative credibility of the designated radar target 4 is less than the relative credibility of the designated radar target 6, it can be determined that the designated radar target 4 is a misdetected target; and the position overlap relationship between the designated radar target 4 and the designated radar target 6 is deleted.

[0116] Then, the designated radar target 5 can be taken as the target to be detected; since the designated radar target 5 has been determined to be a falsely detected target in the process of performing falsely detected target identification processing on the designated radar target 4 as the target to be detected, there is no need to perform other falsely detected target identification processing on the designated radar target 5.

[0117] Afterwards, the designated radar target 6 can be taken as the target to be detected; since the designated radar target 6 is determined to be a falsely detected target in the process of falsely detected target identification processing without taking other designated radar targets as the targets to be detected, and there is currently no radar target that has a positional overlapping relationship with the designated radar target 6, it can be determined that the designated radar target 6 is not a falsely detected target.

[0118] Subsequently, the designated radar target 7 can be used as a target to be detected; since the designated radar target 7 is determined to be a misdetected target in the process of misdetected target identification processing without using other designated radar targets as targets to be detected, and there is currently a radar target (namely, designated radar target 8) that has a positional overlap relationship with the designated radar target 7, the relative credibility corresponding to the designated radar target 7 and the designated radar target 8 can be calculated; if the relative credibility of the designated radar target 7 is greater than the relative credibility of the designated radar target 8, it can be determined that the designated radar target 8 is a misdetected target; and the positional overlap relationship between the designated radar target 8 and the designated radar target 7 is deleted. At this point, since the designated radar target 7 no longer has a radar target that has a positional overlap relationship with it, it can be determined that the designated radar target 7 is not a misdetected target.

[0119] Finally, the designated radar target 8 can be used as a target to be detected; since the designated radar target 8 has been determined to be a misdetected target in the process of misdetected target identification processing with the designated radar target 7 as the target to be detected, it is not necessary to perform other misdetected target identification processing on the designated radar target 8. Furthermore, since it has been identified whether all designated radar targets are misdetected targets, the misdetected target identification process can be terminated.

[0120] In a feasible implementation manner, the calculating the relative credibility of the target to be detected and the preset radar target respectively may include:

[0121] According to the preset parameters of the target to be detected and the preset radar target, the relative credibility corresponding to the target to be detected and the preset radar target is calculated.

[0122] Among them, the preset parameters include: at least one of: a first parameter reflecting the survival time of the target, a second parameter reflecting the probability that the target belongs to a preset obstacle, a third parameter reflecting the lateral distance variance between the target and the radar device, and a fourth parameter reflecting the longitudinal distance variance between the target and the radar device.

[0123] The first parameter of the target to be detected is positively correlated with the relative credibility of the target to be detected, and the first parameter of the preset radar target is positively correlated with the relative credibility of the preset radar target; and / or,

[0124] The second parameter of the target to be detected is positively correlated with the relative credibility of the target to be detected, and the second parameter of the preset radar target is positively correlated with the relative credibility of the preset radar target; and / or,

[0125] The third parameter of the target to be detected is negatively correlated with the relative credibility of the target to be detected, and the third parameter of the preset radar target is negatively correlated with the relative credibility of the preset radar target; and / or,

[0126] The fourth parameter of the target to be detected is negatively correlated with the relative credibility of the target to be detected, and the fourth parameter of the preset radar target is negatively correlated with the relative credibility of the preset radar target.

[0127] In an embodiment of the present invention, when radar target detection and tracking processing is continuously performed on the surrounding environment using a radar device, the radar target detection and tracking results obtained usually include multiple preset parameters of each initial radar target. Since the value of the first parameter reflecting the target survival time is larger, it can usually indicate that the duration of successfully detecting and tracking the initial radar target is longer. At this time, the possibility that the initial radar target belongs to the misdetected target is often smaller; and, the value of the second parameter reflecting the probability that the target belongs to the preset obstacle (for example, a traffic participant) is larger, it can usually indicate that the attribute of the initial radar target is clearer. At this time, the possibility that the initial radar target belongs to the misdetected target is often smaller; and, the third parameter reflecting the lateral distance variance between the target and the radar device and the fourth parameter reflecting the longitudinal distance variance between the target and the radar device are larger, it can usually indicate that the initial radar target has frequent or large left and right movements. At this time, the possibility that the initial radar target belongs to the misdetected target is often greater. Therefore, the relative credibility corresponding to the target to be detected and the preset radar target can be calculated based on at least one of the first to fourth parameters of the target to be detected and the preset radar target. The third parameter and the fourth parameter can be obtained according to the covariance matrix in the Carr filter state, which will not be described in detail.

[0128] In practical applications, the relative credibility of the target to be detected and the preset radar target can be calculated according to the following formulas (1)-(5):

[0129] W whole =W1+W2+W3+W4(1)

[0130]

[0131] Among them, if W wholeis the relative credibility of the target to be detected, then P1-P4 can be the first parameter to the fourth parameter of the target to be detected respectively; P 1max is the maximum value of the first parameter of the target to be detected and the preset radar target; 2max is the maximum value of the second parameter of the target to be detected and the preset radar target; 3min is the minimum value of the third parameter between the target to be detected and the preset radar target; 4min is the minimum value of the fourth parameter of the target to be detected and the preset radar target; σ1-σ4 are all preset constants; W1-W4 can respectively represent the relative credibility components corresponding to the first parameter to the fourth parameter.

[0132] If W whole is the relative credibility of the preset radar target, and P1-P4 can be the first parameter to the fourth parameter of the preset radar target respectively; P 1max is the maximum value of the first parameter of the target to be detected and the preset radar target; 2max is the maximum value of the second parameter of the target to be detected and the preset radar target; 3min is the minimum value of the third parameter between the target to be detected and the preset radar target; 4min is the minimum value of the fourth parameter of the target to be detected and the preset radar target; σ1-σ4 are all preset constants; W1-W4 can respectively represent the relative credibility components corresponding to the first parameter to the fourth parameter.

[0133] Among them, σ1-σ4 used when calculating the relative credibility of the target to be detected and the preset radar target are usually consistent. For example, they can be 0.5, 0.3, 0.1, 0.1, or 0.5, 0.2, 0.2, 0.2, etc., respectively, without specific limitation.

[0134] In practical applications, other relative credibility calculation strategies may be used to calculate the relative credibility of the target to be detected and the preset radar target according to the preset parameters of the target to be detected and the preset radar target; for example, the P included in the above formula may be eliminated. 1max , P 2max , P 3min , P 4min , or replace P with a preset constant 1max , P 2max , P 3min , P 4min , or, calculating the sum or product of some relative credibility components in W1-W4 as relative credibility, etc., without specific limitation.

[0135] In a feasible implementation manner, after determining whether the initial radar target is a misdetected target, the following steps may also be included:

[0136] For any of the initial radar targets, if it is determined that the initial radar target is a misdetected target, it is determined whether the initial radar target is a misdetected target within the most recent second time period to obtain a sixth determination result.

[0137] If the sixth judgment result indicates that the initial radar target is a misdetected target within the most recent second period of time, radar target detection processing is prohibited for the initial radar target.

[0138] In the embodiment of the specification, in order to reduce the adverse effects on the radar target detection and tracking process when the filtering result for the misdetected target is wrong, when a certain initial radar target is determined to be a misdetected target in the most recent second time period, the initial radar target is considered to be a misdetected target. There is no need to continue to perform target detection processing on the initial radar target, that is, in the next radar target detection cycle, there is no need to determine whether each radar reflection point belongs to the initial radar target, so that the initial radar target will not be detected or tracked again. At the same time, since there is no need to determine whether the initial radar target is a misdetected target again, it is beneficial to reduce the waste of computing resources.

[0139] Of course, after determining that the initial radar target is a false detection target within the second most recent time period, the radar target detection process may continue to be performed on the initial radar target; however, it may be directly determined to be a false detection target subsequently without adopting other methods to identify whether it is a false detection target, which is not only conducive to reducing the waste of computing resources, but also can avoid the problem of discontinuous radar target tracking and frequent track interruptions.

[0140] The second most recent duration may refer to a time period from a moment earlier than the current moment when the second duration is reached to the current moment. The second duration may be set according to actual needs, for example, it may be a duration corresponding to several consecutive radar target detection cycles, or it may be hundreds of milliseconds to several seconds, without specific limitation.

[0141] In a feasible implementation manner, after determining the position overlap relationship between the initial radar targets according to the position information of the initial radar targets, the following method may also be included:

[0142] For any of the initial radar targets, if there is no other initial radar target having the position overlapping relationship with the initial radar target, it is determined that the initial radar target is not a misdetected target.

[0143] In the embodiment of the specification, if it is determined that a certain initial radar target has no position overlapping relationship with other initial radar targets according to the position information of the initial radar target, it can generally be indicated that the initial radar target is likely to be a real radar target; and because when judging whether the initial radar target is a false detection target by comparing the relative credibility, it is required that the multiple initial radar targets to be compared have a position overlapping relationship, it is impossible to judge whether the initial radar target that has no position overlapping relationship with other initial radar targets is a false detection target based on the relative credibility. Based on this, it can be directly determined that the initial radar target that has no position overlapping relationship with other initial radar targets is not a false detection target, which is convenient, fast, and accurate.

[0144] In a feasible implementation manner, after determining whether the initial radar target is a misdetected target, the following steps may also be included:

[0145] If it is determined that the initial radar target is not a falsely detected target, it is determined whether the initial radar target is not a falsely detected target within the latest third time period to obtain a seventh determination result.

[0146] If the seventh judgment result indicates that the initial radar target is not a falsely detected target within the latest third time period, the target data of the initial radar target is sent to a preset device so that the preset device obtains the target data of a credible radar target.

[0147] In the embodiments of the present specification, in order to reduce the adverse effects on the radar target detection and tracking process when errors occur in the filtering results for the falsely detected targets, when an initial radar target is determined not to be a falsely detected target within the third most recent time period, the initial radar target can be considered to be a trusted radar target, so that the target data of the initial radar target (for example, position information, running speed information, running acceleration information, probability information of traffic participants belonging to a specified type, etc.) can be sent to the preset device, so that the preset device can implement various functions according to the target data of the trusted radar target, which is conducive to ensuring the normal implementation of the functions at the preset device.

[0148] The most recent third duration may refer to a time period from a time earlier than the current time when the third duration is reached to the current time. The third duration may be set according to actual needs, for example, it may be a duration corresponding to several consecutive radar target detection cycles, or it may be hundreds of milliseconds to several seconds, without specific limitation.

[0149] Optionally, the initial radar target may be obtained by performing radar target detection on data collected by a radar device mounted on the vehicle.

[0150] Correspondingly, sending the target data of the initial radar target to a preset device may include:

[0151] Target data for the initial radar target is sent to a target vehicle controller via a vehicle bus at the vehicle.

[0152] In the embodiments of this specification, the vehicle can sense the surrounding environment through the radar equipment it carries, and the target vehicle controller at the vehicle implements the designated function based on the radar target detection and tracking results. Based on this, if a certain initial radar target is determined to be a credible radar target (i.e., an initial radar target that is not a falsely detected target within the third time period), the target data of the credible radar target can also be sent to the target vehicle controller through the vehicle bus at the vehicle. Among them, the designated function at the vehicle may include but is not limited to: adaptive cruise control function (Adaptive Cruise Control, ACC), automatic emergency braking function (Autonomous Emergency Braking, AEB), etc., and no specific limitation is made to this. In practical applications, the radar device may be a millimeter wave radar device. Of course, the radar device may also include other types of radar devices, which will not be elaborated on.

[0153] Since the target data of the trusted radar target sent to the target vehicle controller has good reliability and accuracy, it is possible to avoid erroneous triggering of the adaptive cruise control function and automatic emergency braking function at the vehicle due to misdetection of the target's position error or attribute error, or interference with the triggering time of the adaptive cruise control function and automatic emergency braking function at the vehicle, thereby helping to ensure the safety of the driver and passengers.

[0154] Figure 2 A schematic diagram of an application scenario of a radar target processing method provided by an embodiment of the present invention. Figure 2 As shown, the vehicle may be equipped with a radar device 201 and a target vehicle controller 202 .

[0155] Among them, the program installed at the radar device 201 can pre-process the historical state signal of the vehicle (for example, denoising), so as to combine the historical state signal of the vehicle and the collected radar perception data to perform radar target detection processing, thereby obtaining an initial radar target. In addition, by performing radar data processing on the initial radar target (i.e., the post-processing process of signal processing), the radar's measurement errors of the target position and speed can be corrected, and the real target information can be accurately estimated, thereby obtaining target data with better accuracy of the initial radar target (for example, position information, running speed information, acceleration information and other related parameters). Subsequently, the program installed at the radar device 201 can execute Figure 1And the scheme in its embodiment is used to determine whether each initial radar target is a misdetected target, and after determining that there is a credible radar target in the initial radar target, the target data with better accuracy of the credible radar target can be sent to the target vehicle controller 202 through the vehicle bus 203, which is convenient and quick.

[0156] Of course, the radar device 201 can also first send the radar sensing data it collects to the target vehicle controller 202 through the vehicle bus 203, so that the program installed at the target vehicle controller 202 can pre-process the historical state signal of the vehicle (for example, denoising) to combine the historical state signal of the vehicle and the radar sensing data to perform radar target detection processing, thereby obtaining the initial radar target. In addition, by performing radar data processing on the initial radar target (i.e., the post-processing process of signal processing), the target data of the initial radar target with better accuracy can be obtained. Subsequently, the program installed at the target vehicle controller 202 can execute Figure 1 The scheme in the embodiment thereof is used to judge whether each initial radar target is a misdetected target, and after determining that there is a credible radar target among the initial radar targets, the designated function is automatically executed according to the target data of the credible radar target; or the target data of the credible radar target with good accuracy can be sent to other target vehicle controllers through the vehicle bus 203. The scheme can reduce the requirements for the computing resources of the radar device, thereby helping to reduce the cost of the radar device and having good practicality.

[0157] The present invention also provides a computer program product on which at least one instruction is stored. When the at least one instruction is executed by a controller, the steps of the above radar target processing method can be implemented.

[0158] In one embodiment, the present invention also provides Figure 3 The structural diagram of the electronic device shown in FIG. Figure 3 At the hardware level, the electronic device may include a processor 31 and a memory 35, and may also include an internal bus 32, a network interface 33, a memory 34, and other hardware required for other services. The processor 31 may read the corresponding computer-readable instructions from the memory 35 into the memory and then run them to implement the above-mentioned radar target processing method. The specific execution process can refer to the specific descriptions in the above-mentioned embodiments, which will not be repeated here.

[0159] In some feasible implementations, the electronic device may include: at least one of a domain controller and a radar device.

[0160] Finally, each embodiment of the present invention is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for embodiments such as electronic devices and computer program products, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0161] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A radar target processing method, comprising: Acquire the position information of the initial radar target obtained through radar target detection; Determining the position overlap relationship between the initial radar targets according to the position information of the initial radar targets; Determining whether the initial radar target is a misdetected target according to the relative credibility between the initial radar targets having the position overlapping relationship; wherein the relative credibility is used to reflect the possibility that any initial radar target is a real radar target relative to another initial radar target having the position overlapping relationship with it.

2. The method according to claim 1, wherein determining the position overlap relationship between the initial radar targets according to the position information of the initial radar targets comprises: According to the position information of any two of the initial radar targets, determining whether there is an overlapping area between the any two initial radar targets to obtain a first determination result; If the first judgment result indicates that there is an overlapping area between the any two initial radar targets, it is determined that there is a position overlapping relationship between the any two initial radar targets.

3. The method according to claim 2, after determining whether there is an overlapping area between any two of the initial radar targets, further comprising: If the first judgment result indicates that there is no overlapping area between any two of the initial radar targets, determining the running trajectory prediction data of the any two initial radar targets within a first future time period; According to the running trajectory prediction data, determining whether there is an overlap between any two of the initial radar targets within a first future time period, and obtaining a second determination result; If the second judgment result indicates that there is an overlap between any two of the initial radar targets within the first future time period, it is determined that there is a position overlap relationship between the any two initial radar targets.

4. The method according to claim 1, wherein determining whether the initial radar target is a misdetected target based on the relative credibility between the initial radar targets having the position overlap relationship comprises: Determining a preset arrangement order between designated radar targets in the initial radar targets; wherein any designated radar target has the position overlapping relationship with at least one other initial radar target; In the order of arrangement position from front to back, each of the designated radar targets is taken as a target to be detected in turn, so as to determine whether the target to be detected is a false detection target according to the relative credibility between the target to be detected and the initial radar target having the position overlapping relationship with the target to be detected.

5. The method according to claim 4, wherein determining whether the target to be detected is a misdetected target based on the relative credibility between the target to be detected and the initial radar target having the position overlap relationship therewith comprises: Calculating the relative credibility of the target to be detected and the preset radar target respectively; wherein the preset radar target is the initial radar target that has the position overlapping relationship with the target to be detected and is arranged in the frontmost order; If the relative credibility of the target to be detected is less than the relative credibility of the preset radar target, it is determined that the target to be detected is a misdetected target, and the position overlap relationship between the target to be detected and other initial radar targets is deleted; If the relative credibility of the target to be detected is greater than the relative credibility of the preset radar target, determining that the preset radar target is a misdetected target, and deleting the position overlap relationship between the preset radar target and the other initial radar targets; Determine whether there are other initial radar targets having the position overlapping relationship with the target to be detected, and obtain a third determination result; If the third judgment result indicates that there is no other initial radar target having the position overlapping relationship with the target to be detected, it is determined that the target to be detected is not a false detection target; If the third judgment result indicates that there are other initial radar targets that have the position overlapping relationship with the target to be detected, the relative credibility between the target to be detected and the other initial radar targets that have the position overlapping relationship with the target to be detected is calculated in order from front to back, until it is determined whether the target to be detected is a false detection target based on the relative credibility.

6. The method according to claim 5, before calculating the relative credibility of the target to be detected and the preset radar target respectively, further comprising: determining whether, in the process of determining whether other targets to be detected are misdetected targets, the current target to be detected has been determined to be a misdetected target, thereby obtaining a fourth determination result; If the fourth judgment result indicates that the current target to be detected is determined to be a falsely detected target before determining whether the other targets to be detected are falsely detected targets, it is determined whether there is the initial radar target having the position overlapping relationship with the current target to be detected, to obtain a fifth judgment result; If the fifth judgment result indicates that there is no initial radar target having the position overlapping relationship with the current target to be detected, it is determined that the current target to be detected is not a misdetected target; The calculating the relative credibility of the target to be detected and the preset radar target respectively includes: If the fifth judgment result indicates that there is the initial radar target having the position overlapping relationship with the current target to be detected, then the relative credibility corresponding to the current target to be detected and the preset radar target is calculated respectively.

7. According to the method of claim 5, the step of calculating the relative credibility of the target to be detected and the preset radar target, respectively, comprises: According to the preset parameters of the target to be detected and the preset radar target, the relative credibility corresponding to the target to be detected and the preset radar target is calculated; The preset parameters include: at least one of a first parameter reflecting the survival time of the target, a second parameter reflecting the probability that the target belongs to a preset obstacle, a third parameter reflecting the lateral distance variance between the target and the radar device, and a fourth parameter reflecting the longitudinal distance variance between the target and the radar device; The first parameter of the target to be detected is positively correlated with the relative credibility of the target to be detected, and the first parameter of the preset radar target is positively correlated with the relative credibility of the preset radar target; and / or, The second parameter of the target to be detected is positively correlated with the relative credibility of the target to be detected, and the second parameter of the preset radar target is positively correlated with the relative credibility of the preset radar target; and / or, The third parameter of the target to be detected is negatively correlated with the relative credibility of the target to be detected, and the third parameter of the preset radar target is negatively correlated with the relative credibility of the preset radar target; and / or, The fourth parameter of the target to be detected is negatively correlated with the relative credibility of the target to be detected, and the fourth parameter of the preset radar target is negatively correlated with the relative credibility of the preset radar target.

8. The method according to claim 1, after determining whether the initial radar target is a misdetected target, further comprising: For any of the initial radar targets, if it is determined that the initial radar target is a misdetected target, determining whether the initial radar target is a misdetected target within the most recent second time period, to obtain a sixth determination result; If the sixth judgment result indicates that the initial radar target is a misdetected target within the most recent second period of time, radar target detection processing is prohibited for the initial radar target.

9. The method according to claim 1, after determining the position overlap relationship between the initial radar targets according to the position information of the initial radar targets, further comprising: For any of the initial radar targets, if there is no other initial radar target having the position overlapping relationship with the initial radar target, it is determined that the initial radar target is not a misdetected target.

10. The method according to claim 1 or 9, after determining whether the initial radar target is a misdetected target, further comprising: If it is determined that the initial radar target is not a falsely detected target, then determining whether the initial radar target is not a falsely detected target within a recent third period of time, to obtain a seventh determination result; If the seventh judgment result indicates that the initial radar target is not a false detection target within the latest third time period, the target data of the initial radar target is sent to a preset device so that the preset device obtains the target data of a credible radar target.

11. The method according to claim 10, wherein the initial radar target is obtained by performing radar target detection on data collected by a radar device mounted on the vehicle; The sending the target data of the initial radar target to a preset device includes: Target data for the initial radar target is sent to a target vehicle controller via a vehicle bus at the vehicle. 12 . The method according to claim 11 , wherein the radar device is a millimeter wave radar device.

13. An electronic device, comprising: A processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the method as claimed in any one of claims 1 to 12.

14. The electronic device according to claim 13, comprising: At least one of a domain controller and a radar device.

15. A computer program product having at least one instruction stored thereon, wherein when the at least one instruction is executed by a controller, the steps of the method according to any one of claims 1 to 12 are implemented.

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