Method and device for determining speed, vehicle and storage medium

Abstract

The invention relates to a speed determination method and device, a vehicle and a storage medium. A vehicle can obtain current frame radar measurement data of a target object collected by the vehicle, and the current frame radar measurement data comprises target data of a plurality of target points on the target object; and determining the target speed of the target object according to the target data of the plurality of target points.

Description

Technical Field

[0001] The present disclosure relates to the field of radar technology, and in particular to a method, device, vehicle and storage medium for determining speed. Background Art

[0002] Radar is a sensor that senses and measures the surrounding environment by emitting electromagnetic waves and receiving the reflected signals. Radars on vehicles, such as millimeter-wave radars and lidars, play an important role in the automotive industry.

[0003] Radars on vehicles can realize functions such as environmental perception, target tracking, obstacle detection and measurement to improve driving safety, driving convenience and traffic efficiency. One of the important measurement items is to measure the relative speed between the target object and the vehicle by emitting signals from the radar. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a method, device, vehicle and storage medium for determining speed.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a method for determining speed, comprising:

[0006] Acquire current frame radar measurement data of a target object collected by a vehicle, wherein the current frame radar measurement data includes target data of multiple target points on the target object;

[0007] A target speed of the target object is determined based on the target data of the plurality of target points.

[0008] Optionally, determining the target speed of the target object according to the target data of the multiple target points includes:

[0009] Determine a position matrix according to the target data of the plurality of target points, wherein the position matrix represents a position vector of each target point in the plurality of target points;

[0010] The target speed is determined according to the position matrix and the target data of the plurality of target points.

[0011] Optionally, the target data of each target point includes the distance between the target point and the radar on the vehicle and the horizontal angle of the target point relative to the beam axis of the radar;

[0012] Determining the position matrix according to the target data of the plurality of target points comprises:

[0013] For each of the target points, determining a position vector of the target point according to a distance between the target point and the radar and a horizontal angle between the target point and a beam axis of the radar;

[0014] The position matrix is ​​determined according to the position vector corresponding to each of the target points.

[0015] Optionally, the target data of each target point further includes the Doppler velocity of the target point;

[0016] Determining the target speed according to the position matrix and the target data of the plurality of target points comprises:

[0017] The target speed is determined according to the position matrix, the Doppler speed of each target point, and the distance between each target point and the radar on the vehicle.

[0018] Optionally, determining the target speed according to the position matrix and the target data of the plurality of target points comprises:

[0019] In the case where the position matrix is ​​reversible, the target speed is determined according to the position matrix and the target data of the plurality of target points.

[0020] Optionally, the target data of each target point includes a Doppler velocity of the target point, and the method further includes:

[0021] Determine a discrete point among the plurality of target points according to the Doppler velocity of each target point;

[0022] Deleting the discrete point from the plurality of target points;

[0023] Determining the target speed of the target object according to the target data of the plurality of target points comprises:

[0024] The target speed is determined according to the target data of the plurality of target points after the discrete points are deleted.

[0025] Optionally, determining a discrete point among the plurality of target points according to the Doppler velocity of each target point comprises:

[0026] Determine the median value of the Doppler velocities corresponding to the plurality of target points according to the Doppler velocity of each target point;

[0027] Among the plurality of target points, the target point whose absolute value of the difference between the Doppler velocity and the median of the Doppler velocity is greater than a first preset difference threshold is taken as the discrete point.

[0028] Optionally, determining the target speed according to the target data of the plurality of target points after deleting the discrete points comprises:

[0029] When the number of target points after deleting the discrete points is greater than or equal to a preset number threshold and the target points after deleting the discrete points meet a preset difference condition, the target speed is determined according to target data of the plurality of target points after deleting the discrete points.

[0030] Optionally, the preset difference condition includes that, among the target points after deleting the discrete points, the difference between the maximum Doppler velocity and the minimum Doppler velocity is greater than or equal to a second preset difference threshold.

[0031] According to a second aspect of an embodiment of the present disclosure, there is provided a device for determining speed, including:

[0032] An acquisition module is configured to acquire current frame radar measurement data of a target object collected by a vehicle, wherein the current frame radar measurement data includes target data of multiple target points on the target object;

[0033] The determination module is configured to determine the target speed of the target object according to the target data of the multiple target points.

[0034] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising:

[0035] processor;

[0036] a memory for storing processor-executable instructions;

[0037] The processor is configured to implement the steps of the method for determining speed provided in the first aspect of the present disclosure.

[0038] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the method for determining speed provided in the first aspect of the present disclosure are implemented.

[0039] The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: the target speed of the target object can be determined based on the data of multiple target points in a frame of radar measurement data (i.e., the current frame of radar measurement data). Compared with the related art that determines the convergence speed based on multiple frames of radar measurement data as the speed estimation of the target vehicle, the present disclosure does not require multiple frames of tracking convergence, and the calculation speed is faster. In addition, by determining the target speed of the target object based on the target data of multiple target points, it is possible to avoid using a point target model to describe the target object, thereby being suitable for measuring the moving speed of an extended rigid body target, and when the target object is close to the vehicle, the calculation accuracy is higher.

[0040] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0042] Figure 1 It is a schematic diagram of a scenario in which a millimeter-wave radar measures the relative speed between a target vehicle and a self-vehicle, provided in the related art.

[0043] Figure 2 The figure is a flow chart showing a method for determining speed according to an exemplary embodiment of the present disclosure.

[0044] Figure 3 is based on Figure 2 The illustrated embodiment shows a flow chart of a method for determining speed.

[0045] Figure 4 is based on Figure 2 The illustrated embodiment shows a flow chart of a method for determining speed.

[0046] Figure 5 The invention is a block diagram of a device for determining speed according to an exemplary embodiment of the present invention.

[0047] Figure 6 is based on Figure 5 The illustrated embodiment shows a block diagram of a device for determining speed.

[0048] Figure 7 It is a block diagram of a vehicle according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0049] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0050] It should be noted that all actions to obtain signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the location and with the authorization given by the owner of the corresponding device.

[0051] The present disclosure is mainly applied to a scenario where a target speed of a target object around a vehicle is measured by a radar (such as a millimeter wave radar) on the vehicle. The target object may include a moving rigid body target.

[0052] Traditional millimeter-wave radars mainly rely on point target models and EKF (Extended Kalman Filter) when measuring the relative speed between the target object and the vehicle. The point target model is one of the commonly used target description models in radar and sensor applications. In the point target model, the target object is abstracted as a point object with position and velocity, ignoring the shape and other external features of the target.

[0053] For example, Figure 1 It is a schematic diagram of a scene provided in the related art where a millimeter wave radar measures the relative speed between a target vehicle and a self-vehicle, such as Figure 1 As shown in the figure, for a target vehicle in front of the ego vehicle, the radar will measure one or more target points distributed on the target vehicle. The radar measurement data of each target point includes the distance R between the target point and the radar, the horizontal angle a between the target point and the radar beam axis, and the projected Doppler velocity vd on the line connecting the target point and the radar. And one of the multiple target points is selected as a reference point (usually the target point closest to the ego vehicle), and then the movement of the reference point represents the movement of the entire target vehicle. After the radar measurement data of the reference point is substituted into the EKF for tracking, the convergence speed is determined based on the multi-frame radar measurement data as an estimate of the two-dimensional velocity vector of the target vehicle.

[0054] However, if the tracking time is short, the speed may not have converged yet. In this case, the calculation speed of the relative speed between the target vehicle and the ego vehicle is slow. In addition, if the distance between the target vehicle and the ego vehicle is close, that is, the target vehicle is an extended rigid body target relative to the ego vehicle (extended rigid body target can be understood as the situation where the target object is close to the ego vehicle and it is impossible to abstract the target object with one point), then it is no longer possible to abstract the entire target vehicle with one target point based on the theory of the point target model. Moreover, if the distance between the target vehicle and the ego vehicle is close, there will be Doppler expansion, and the reference point input to the EKF is not easy to select.

[0055] In order to solve the above problems, the present invention provides a method, device, vehicle and storage medium for determining speed. The specific implementation of the present invention is described in detail below with reference to the accompanying drawings.

[0056] Figure 2 FIG. 1 is a flow chart of a method for determining speed according to an exemplary embodiment of the present disclosure, which method can be applied to a vehicle equipped with a radar. Figure 2 As shown, the method may include the following steps:

[0057] In step S201, current frame radar measurement data of a target object collected by a vehicle is acquired, where the current frame radar measurement data includes target data of a plurality of target points on the target object.

[0058] The target object may include a target object in the vehicle's surrounding environment that is in rigid body motion, where rigid body motion refers to a form of motion in which an object maintains its shape and size and moves along a specific trajectory in space. In rigid body motion, the various parts of the object remain unchanged relative to each other. For example, the target object may include a moving target vehicle.

[0059] In actual application scenarios, the radar on a vehicle can periodically emit electromagnetic wave signals, and then obtain radar measurement data by receiving and measuring the reflected signal of the electromagnetic wave signal from the target object. In addition, multiple frames of radar measurement data can be obtained within a period of time. The current frame of radar measurement data refers to a frame of radar measurement data of the target object collected at the current moment.

[0060] In addition, the current frame radar measurement data may include multiple target points (such as Figure 1 The target data (the target data includes radar measurement data) corresponding to each of the target points on the target vehicle shown in the figure, and the target data of each target point includes the distance between the target point and the radar on the vehicle (such as Figure 1 R shown), the horizontal angle of the target point relative to the beam axis of the radar (as shown Figure 1 a) and the Doppler velocity of the target point (as shown in Figure 1 The specific implementation method of measuring the reflected signal of the electromagnetic wave signal emitted by the radar to obtain the target data corresponding to multiple target points of the target object can refer to the description in the relevant technology and is not specifically limited here.

[0061] In step S202, a target speed of the target object is determined according to the target data of the plurality of target points.

[0062] The target speed may include a relative speed between the target object and the vehicle.

[0063] By adopting the above method, the target speed of the target object can be determined based on the data of multiple target points in a frame of radar measurement data (i.e., the current frame of radar measurement data). Compared with the related art that determines the convergence speed based on multiple frames of radar measurement data as the speed estimation of the target vehicle, the present disclosure does not require multiple frames of tracking convergence, and the calculation speed is faster. In addition, by determining the target speed of the target object based on the target data of multiple target points, it is possible to avoid using a point target model to describe the target object, thereby being suitable for measuring the moving speed of an extended rigid body target. When the target object is close to the vehicle, the calculation accuracy is higher.

[0064] Figure 3 is based on Figure 2 The embodiment shown is a flow chart of a method for determining speed, such as Figure 3 As shown, step S202 includes the following sub-steps:

[0065] In step S2021, a position matrix is ​​determined according to the target data of the plurality of target points, wherein the position matrix represents a position vector of each target point in the plurality of target points.

[0066] The position vector here can be understood as the rectangular coordinate representation of each target point.

[0067] The target data of each target point includes the distance between the target point and the radar on the vehicle and the horizontal angle between the target point and the beam axis of the radar.

[0068] Therefore, in this step, for each target point, the position vector of the target point can be determined according to the distance between the target point and the radar and the horizontal angle of the target point relative to the beam axis of the radar; and the position matrix can be determined according to the position vector corresponding to each target point.

[0069] In the polar coordinate system, the position of a point can be represented by two values: the polar diameter: the distance from the origin to the point. The polar angle: the angle rotated counterclockwise from a reference axis (usually the positive x-axis). Figure 1 As shown, for each target point, the distance between the target point and the radar on the vehicle is the polar diameter, and the horizontal angle of the target point relative to the beam axis of the radar is the polar angle. In this way, through the coordinate conversion relationship between the rectangular coordinate system and the polar coordinate system, the rectangular coordinate representation corresponding to each target point can be determined, and then the position vector of each target point can be obtained.

[0070] For example, assuming that the current frame radar measurement data includes target data of n target points, the position vector of each target point in the n target points can be expressed as (xi, yi), where i = 1, 2, ..... n. Further, the position matrix corresponding to the n target points can be expressed as: This is just an example, and the present disclosure is not limited to this.

[0071] In step S2022, the target speed is determined according to the position matrix and the target data of the multiple target points.

[0072] In the present disclosure, the target data of each target point also includes the Doppler velocity of the target point. Doppler velocity refers to the change in frequency or wavelength caused by the Doppler effect caused by the speed of an object relative to the observer. The Doppler effect refers to the change in the frequency or wavelength of the observed wave when the observer and the emission source move relative to each other. In the fields of communication and radar, Doppler velocity is often used to measure the relative speed of the target object.

[0073] Thus, in this step, the target speed may be determined according to the position matrix, the Doppler speed of each target point, and the distance between each target point and the radar on the vehicle.

[0074] For example, continue to take the current frame radar measurement data including target data of n target points as an example, assuming that the target speed is represented by (Vx, Vy), the Doppler speeds corresponding to the n target points can be represented by v1, v2, .... vn, and the distances between the n target points and the radar are represented by r1, r2, .... rn, respectively. The position matrix corresponding to the n target points is represented as described above, then the target speed (Vx, Vy) can be calculated by the following formula:

[0075]

[0076] in, Represents the pseudo-inverse of the position matrix.

[0077] In this way, the present disclosure can directly estimate the target speed of the target object by calculating the pseudo-inverse of the position matrix of a frame of radar measurement data, without the need for convergence of multiple frames of data, thereby improving the efficiency of speed measurement.

[0078] It should be noted that before executing this step, it is necessary to determine whether the position matrix is ​​reversible (for example, it can be determined by determining whether the determinant corresponding to the position matrix is ​​0). When it is determined that the position matrix is ​​reversible, the target speed is determined based on the position matrix and the target data of the multiple target points.

[0079] In addition, if it is determined that the position matrix does not have a corresponding pseudo-inverse matrix, you can use Figure 1 The conventional speed estimation method shown measures the speed of the target object.

[0080] Figure 4 is based on Figure 2 The embodiment shown is a flow chart of a method for determining speed, such as Figure 4 As shown, the method further comprises the following steps:

[0081] In step S203, a discrete point among the plurality of target points is determined according to the Doppler velocity of each target point.

[0082] The discrete point refers to one or more target points on the target object whose Doppler velocity is significantly different from the Doppler velocity of the target object itself.

[0083] Taking the target object as a moving target vehicle as an example, the rotation of its wheels easily forms some Doppler outliers with obvious Doppler speed differences from the vehicle body, that is, the target points corresponding to the wheels belong to outliers and need to be excluded to improve the accuracy of speed measurement. Therefore, in this step, a discrete point among the multiple target points can be determined according to the Doppler speed of each target point.

[0084] In a possible implementation of this step, the median Doppler velocity corresponding to the plurality of target points can be determined according to the Doppler velocity of each target point; and the target point among the plurality of target points, for which the absolute value of the difference between the Doppler velocity and the median Doppler velocity is greater than a first preset difference threshold, is taken as the discrete point.

[0085] In step S204, the discrete point is deleted from the plurality of target points.

[0086] In this way, during the execution of step S202, the target speed can be determined according to the target data of the plurality of target points after the discrete points are deleted, thereby further improving the accuracy of the speed measurement of the target object.

[0087] Considering that in an actual speed measurement scenario, the more target points are included in a frame of radar measurement data, the more accurate the target speed of the target object determined based on the current frame of radar measurement data is. Therefore, in a possible implementation, after deleting the discrete points, it is possible to determine whether the number of remaining target points is greater than or equal to a preset number threshold. In addition, in order to further improve the accuracy of speed measurement, the difference between the Doppler speeds of the target points must also meet a preset difference condition.

[0088] Therefore, in another possible implementation of the present disclosure, the target speed can be determined according to the target data of the plurality of target points after the discrete points are deleted, when the number of the target points after the discrete points are deleted is greater than or equal to a preset number threshold, and the target points after the discrete points are deleted meet a preset difference condition. The preset difference condition includes that the difference between the maximum Doppler speed and the minimum Doppler speed of the target points after the discrete points are deleted is greater than or equal to a second preset difference threshold. For example, the preset number threshold may be 8, and the second preset difference threshold may be 0.5 m / s.

[0089] It should also be noted that if it is determined that the number of target points after deleting discrete points is less than the preset number threshold, or if it is determined that the target points after deleting discrete points do not meet the preset difference condition, Figure 1 The conventional speed estimation method shown measures the speed of the target object.

[0090] Figure 5is a block diagram of a device for determining speed according to an exemplary embodiment of the present disclosure. Figure 5 , the device comprises:

[0091] An acquisition module 501 is configured to acquire current frame radar measurement data of a target object collected by a vehicle, wherein the current frame radar measurement data includes target data of multiple target points on the target object;

[0092] The determination module 502 is configured to determine a target speed of the target object according to the target data of the multiple target points.

[0093] Optionally, the determination module 502 is configured to determine a position matrix based on target data of the multiple target points, wherein the position matrix represents a position vector of each target point among the multiple target points; and determine the target speed based on the position matrix and the target data of the multiple target points.

[0094] Optionally, the target data of each target point includes the distance between the target point and the radar on the vehicle and the horizontal angle of the target point relative to the beam axis of the radar.

[0095] The determination module 502 is configured to determine, for each of the target points, a position vector of the target point according to a distance between the target point and the radar and a horizontal angle between the target point and the beam axis of the radar; and determine the position matrix according to the position vector corresponding to each of the target points.

[0096] Optionally, the target data of each target point further includes the Doppler velocity of the target point;

[0097] The determination module 502 is configured to determine the target speed according to the position matrix, the Doppler speed of each target point, and the distance between each target point and the radar on the vehicle.

[0098] Optionally, the determination module 502 is configured to determine the target speed according to the position matrix and the target data of the multiple target points when the position matrix is ​​reversible.

[0099] Optionally, the target data of each target point includes a Doppler velocity of the target point. Figure 6 is based on Figure 5 The embodiment shown is a block diagram of a device for determining speed, such as Figure 6 As shown, the device also includes:

[0100] The discrete point deletion module 503 is configured to determine a discrete point among the plurality of target points according to the Doppler velocity of each of the target points; and delete the discrete point from the plurality of target points;

[0101] The determination module 502 is configured to determine the target speed according to the target data of the plurality of target points after deleting the discrete points.

[0102] Optionally, the discrete point deletion module 503 is configured to determine the median Doppler velocity corresponding to multiple target points according to the Doppler velocity of each target point; and take the target point among the multiple target points, whose absolute value of the difference between the Doppler velocity and the median Doppler velocity is greater than a first preset difference threshold, as the discrete point.

[0103] Optionally, the determination module 502 is configured to determine the target speed based on the target data of multiple target points after deleting the discrete points, when the number of target points after deleting the discrete points is greater than or equal to a preset number threshold and the target points after deleting the discrete points meet a preset difference condition.

[0104] Optionally, the preset difference condition includes that, among the target points after deleting the discrete points, the difference between the maximum Doppler velocity and the minimum Doppler velocity is greater than or equal to a second preset difference threshold.

[0105] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0106] By using the above device, the target speed of the target object can be determined based on the data of multiple target points in a frame of radar measurement data (i.e., the current frame of radar measurement data). Compared with the related art that determines the convergence speed based on multiple frames of radar measurement data as the speed estimation of the target vehicle, the present disclosure does not require multiple frames of tracking convergence, and the calculation speed is faster. In addition, by determining the target speed of the target object based on the target data of multiple target points, it is possible to avoid using a point target model to describe the target object, thereby being suitable for measuring the moving speed of an extended rigid target. When the target object is close to the vehicle, the calculation accuracy is higher.

[0107] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon. When the program instructions are executed by a processor, the steps of the method for determining speed provided by the present disclosure are implemented.

[0108] Figure 7 700 is a block diagram of a vehicle according to an exemplary embodiment of the present disclosure. For example, vehicle 700 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 700 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0109] Reference Figure 7 , the vehicle 700 may include various subsystems, for example, an infotainment system 710, a perception system 720, a decision control system 730, a drive system 740, and a computing platform 750. The vehicle 700 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 700 may be interconnected by wire or wireless means.

[0110] In some embodiments, the infotainment system 710 may include a communication system, an entertainment system, and a navigation system, etc.

[0111] The perception system 720 may include several sensors for sensing information about the environment around the vehicle 700. For example, the perception system 720 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0112] The decision control system 730 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0113] The drive system 740 may include components that provide power movement for the vehicle 700. In one embodiment, the drive system 740 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0114] Some or all functions of the vehicle 700 are controlled by a computing platform 750. The computing platform 750 may include at least one processor 751 and a memory 752, and the processor 751 may execute instructions 753 stored in the memory 752.

[0115] The processor 751 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0116] Memory 752 can be implemented by any type of volatile or nonvolatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0117] In addition to instructions 753 , memory 752 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 752 may be used by computing platform 750 .

[0118] In the embodiment of the present disclosure, the processor 751 may execute instruction 753 to complete all or part of the steps of the above-mentioned method for determining speed.

[0119] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and has a code portion for executing the above-mentioned method for determining speed when the computer program is executed by the programmable device.

[0120] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0121] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for determining speed, characterized in that include: Acquire current frame radar measurement data of a target object collected by a vehicle, wherein the current frame radar measurement data includes target data of multiple target points on the target object; A target speed of the target object is determined based on the target data of the plurality of target points.

2. The method according to claim 1, characterized in that Determining the target speed of the target object according to the target data of the plurality of target points comprises: Determine a position matrix according to the target data of the plurality of target points, wherein the position matrix represents a position vector of each target point in the plurality of target points; The target speed is determined according to the position matrix and the target data of the plurality of target points.

3. The method according to claim 2, characterized in that The target data of each target point includes the distance between the target point and the radar on the vehicle and the horizontal angle of the target point relative to the beam axis of the radar; Determining the position matrix according to the target data of the plurality of target points comprises: For each of the target points, determining a position vector of the target point according to a distance between the target point and the radar and a horizontal angle between the target point and a beam axis of the radar; The position matrix is ​​determined according to the position vector corresponding to each of the target points.

4. The method according to claim 3, characterized in that The target data of each target point also includes the Doppler velocity of the target point; Determining the target speed according to the position matrix and the target data of the plurality of target points comprises: The target speed is determined according to the position matrix, the Doppler speed of each target point, and the distance between each target point and the radar on the vehicle.

5. The method according to claim 2, characterized in that: Determining the target speed according to the position matrix and the target data of the plurality of target points comprises: In the case where the position matrix is ​​reversible, the target speed is determined according to the position matrix and the target data of the plurality of target points.

6. The method according to claim 1, characterized in that The target data of each target point includes the Doppler velocity of the target point, and the method further includes: Determine a discrete point among the plurality of target points according to the Doppler velocity of each target point; Deleting the discrete point from the plurality of target points; Determining the target speed of the target object according to the target data of the plurality of target points comprises: The target speed is determined according to the target data of the plurality of target points after the discrete points are deleted.

7. The method according to claim 6, characterized in that Determining a discrete point among the plurality of target points according to the Doppler velocity of each target point comprises: Determine the median value of the Doppler velocities corresponding to the plurality of target points according to the Doppler velocity of each target point; Among the plurality of target points, the target point whose absolute value of the difference between the Doppler velocity and the median of the Doppler velocity is greater than a first preset difference threshold is taken as the discrete point.

8. The method according to claim 6, characterized in that The determining the target speed according to the target data of the plurality of target points after deleting the discrete points comprises: When the number of target points after deleting the discrete points is greater than or equal to a preset number threshold and the target points after deleting the discrete points meet a preset difference condition, the target speed is determined according to target data of the plurality of target points after deleting the discrete points.

9. The method according to claim 8, characterized in that The preset difference condition includes that, among the target points after deleting the discrete points, the difference between the maximum Doppler velocity and the minimum Doppler velocity is greater than or equal to a second preset difference threshold.

10. A device for determining speed, characterized in that include: An acquisition module is configured to acquire current frame radar measurement data of a target object collected by a vehicle, wherein the current frame radar measurement data includes target data of multiple target points on the target object; The determination module is configured to determine the target speed of the target object according to the target data of the multiple target points.

11. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: execute the steps of the method described in any one of claims 1-9.

12. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method described in any one of claims 1 to 9 are implemented.

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