Radar data analysis method and related device
By applying the builder model in radar data analysis, using the commander class and builder base class, the problem of complete rewriting of the analysis logic of diversified equipment in the existing technology is solved, and an efficient and flexible analysis process is achieved, reducing the development complexity.
Patent Information
- Application Number
- CN202510288139.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-11
- Publication Date
- 2025-05-30
AI Technical Summary
When the prior art deals with diversified radar equipment, the factory mode causes the analytical logic to be completely rewrite, which is inefficient.
The builder model is adopted, through the commander class and the builder base class, the analytical parameters are determined and the builder base class is called according to the target model, so as to achieve flexible combination and decoupling.
It reduces the coupling between the steps in radar data analysis, reduces the complexity of development, and improves the maintainability and scalability of the system.
Smart Images
Figure CN120075331A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of information processing, and in particular, to a method for parsing radar data and related devices. Background Art
[0002] As a commonly used device for detecting the environment, radar has been widely used in various scenarios.
[0003] Among them, millimeter-wave radar is a radar that operates in the millimeter-wave band. Since the wavelength of millimeter waves used by it is between microwaves and centimeter waves, millimeter-wave radar has some advantages of both microwave radar and optoelectronic radar and is applied to more and more scenarios.
[0004] Among them, millimeter-wave radar data is usually transmitted using an industrial Ethernet or standard Ethernet transmission protocol. The transmission process involves defining specific physical meanings represented by each byte through a dedicated protocol. Therefore, the process of data parsing is to extract specific physical quantities from the data packet based on these protocols.
[0005] Radar devices from different manufacturers have their own unique data header formats, protocol specifications, and output data types. This results in that even though the basic process of millimeter-wave radar data parsing is the same, its development details vary from manufacturer to manufacturer. In the prior art, the factory mode is generally used for radar data parsing. However, the factory mode is mainly used for scenarios where a single object is created. If applied to radar data parsing, it may be necessary to completely rewrite the parsing logic for each type of radar, which is inefficient when dealing with diverse devices. Summary of the Invention
[0006] The first aspect of this application provides a method for parsing radar data, including:
[0007] Obtain target millimeter-wave radar data to be parsed;
[0008] Determine the target model of the millimeter-wave radar corresponding to the target millimeter-wave radar data;
[0009] Based on the builder pattern, determine a director class corresponding to the target model. In the director class, pointers and parsing parameters for the radar data corresponding to the target model are set, and the parsing parameters are the parameters required for parsing millimeter-wave radar data;
[0010] According to the pointers set in the director class and the parsing parameters for the radar data corresponding to the target model, call at least two builder base classes to process the target millimeter-wave radar data to obtain a parsing result. One builder base class defines the method adopted in one step of parsing radar data as a callable interface.
[0011] In a possible implementation, calling at least two of the builder base classes to process the target millimeter-wave radar data according to the pointers set in the commander class and the parsing parameters corresponding to the target model radar data, and obtaining a parsing result, includes:
[0012] According to the pointers set in the commander class, call at least two of the builder base classes corresponding to the target model among the several pre-created builder base classes;
[0013] Based on the parsing parameters set in the commander class, adjust the parameters of the at least two builder base classes to obtain the corresponding at least two builder classes;
[0014] Based on the at least two builder classes, process the target millimeter-wave radar data to obtain a parsing result.
[0015] In a possible implementation, it further includes:
[0016] If a first builder base class does not exist among the several pre-created builder base classes, create a first builder base class, where the first builder base class is the builder base class corresponding to the method adopted in the first parsing step;
[0017] Call the first builder base class;
[0018] Based on the parsing parameters adopted in the first parsing step, adjust the parameters of the first builder base class to obtain a first builder class, and the first builder class is used to process the target millimeter-wave radar data with the at least two builder classes to obtain a parsing result.
[0019] In a possible implementation, it further includes: pre-creating several builder base classes, and the process is as follows:
[0020] Based on the builder pattern, obtain the relevant parsing information of at least one model of millimeter-wave radar;
[0021] According to the relevant parsing information of each model of millimeter-wave radar, determine the methods adopted in at least two parsing steps for parsing the corresponding millimeter-wave radar data;
[0022] Define the corresponding builder base classes for the methods adopted in each parsing step to obtain several builder base classes.
[0023] In a possible implementation, the obtaining the relevant parsing information of at least one model of millimeter-wave radar based on the builder pattern includes at least one of the following:
[0024] Based on the builder pattern, obtain the transmission protocol of at least one model of millimeter-wave radar;
[0025] Based on the builder pattern, a general parsing process for at least one model of millimeter-wave radar is obtained.
[0026] In a possible implementation, after creating a number of the builder base classes in advance, it further includes:
[0027] For each model of millimeter-wave radar, a commander class is created. A pointer is set in the commander class, and the pointer points to the builder base class corresponding to the method adopted in the parsing steps of each model of millimeter-wave radar.
[0028] A second aspect of this application provides a radar data parsing device, including:
[0029] An acquisition module, configured to acquire target millimeter-wave radar data to be parsed;
[0030] A model determination module, configured to determine the target model of the millimeter-wave radar corresponding to the target millimeter-wave radar data;
[0031] A commander class determination module, configured to determine, based on the builder pattern, the commander class corresponding to the target model, the pointer set in the commander class, and the parsing parameters of the radar data corresponding to the target model, where the parsing parameters are the parameters required for parsing millimeter-wave radar data;
[0032] An invocation module, configured to, according to the pointer set in the commander class and the parsing parameters of the radar data corresponding to the target model, invoke at least two builder base classes to process the target millimeter-wave radar data to obtain a parsing result. One builder base class defines the method adopted in a corresponding step of parsing radar data as an invocable interface.
[0033] A third aspect of this application provides a computer program product, including computer-readable instructions. When the computer-readable instructions run on an electronic device, the electronic device is enabled to implement the radar data parsing method in the first aspect or any implementation manner of the first aspect.
[0034] A fourth aspect of this application provides an electronic device, including at least one processor and a memory connected to the processor, where:
[0035] The memory is used to store a computer program;
[0036] The processor is configured to execute the computer program so that the electronic device can implement the radar data parsing method in the first aspect or any implementation manner of the first aspect.
[0037] A fifth aspect of the present application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, can enable the electronic device to perform the radar data parsing method according to the first aspect or any implementation manner of the first aspect.
[0038] In a radar data parsing method and related device provided by the present application, target millimeter-wave radar data to be parsed is obtained, and the target model of the millimeter-wave radar corresponding to the target millimeter-wave radar data is determined; based on the builder pattern, a director class corresponding to the target model is determined, pointers set in the director class, and parsing parameters for radar data corresponding to the target model, where the parsing parameters are parameters required for parsing millimeter-wave radar data; according to the pointers set in the director class and the parsing parameters for radar data corresponding to the target model, at least two builder base classes are called to process the target millimeter-wave radar data to obtain a parsing result, and a method adopted for a step corresponding to parsing radar data in one builder base class is defined as a callable interface. By pre-creating builder base classes, methods adopted for each step corresponding to parsing radar data in each builder base class are defined as independent callable interfaces, and the builder base classes can be called by director classes of millimeter-wave radars of various models to flexibly combine different builder base classes according to requirements, reducing the coupling between steps in parsing radar data and the complexity in the development process. BRIEF DESCRIPTION OF THE DRAWINGS
[0039] In combination with the accompanying drawings and with reference to the following specific embodiments, the above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the original components and elements are not necessarily drawn to scale.
[0040] Figure 1 is a flowchart of a radar data parsing method provided by an embodiment of the present application;
[0041] Figure 2 is a flowchart of calling at least two builder base classes to process the target millimeter-wave radar data according to the pointers set in the director class and the parsing parameters for radar data corresponding to the target model to obtain a parsing result, provided by an embodiment of the present application;
[0042] Figure 3 is a flowchart of creating and calling a first builder base class when there is no corresponding builder base class in the created builder base classes, provided by an embodiment of the present application;
[0043] Figure 4 is a flowchart of pre-creating several builder base classes, provided by an embodiment of the present application;
[0044] Figure 5 It is a schematic diagram for obtaining a builder class provided by an embodiment of the present application;
[0045] Figure 6 It is a schematic structural diagram of a radar data parsing device provided by an embodiment of the present application;
[0046] Figure 7 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Specific Embodiments
[0047] The embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application. The terms used in the embodiments of the present application are only used to explain the specific embodiments of the present application, rather than intended to limit the present application.
[0048] The embodiments of the present application will be described below in conjunction with the accompanying drawings. Those skilled in the art know that with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.
[0049] The terms "first", "second", etc. in the specification, claims and above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, which is only a way of distinguishing when describing objects with the same attributes in the embodiments of the present application. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, so that a process, method, system, product or device comprising a series of units does not necessarily have to be limited to those units, but may include other units not clearly listed or inherent to these processes, methods, products or devices.
[0050] Figure 1 It is a schematic flowchart of a radar data parsing method provided by an embodiment of the present application, which may include steps 101 to 104, and these steps will be described in detail below.
[0051] 101. Obtain target millimeter-wave radar data to be parsed;
[0052] Among them, the obtained target millimeter-wave radar data can be radar data transmitted by millimeter-wave radars of any model.
[0053] Among them, radar data transmitted by millimeter-wave radars of different models use different transmission protocols when transmitting. Due to different transmission protocols, the header information of their data packets and the rules of data storage are different, and different parsing processes need to be used when parsing.
[0054] 102. Determine the target model of the millimeter-wave radar corresponding to the target millimeter-wave radar data;
[0055] Among them, after receiving the target millimeter-wave radar data, the packet header of the packet transmitting the target millimeter-wave radar data can be simply analyzed first to obtain the model of the millimeter-wave radar that emits the target millimeter-wave radar data.
[0056] In a possible implementation, the model of the corresponding millimeter-wave radar is stored at a specific position in the packet header of the packet transmitting the millimeter-wave radar data.
[0057] Among them, different manufacturers set various models for the produced millimeter-wave radars, and the model of the millimeter-wave radar that emits the data can be directly determined based on the obtained millimeter-wave radar data.
[0058] 103. Based on the builder pattern, determine the director class corresponding to the target model. The pointers set in the director class and the parsing parameters for the radar data corresponding to the target model are the parameters required for parsing the millimeter-wave radar data.
[0059] Among them, the builder pattern is a creational design pattern that can separate the construction of a complex object from its representation method, so that objects with different representation forms can be created.
[0060] Among them, the builder pattern at least includes a director class and a builder base class.
[0061] Among them, the builder base class is an abstract interface class used to describe the possible specific steps of millimeter-wave radar parsing. It contains the classes of the possible steps of millimeter-wave radar parsing, does not perform specific implementation, and only defines the interface.
[0062] As an example, the millimeter-wave radar parsing process may include obtaining parsing parameters, parsing point cloud data, parsing clustering data, etc. The builder base class defines these processes as interfaces and does not provide specific implementation.
[0063] Among them, the director class is responsible for product construction. Its role is to call the steps defined in the builder base class to complete product construction step by step. The director class will implement the step process of parsing radar data and complete the parsing of radar data based on the parsing parameters and the construction methods in the builder base class.
[0064] Among them, for each model of millimeter-wave radar, a director class is created in advance. When the radar data of a certain model of millimeter-wave radar is received, the corresponding director class is called to implement the method of calling the construction in the builder base class through the director class and realize the process of processing the radar data.
[0065] Among them, a pointer is set in the director class, and the pointer points to the corresponding builder base class. The director class also presets parsing parameters required for parsing radar data of the corresponding type.
[0066] 104. According to the pointer set in the director class and the parsing parameters of the radar data of the corresponding target model, at least two builder base classes are called to process the target millimeter-wave radar data, and a parsing result is obtained. A builder base class defines the method adopted in a step corresponding to parsing radar data as a callable interface.
[0067] Among them, since each builder base class defines the method adopted in a step of parsing radar data as a callable interface, and a pointer is set in the director class of the target model, and the pointer points to the builder base class corresponding to the millimeter-wave radar data of the corresponding model. Correspondingly, through this pointer, the corresponding builder base class can be called to implement the method adopted in a step of parsing radar data.
[0068] Among them, the builder base class can be set for the method adopted in a step of parsing radar data. Correspondingly, each builder base class can be developed and tested independently.
[0069] Among them, the director class also presets parsing parameters required for parsing the radar data of the millimeter-wave radar of the target model. The parsing parameter is the value of the parameter in the method when processing data using the method adopted in the step of the builder base class.
[0070] As an example, the method in the builder base class can be respectively applied to the parsing of the radar data of the millimeter-wave radar of model 1 and the radar data of the millimeter-wave radar of model 2. Among them, the parameters q, w, and e are involved in the method. For the parsing of the radar data of the millimeter-wave radar of model 1, the value of parameter q is 1, the value of parameter w is 0, and the value of parameter e is 1; for the parsing of the radar data of the millimeter-wave radar of model 2, the value of parameter q is 5, the value of parameter w is 4, and the value of parameter e is 0.
[0071] Correspondingly, based on the called method and the parsing parameter, the target millimeter-wave radar data can be parsed to obtain the corresponding parsing result.
[0072] In a possible implementation, the parsing parameter may include an analysis type, a frame division condition, etc. Then, when processing the target millimeter-wave radar data to be parsed, the data can be frame-divided and processed frame by frame. During the processing, the processed result data is stored in a buffer, and when the result data to be processed reaches one frame, it is sent.
[0073] In a possible implementation, the builder base class corresponding to the target model of the millimeter-wave radar can be called based on a pointer first, and then the called builder base classes can be parameter-assigned based on the parsing parameters to obtain the corresponding builder classes. Furthermore, the target millimeter-wave radar data can be processed according to the builder classes to implement the parsing process. This process is described in detail in the subsequent Figure 2 and is elaborated in detail.
[0074] In this embodiment, the target millimeter-wave radar data to be parsed is obtained, and the target model of the millimeter-wave radar corresponding to the target millimeter-wave radar data is determined; based on the builder pattern, the commander class corresponding to the target model is determined. The pointer set in the commander class and the parsing parameters for the radar data of the corresponding target model are the parameters required for parsing the millimeter-wave radar data; according to the pointer set in the commander class and the parsing parameters for the radar data of the corresponding target model, at least two builder base classes are called to process the target millimeter-wave radar data to obtain the parsing result. A builder base class defines the method adopted for a step corresponding to parsing the radar data as a callable interface. By pre-creating the builder base classes, the methods adopted for each step corresponding to parsing the radar data in each builder base class are defined as independent callable interfaces. The builder base classes can be called by the commander classes of millimeter-wave radars of various models to flexibly combine different builder base classes according to requirements, reducing the coupling between steps in parsing the radar data and the complexity in the development process.
[0075] Figure 2 FIG. is a schematic flowchart of calling at least two builder base classes to process the target millimeter-wave radar data according to the pointer set in the commander class and the parsing parameters for the radar data of the corresponding target model provided by the embodiment of the present application, which may include steps 201 to 203. The following describes these steps in detail respectively.
[0076] 201. According to the pointer set in the commander class, call at least two builder base classes corresponding to the target model among the pre-created several builder base classes;
[0077] Among them, several builder base classes are pre-created, and each builder base class defines the method adopted for a step as a callable interface.
[0078] Among them, the method in the builder base class is called by the pointer set in the commander class through this interface.
[0079] Among them, in the commander class corresponding to a certain model of millimeter-wave radar, one or more pointers are set, and each pointer points to the builder base class corresponding to each method when the radar data of the millimeter-wave radar is parsed. Moreover, the call order of each pointer is also specified in the commander class to control the call order of the builder base classes pointed to by each pointer.
[0080] In a possible implementation, a number of builder base classes can be created in advance for various models of millimeter-wave radars. The process of creating the builder base classes in advance is described in detail later. Figure 4 The process of creating the builder base classes in advance is described in detail later.
[0081] 202. Based on the parsing parameters set in the commander class, adjust the parameters of the at least two builder base classes to obtain the corresponding at least two builder classes.
[0082] Among them, parsing parameters are also set in the commander class. The parsing parameters are the parameters required for parsing the radar data of the corresponding type of millimeter-wave radar.
[0083] In a possible implementation, the commander class calls multiple builder base classes, and multiple sets of parsing parameters are set in the commander class. Each set of parsing parameters corresponds to a method of a builder base class.
[0084] Among them, after calling the builder base class corresponding to the target model, according to the parsing parameters of the method corresponding to the builder base class, adjust the parameters of the builder base class to obtain the corresponding builder class. The builder class contains steps capable of processing the radar data of the target model of millimeter-wave radar.
[0085] In a possible implementation, the calling order of each pointer is specified in the commander class. According to the calling order, after using a pointer to call the corresponding builder base class, adjust the parameters of the builder base class according to the corresponding parsing parameters to obtain the corresponding builder class. Then use the next pointer to call the corresponding builder base class until all the builder classes corresponding to the commander class are obtained.
[0086] As an example, the commander class of model 1 sequentially calls the builder base classes abc through pointers, and respectively adjusts the corresponding builder base classes with the corresponding parsing parameters to obtain the corresponding builder classes a1b1c1. The sequentially arranged builder classes form the sequential steps for processing the radar data of the millimeter-wave radar of model 1.
[0087] As an example, the commander class of model 2 sequentially calls the builder base classes acd through pointers, and respectively adjusts the corresponding builder base classes with the corresponding parsing parameters to obtain the corresponding builder classes a2c2d2. The sequentially arranged builder classes form the sequential steps for processing the radar data of the millimeter-wave radar of model 2.
[0088] 203. Process the target millimeter-wave radar data based on the at least two builder classes to obtain a parsing result.
[0089] Among them, at least two builder classes obtained based on step 202 can form each processing step for processing the radar data of the millimeter-wave radar of the target model.
[0090] Correspondingly, based on the at least two builder classes, processing the target millimeter-wave radar data to be parsed can obtain corresponding parsing results.
[0091] In this embodiment, according to the pointers set in the director class, among several pre-created builder base classes, at least two builder base classes corresponding to the target model are called; based on the parsing parameters set in the director class, the parameters of the at least two builder base classes are adjusted to obtain corresponding at least two builder classes; based on the at least two builder classes to process the target millimeter-wave radar data to obtain a parsing result, through the pointers and parsing parameters set in the director class, each builder base class corresponding to the target model can be called and the parameters of the builder base class can be adjusted to obtain a corresponding builder class, so as to process the target millimeter-wave radar data based on the builder class to obtain a corresponding parsing result. The builder class can implement each processing step of the radar data of the millimeter-wave radar of the target model, realizing the flexible combination of builder base classes according to requirements and constructing the processing process of the millimeter-wave radar of the corresponding target model.
[0092] Figure 3 It is a schematic flowchart of the process of creating and calling the first builder base class when there is no corresponding builder base class in the pre-created builder base classes provided by the embodiment of the present application, which may include steps 301 to 303, and these steps will be described in detail below.
[0093] 301. If the first builder base class does not exist among several pre-created builder base classes, create the first builder base class, which is the builder base class corresponding to the method adopted in the first parsing step;
[0094] Among them, after the target model is determined, the director class of the target model can pre-determine the methods of each parsing step required for parsing the millimeter-wave radar data of the target model, and call the builder base class corresponding to each method through pointers.
[0095] Among them, if a certain builder class is modified, the corresponding pointer in the director class may be unable to call the modified builder base class, so there may be a situation where there is no builder base class corresponding to the method adopted in the first parsing step among the pre-created builder base classes. The first parsing step can be any parsing step in the process of parsing millimeter-wave radar data.
[0096] Therefore, in order to implement the parsing of the radar data of the millimeter-wave radar of the target model, it is necessary to create the builder base class corresponding to the method adopted in the first parsing step.
[0097] Among them, based on the builder pattern, for the method adopted in the first parsing step, a first builder base class is created.
[0098] 302. Call the first builder base class;
[0099] Among them, after the first builder base class is created, a corresponding pointer can be set in the director class of the target model to achieve the call of the first builder base class.
[0100] Correspondingly, the director class can call the first builder base class through the set pointer to implement the method in the first builder base class.
[0101] 303. Based on the parsing parameters adopted in the first parsing step, adjust the parameters of the first builder base class to obtain a first builder class, which is used to process the target millimeter-wave radar data with the at least two builder classes to obtain a parsing result.
[0102] Among them, the director class also has the parsing parameters adopted by the method of the first parsing step. Correspondingly, based on the parsing parameters, adjust the parameters of the first builder base class to obtain a first builder class.
[0103] Among them, the first builder class and other builder classes obtained by the director class form a parsing step for parsing the target millimeter-wave radar data. The first builder class and other builder classes process the target millimeter-wave radar data to obtain corresponding parsing results.
[0104] In this embodiment, during the process of the director class calling at least two builder base classes corresponding to the target model, if there is no builder base class corresponding to the method adopted in the first parsing step among several builder base classes, create a first builder base class corresponding to the method adopted in the first parsing step; call the first builder base class; based on the parsing parameters adopted in the first parsing step, adjust the parameters of the first builder base class to obtain a first builder class, which is used to process the target millimeter-wave radar data with the at least two builder classes to obtain a parsing result, ensuring that after the builder base class is modified, other director classes that call the builder base class can call the methods in the builder base class before being modified, improving the efficiency of radar data parsing.
[0105] Figure 4 It is a schematic flowchart of the process of pre-creating several builder base classes provided by an embodiment of the present application, which may include steps 401 to 403. The following will describe these steps in detail.
[0106] 401. Based on the builder pattern, obtain relevant parsing information of at least one model of millimeter-wave radar;
[0107] Among them, based on the builder pattern, relevant parsing information of millimeter-wave radars of various models for subsequent radar data to be processed is obtained.
[0108] Among them, the data header formats, protocol specifications, output data types, etc. of millimeter-wave radars of each model are different, resulting in the same basic process but different details for parsing the data of millimeter-wave radars of different models. Specifically, the same or similar step methods are adopted, but the parsing parameters are not exactly the same.
[0109] Among them, based on the builder pattern, relevant parsing information of at least one model of millimeter-wave radar is obtained, including at least one of the following: obtaining the transmission protocol of at least one model of millimeter-wave radar; obtaining the general parsing process of at least one model of millimeter-wave radar.
[0110] Among them, the relevant parsing information may include at least one of the transmission protocols and general parsing processes of millimeter-wave radars of various models.
[0111] Among them, the general parsing process of the millimeter-wave radar is the general process for parsing the radar data of the corresponding model of millimeter-wave radar, and the same parsing process is adopted when parsing the radar data of millimeter-wave radars of the same model.
[0112] Among them, for the transmission protocol of the millimeter-wave radar, since the data parsing of the millimeter-wave radar is usually described by a protocol, the protocol stipulates what data to send, the length of the data header, and the meaning of each field. Correspondingly, the radar data parsing is completed according to the protocol.
[0113] In a possible implementation, millimeter-wave radars supplied by the same radar supplier adopt the same transmission protocol, and the radar data may only contain information of the supplier without carrying protocol information. Then, a corresponding relationship between the radar supplier and the protocol can be established in advance, and the transmission protocol can be determined based on the supplier information of the millimeter-wave radar.
[0114] 402. Determine the methods adopted by at least two parsing steps for parsing the corresponding millimeter-wave radar data according to the relevant parsing information of each model of millimeter-wave radar.
[0115] Among them, according to the relevant parsing information of the millimeter-wave radar mentioned above, each parsing step that must be executed for parsing the radar data of the millimeter-wave radar and the method adopted by it can be determined.
[0116] Among them, if the relevant parsing information is the general parsing process, the general parsing process is split into multiple parsing steps, and the method adopted in each parsing step is obtained.
[0117] Among them, a parsing step can be a parsing calculation process or multiple consecutive parsing calculation processes.
[0118] In specific implementation, the parsing steps can be obtained by splitting according to the parsing steps of the radar data of a specific model of millimeter-wave radar or the experience of radar data parsing.
[0119] Among them, if the relevant parsing information is the Ethernet transmission protocol, since the data parsing of the millimeter-wave radar is usually described by the transmission protocol, the parsing steps specified in the transmission protocol can be split to obtain multiple parsing steps and the methods used in each parsing step.
[0120] Among them, the parsing steps can be represented by the data packet header, the flag bit of the sending data type, and some other useful information, etc.
[0121] 403. Define corresponding builder base classes for the methods used in each parsing step to obtain several builder base classes.
[0122] Among them, for the methods used in each parsing step, define corresponding builder base classes. In these builder base classes, the methods used in the parsing steps are defined as an interface, and later the director class can call through a pointer to this interface to achieve the purpose of calling this builder base class.
[0123] Among them, when the radar data parsing of different models of millimeter-wave radars needs to use the methods of the same parsing steps, the methods used in the parsing steps corresponding to these multiple models of millimeter-wave radars can be defined as a builder base class, and later this builder base class can be called by the director classes of multiple models of millimeter-wave radars.
[0124] Among them, when the parsing steps required for the radar data parsing of a certain model of millimeter-wave radar are unique and different from the parsing steps required for the similar data parsing of other models of millimeter-wave radars, a builder base class can be created for this unique parsing step, and later this builder base class is only called by the director class of the corresponding model of millimeter-wave radar.
[0125] Correspondingly, after several builder base classes are created in advance, director classes are also created in advance for each model of millimeter-wave radar. In these director classes, pointers are set, and these pointers point to the builder base classes corresponding to the methods used in the parsing steps of each model of millimeter-wave radar.
[0126] Among them, since there may be multiple data types for radar data, such as point cloud data, three-dimensional target data, and clustering data. Correspondingly, when creating builder base classes for the parsing data methods, different builder base classes can be created for different data types, or a builder base class for this parsing data method can be created, and then builder sub-base classes are established under this builder base class.
[0127] As an example, when creating different builder base classes for different data types, it includes a builder base class for parsing point cloud data, a builder base class for parsing three-dimensional target data, and a builder base class for parsing clustering data.
[0128] As an example, when the data parsing method creates a builder base class and then creates builder sub-classes under this builder base class, it includes first creating a builder base class for parsing data, and then creating a builder sub-class for parsing point cloud data, a builder sub-class for parsing three-dimensional target data, and a builder sub-class for parsing clustering data under this builder base class.
[0129] Figure 5 It is a schematic diagram of obtaining the builder class provided by the embodiment of the present application. This schematic diagram includes a director class (RadarDataDirector), a builder base class (RadarDataBuilder), and builder classes (B_RadarDataBuilder) and (C_RadarDataBuilder). Among them, this builder base class is a base class that has the parsing steps of B radar and C radar. As shown in the figure, get_params():bool = 0 (parsing type parameter). The builder classes B_RadarDataBuilder and C_RadarDataBuilder inherit RadarDataBuilder respectively, as shown in get_params():bool in the figure (shown in bold font in the figure). In these two classes, the methods are implemented according to their own characteristics. A pointer is set in the director class. According to different pointers, different parsing processes of B and C are defined.
[0130] The Figure 5 In this case, B and C are two different protocols. The builder class of B can extract corresponding parsing information (B_params, for example, parsing type type: std, frame condition for frame division, etc.) based on the fields in the protocol. The builder class of C can also extract corresponding parsing information based on the fields in its own protocol of C (different from B). B radar only sends point cloud data, so only point cloud parsing is done in the parsing implementation of the B builder. C radar sends both point cloud data and three-dimensional target data, so the parsing of both types of data is completed in the parsing of the C builder class. At the same time, B radar provides field verification, so the data verification function can also be completed in the B builder class. When the director class assembles the parsing process, according to the characteristics of B and C themselves, the radar parsing function is assembled in the Construct function.
[0131] In this embodiment, based on the builder pattern, relevant parsing information of at least one model of millimeter-wave radar is obtained; according to the relevant parsing information of each model of millimeter-wave radar, methods adopted for at least two parsing steps of parsing the corresponding millimeter-wave radar data are determined; for the methods adopted for each parsing step, corresponding builder base classes are defined, obtaining several builder base classes, realizing the process of pre-creating several builder base classes. In this solution, based on the builder pattern, a millimeter-wave radar data parsing framework with a fixed process is established, which can divide the parsing steps of various types of millimeter-wave radars, construct corresponding builder base classes, obtain builder classes by calling the builder base classes, and realize the parsing of millimeter-wave radar data, so as to quickly adapt to radar devices of different manufacturers, not only improving the maintainability of the system, but also enhancing its scalability, enabling the system to more effectively process diverse data parsing requirements.
[0132] The above introduced a radar data parsing method provided by an embodiment of the present application. Next, an apparatus for executing the above radar data parsing method will be introduced.
[0133] Figure 6 It is a schematic structural diagram of a radar data parsing apparatus provided by an embodiment of the present application. The radar data parsing apparatus 600 includes: an obtaining module 601, a model determining module 602, a director class determining module 603, and a calling module 604;
[0134] Among them, the obtaining module 601 is used to obtain target millimeter-wave radar data to be parsed;
[0135] Among them, the model determining module 602 is used to determine the target model of the millimeter-wave radar corresponding to the target millimeter-wave radar data;
[0136] Among them, the director class determining module 603 is used to determine, based on the builder pattern, a director class corresponding to the target model. The pointers set in the director class and the parsing parameters for the radar data of the corresponding target model are the parameters required for parsing the millimeter-wave radar data;
[0137] Among them, the calling module 604 is used to call at least two of the builder base classes to process the target millimeter-wave radar data according to the pointers set in the director class and the parsing parameters for the radar data of the corresponding target model, and obtain a parsing result. One of the builder base classes defines the method adopted for one step of parsing the radar data as a callable interface.
[0138] In a possible implementation, the calling module includes:
[0139] The first calling unit is used to call at least two of the pre-created builder base classes corresponding to the target model among a number of the pre-created builder base classes according to the pointer set in the commander class;
[0140] The first adjustment unit is used to adjust the parameters of the at least two builder base classes based on the parsing parameters set in the commander class to obtain the corresponding at least two builder classes;
[0141] The processing unit is used to process the target millimeter-wave radar data based on the at least two builder classes to obtain an analysis result.
[0142] In a possible implementation, the calling module further includes:
[0143] The creation unit is used to create a first builder base class if the first builder base class does not exist among a number of the pre-created builder base classes, and the first builder base class is a builder base class corresponding to the method adopted in the first parsing step;
[0144] The second calling unit is used to call the first builder base class;
[0145] The second adjustment unit is used to adjust the parameters of the first builder base class based on the parsing parameters adopted in the first parsing step to obtain a first builder class, and the first builder class is used to process the target millimeter-wave radar data with the at least two builder classes to obtain an analysis result.
[0146] In a possible implementation, it further includes:
[0147] The builder base class creation module is used to pre-create a number of the builder base classes;
[0148] The creation module includes:
[0149] The obtaining unit is used to obtain relevant parsing information of at least one model of millimeter-wave radar based on the builder pattern;
[0150] The determining unit is used to determine the methods adopted in at least two parsing steps for parsing the corresponding millimeter-wave radar data according to the relevant parsing information of each model of millimeter-wave radar;
[0151] The defining unit is used to define the corresponding builder base class for the method adopted in each parsing step to obtain a number of the builder base classes.
[0152] In a possible implementation, the obtaining unit is specifically used to perform at least one of the following:
[0153] Based on the builder pattern, obtain the transmission protocol of at least one model of millimeter-wave radar;
[0154] Based on this builder pattern, a general parsing process for obtaining at least one model of millimeter-wave radar is obtained.
[0155] In a possible implementation, this also includes:
[0156] A director class creation module, which is used to pre-create several builder base classes, and then create a director class for each model of millimeter-wave radar. A pointer is set in this director class, and this pointer points to the builder base class corresponding to the method adopted by the parsing steps of each model of millimeter-wave radar.
[0157] It should be noted that for the function explanations of the various components in a radar data parsing device provided in this embodiment, please refer to the explanations in the foregoing method embodiment, and details will not be elaborated in this embodiment.
[0158] In this embodiment, target millimeter-wave radar data to be parsed is obtained, and the target model of the millimeter-wave radar corresponding to the target millimeter-wave radar data is determined; based on the builder pattern, the director class corresponding to the target model is determined. The pointer set in this director class and the parsing parameters corresponding to the radar data of the target model, and the parsing parameters are the parameters required for parsing millimeter-wave radar data; according to the pointer set in the director class and the parsing parameters corresponding to the radar data of the target model, at least two builder base classes are called to process the target millimeter-wave radar data to obtain a parsing result. A builder base class defines the method adopted by a corresponding step of parsing radar data as a callable interface. By pre-creating the builder base classes, the methods adopted by the respective steps of parsing radar data in each builder base class are defined as independent callable interfaces. These builder base classes can be called by the director classes of each model of millimeter-wave radar to flexibly combine different builder base classes according to requirements, reducing the coupling between the steps in parsing radar data and reducing the complexity in the development process.
[0159] This application embodiment also provides an electronic device. Refer to Figure 7 As shown, it shows a schematic structural diagram of an electronic device suitable for implementing the electronic device in this application embodiment. The electronic device in this application embodiment may include, but is not limited to, fixed terminals such as mobile phones, laptop computers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), desktop computers, and the like. Figure 7 The electronic device shown is only an example and should not impose any limitations on the functions and usage scopes of this application embodiment.
[0160] Such as Figure 7As shown, the electronic device may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 701, which may perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage device 708 into the random access memory (RAM) 703. When the electronic device is powered on, various programs and data required for the operation of the electronic device are also stored in the RAM 703. The processing device 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. The input / output (I / O) interface 705 is also connected to the bus 704.
[0161] Generally, the following devices may be connected to the I / O interface 705: an input device 706 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 707 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 708 including, for example, a memory card, a hard disk, etc.; and a communication device 709. The communication device 709 may allow the electronic device to communicate with other devices wirelessly or wiredly to exchange data. Although Figure 7 an electronic device with various devices is shown, it should be understood that it is not required to implement or have all the shown devices. Instead, more or fewer devices may be implemented or had.
[0162] In an embodiment of the present application, there is also provided a computer program product including computer-readable instructions, which, when running on an electronic device, enable the electronic device to implement any one of the radar data parsing methods provided by the embodiments of the present application.
[0163] In an embodiment of the present application, there is also provided a computer-readable storage medium carrying one or more computer programs, which, when executed by an electronic device, can enable the electronic device to implement any one of the radar data parsing methods provided by the embodiments of the present application.
[0164] In addition, it should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the device embodiments provided in the present application, the connection relationships between the modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines.
[0165] Through the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary general hardware. Of course, it can also be implemented by dedicated hardware including application-specific integrated circuits, dedicated CPUs, dedicated memories, dedicated components, etc. Generally, functions accomplished by computer programs can be easily implemented by corresponding hardware, and the specific hardware structures for implementing the same function can also be diverse, such as analog circuits, digital circuits, or dedicated circuits, etc. However, for the present application, in more cases, software program implementation is a better embodiment. Based on such understanding, the technical solution of the present application, in essence, or the part that makes contributions to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disc of a computer, etc., and includes several instructions for causing a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in various embodiments of the present application.
[0166] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product.
[0167] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, a computer, a training device, or a data center to another website, a computer, a training device, or a data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store, or a data storage device such as a training device or a data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.
Claims
1. A radar data analysis method, characterized in that: include: Obtain target millimeter-wave radar data to be analyzed; Determine the target model of the millimeter-wave radar corresponding to the target millimeter-wave radar data; Based on the builder pattern, a commander class corresponding to the target model is determined, in which a pointer and parsing parameters of radar data corresponding to the target model are set, and the parsing parameters are parameters required for parsing millimeter-wave radar data; According to the pointer set in the commander class and the parsing parameters of the corresponding target model radar data, at least two builder base classes are called to process the target millimeter wave radar data to obtain the parsing result. One of the builder base classes defines the method adopted in a step corresponding to the parsing radar data as a callable interface.
2. The radar data analysis method according to claim 1, characterized in that: The method of calling at least two builder base classes to process the target millimeter-wave radar data according to the pointer set in the commander class and the parsing parameters of the corresponding target model radar data to obtain the parsing results includes: According to the pointer set in the conductor class, calling at least two of the builder base classes corresponding to the target model from among the pre-created builder base classes; Based on the parsing parameters set in the commander class, adjusting the parameters of the at least two builder base classes to obtain corresponding at least two builder classes; The target millimeter-wave radar data is processed based on the at least two builder classes to obtain a parsing result.
3. The radar data analysis method according to claim 2, characterized in that: Also includes: If the first builder base class does not exist in the pre-created plurality of builder base classes, create the first builder base class, wherein the first builder base class is a builder base class corresponding to the method adopted in the first parsing step; Call the first builder base class; Based on the parsing parameters adopted in the first parsing step, the parameters of the first builder base class are adjusted to obtain a first builder class, and the first builder class is used to process the target millimeter-wave radar data with the at least two builder classes to obtain a parsing result.
4. The radar data analysis method according to claim 1, characterized in that: Also includes: Create several builder base classes in advance, the process is as follows: Based on the builder mode, obtain relevant analytical information of at least one model of millimeter-wave radar; Determining, based on the relevant parsing information of each type of millimeter-wave radar, methods adopted in at least two parsing steps for parsing corresponding millimeter-wave radar data; The corresponding builder base class is defined for the method adopted in each parsing step to obtain several builder base classes.
5. The radar data analysis method according to claim 4, characterized in that: The obtaining of relevant parsing information of at least one model of millimeter-wave radar based on the builder mode includes at least one of the following: Based on the builder pattern, obtaining a transmission protocol of at least one model of millimeter-wave radar; Based on the builder pattern, a general process for analyzing at least one model of millimeter radar waves is obtained.
6. The radar data analysis method according to claim 4, characterized in that: After the pre-creation of several builder base classes, it also includes: A commander class is created for each type of millimeter-wave radar, and a pointer is set in the commander class, and the pointer points to the builder base class corresponding to the method adopted in the parsing step of each type of millimeter-wave radar.
7. A radar data analysis device, characterized in that: include: An acquisition module is used to obtain the target millimeter wave radar data to be analyzed; A model determination module, used to determine the target model of the millimeter-wave radar corresponding to the target millimeter-wave radar data; A commander class determination module, used to determine the commander class corresponding to the target model, the pointer set in the commander class and the parsing parameters of the corresponding target model radar data based on the builder mode, wherein the parsing parameters are the parameters required for parsing the millimeter wave radar data; The calling module is used to call at least two builder base classes to process the target millimeter-wave radar data according to the pointer set in the commander class and the parsing parameters of the corresponding target model radar data to obtain the parsing result. One of the builder base classes defines the method adopted in a step corresponding to the parsing radar data as a callable interface.
8. A computer program product, characterized in that The method comprises computer-readable instructions, and when the computer-readable instructions are executed on an electronic device, the electronic device implements the radar data parsing method according to any one of claims 1 to 6.
9. An electronic device, characterized in that: The method comprises at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program so that the electronic device can implement the radar data analysis method according to any one of claims 1 to 6.
10. A computer storage medium, characterized in that: The storage medium carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement the radar data analysis method as described in any one of claims 1 to 6.