Newborn track initiation determination method, related device and computer storage medium

Abstract

The invention provides a new track initiation determination method, a related device and a computer storage medium, and the method comprises the steps: carrying out the region division of a surrounding environment, and obtaining a plurality of environment regions; for each environment area, according to the measured values of all the moving targets in the environment area, determining the dominant course of the environment area; and when the new track exists in the environment area, determining the potential course and the target speed of the new track by using the dominant course of the environment area and the azimuth angle and the Doppler speed of the new track. The influence of a complex environment on the traffic flow identification precision is reduced, and the accuracy and efficiency of track initiation are effectively improved.

Description

Technical Field

[0001] This application relates to the technical field of radar data processing, and particularly to a method for determining the start of a new track, related devices, and a computer storage medium. Background Art

[0002] As the core sensor of intelligent driving and safety systems, vehicle-mounted millimeter-wave radars have excellent all-weather working capabilities. They can maintain stable performance under harsh weather conditions such as rain, fog, and snow, without being affected by light changes and environmental factors. The radar emits and receives millimeter-wave signals to accurately measure the relative position and speed between the vehicle and surrounding objects, and then uses data processing algorithms to convert the detected signals into real-life targets, providing data support for the intelligent driving system. The track initiation strategy of vehicle-mounted millimeter-wave radars is a key link in radar data processing, which determines how to identify and start tracking targets from the received raw point cloud data.

[0003] Currently, common track initiation methods include experience-based track initiation and Hough transform-based track initiation, etc. Experience-based track initiation is a method based on experience and rules, which sets initiation rules according to target characteristics and environmental conditions to obtain the target start state. However, in complex scenarios, the correct rate of track initiation is limited. The Hough transform-based track initiation algorithm is a target track initiation method that uses the Hough transform to convert points in the measurement space to the parameter space for detection. It has strong anti-interference ability and is suitable for multi-target initiation scenarios. However, its computational complexity is large and its real-time performance is weak, so its application in actual engineering is limited. Summary of the Invention

[0004] In view of this, this application provides a method for determining the start of a new track, related devices, and a computer storage medium, which effectively improves the accuracy and efficiency of track initiation.

[0005] The first aspect of this application provides a method for determining the start of a new track, including:

[0006] Dividing the surrounding environment into multiple environmental regions;

[0007] For each environmental region, determining the dominant heading of the environmental region according to the measurement values of all moving targets in the environmental region;

[0008] When there is a new track in the environmental region, using the dominant heading of the environmental region, as well as the azimuth and Doppler velocity of the new track, to determine the potential heading and target speed of the new track.

[0009] Optionally, the dividing the surrounding environment into multiple environmental regions includes:

[0010] Taking the radar center as the coordinate origin, a rectangular coordinate system is established in the horizontal plane of the surrounding environment to obtain a target coordinate system;

[0011] According to a preset division method, the target coordinate system is divided to obtain a plurality of environmental regions.

[0012] Optionally, the measurement values of the moving target include the azimuth angle and Doppler velocity between the moving target and the radar. For each environmental region, according to the measurement values of all moving targets in the environmental region, determining the dominant heading of the environmental region includes:

[0013] For each moving target in each environmental region, according to the azimuth angle and Doppler velocity between the moving target and the radar, determining the lateral velocity and longitudinal velocity of the moving target;

[0014] Determining the heading angle of the moving target according to the lateral velocity and longitudinal velocity of the moving target;

[0015] According to the heading angles of all moving targets in the environmental region, determining the dominant heading of the environmental region.

[0016] Optionally, when there is a new track in the environmental region, using the dominant heading of the environmental region and the azimuth angle and Doppler velocity of the new track to determine the potential heading and target velocity of the new track includes:

[0017] When there is a new track in the environmental region, taking the dominant heading of the environmental region as the potential heading of the new track;

[0018] According to the dominant heading of the environmental region, the azimuth angle and Doppler velocity of the new track, determining the lateral velocity and longitudinal velocity of the new track.

[0019] The second aspect of the present application provides a determining device for the start of a new track, including:

[0020] A region division unit for dividing the surrounding environment into regions to obtain a plurality of environmental regions;

[0021] A dominant heading determination unit for, for each environmental region, determining the dominant heading of the environmental region according to the measurement values of all moving targets in the environmental region;

[0022] A new track start determination unit for, when there is a new track in the environmental region, using the dominant heading of the environmental region and the azimuth angle and Doppler velocity of the new track to determine the potential heading and target velocity of the new track.

[0023] Optionally, the region division unit includes:

[0024] A coordinate system establishing unit, configured to establish a rectangular coordinate system in the horizontal plane of the surrounding environment with the radar center as the coordinate origin to obtain a target coordinate system;

[0025] An area dividing sub-unit, configured to divide the target coordinate system according to a preset dividing method to obtain a plurality of environmental areas.

[0026] Optionally, the measurement value of the moving target includes the azimuth angle and Doppler velocity between the moving target and the radar. The dominant heading determination unit includes:

[0027] A velocity determination unit, configured to determine the lateral velocity and longitudinal velocity of each moving target in each environmental area according to the azimuth angle and Doppler velocity between the moving target and the radar;

[0028] A heading angle determination unit, configured to determine the heading angle of the moving target according to the lateral velocity and longitudinal velocity of the moving target;

[0029] A dominant heading determination sub-unit, configured to determine the dominant heading of the environmental area according to the heading angles of all moving targets in the environmental area.

[0030] Optionally, the newborn track starting determination unit includes:

[0031] A potential heading determination unit, configured to use the dominant heading of the environmental area as the potential heading of the newborn track when there is a newborn track in the environmental area;

[0032] A newborn track velocity determination unit, configured to determine the lateral velocity and longitudinal velocity of the newborn track according to the dominant heading of the environmental area, the azimuth angle and Doppler velocity of the newborn track.

[0033] The third aspect of the present application provides an electronic device, including:

[0034] One or more processors;

[0035] A storage device, on which one or more programs are stored;

[0036] When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method for determining the starting of a newborn track as described in any item of the first aspect.

[0037] The fourth aspect of the present application provides a computer storage medium, on which a computer program is stored, wherein when the computer program is executed by a processor, the method for determining the starting of a newborn track as described in any item of the first aspect is implemented.

[0038] As can be seen from the above solution, the present application provides a method for determining the start of a new track, a related device, and a computer storage medium. After dividing the surrounding environment into multiple environmental regions; for each environmental region, the dominant heading of the environmental region is determined according to the measurement values of all moving targets in the environmental region; when there is a new track in the environmental region, the potential heading and target speed of the new track are determined by using the dominant heading of the environmental region, the azimuth angle, and the Doppler velocity of the new track. The influence of complex environments on the accuracy of vehicle flow recognition is reduced, and the accuracy and efficiency of track start are effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without creative efforts.

[0040] Figure 1 It is a specific flowchart of a method for determining the start of a new track provided by an embodiment of the present application;

[0041] Figure 2 It is a flowchart of a method for dividing the surrounding environment into regions provided by another embodiment of the present application;

[0042] Figure 3 It is a schematic diagram of region division based on slicing provided by another embodiment of the present application;

[0043] Figure 4 It is a schematic diagram of region division based on a grid provided by another embodiment of the present application;

[0044] Figure 5 It is a schematic diagram of the geometric relationship between measurement values in a radar coordinate system and a rectangular coordinate system provided by another embodiment of the present application;

[0045] Figure 6 It is a flowchart of a method for determining the dominant heading of an environmental region provided by another embodiment of the present application;

[0046] Figure 7 It is a schematic diagram of a method for determining the dominant heading of an environmental region provided by another embodiment of the present application;

[0047] Figure 8 It is a flowchart of a method for determining the potential heading and target speed of a new track provided by another embodiment of the present application;

[0048] Figure 9Schematic diagram of a determining device for starting a new track provided in another embodiment of the present application;

[0049] Figure 10 Schematic diagram of an electronic device for implementing a method for determining the start of a new track provided in another embodiment of the present application. Specific embodiments

[0050] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0051] The term "including" and its variants used herein are open-ended, that is, "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0052] It should be noted that the information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions.

[0053] It should be noted that the concepts such as "first" and "second" mentioned in the present application are only used to distinguish different devices, modules, or units, and are not used to limit the order or mutual dependence relationship of the functions performed by these devices, modules, or units.

[0054] It should be noted that the modifications of "one" and "multiple" mentioned in the present application are illustrative rather than restrictive. Those skilled in the art should understand that unless clearly stated otherwise in the context, it should be understood as "one or more".

[0055] First, the technical terms appearing in the present application are explained as follows:

[0056] Track initiation: In a target tracking system, it refers to the process of processing and analyzing the target point cloud data to determine the initial position and motion state of the target, and then tracking the target and predicting its trajectory based on subsequent observation data. The accuracy and reliability of track initiation are crucial for the performance of the target tracking system. A good track initiation algorithm can ensure the timely tracking and accurate prediction of the target, and at the same time can adapt to complex environments and multi-target situations in different scenarios, improving the real-time performance and robustness of the tracking system.

[0057] Newborn track: The target newly detected by the radar.

[0058] The embodiment of the present application provides a method for determining the initiation of a newborn track, as Figure 1 shown, which specifically includes the following steps:

[0059] S101. Divide the surrounding environment into multiple environmental regions.

[0060] Optionally, in another embodiment of the present application, an implementation manner of step S101, as Figure 2 shown, includes:

[0061] S201. Take the radar center as the coordinate origin and establish a rectangular coordinate system in the horizontal plane of the surrounding environment to obtain a target coordinate system.

[0062] S202. Divide the target coordinate system according to a preset division method to obtain multiple environmental regions.

[0063] In the actual application process of the present application, the preset division method includes, but is not limited to, slicing, grid division, etc., and is not limited here.

[0064] It can be understood that during the process of dividing the target coordinate system, the distance interval can be the same distance or different distances. For example: the closer to the radar, the denser the grid, and it is not limited here.

[0065] As Figure 3 shown, it is a schematic diagram of regional division based on slicing provided by the embodiment of the present application; as Figure 4 shown is a schematic diagram of regional division based on grid provided by the embodiment of the present application, and it is not limited here.

[0066] S102. For each environmental region, determine the dominant heading of the environmental region according to the measurement values of all moving targets in the environmental region.

[0067] Among them, the measurement values of the moving target include, but are not limited to, the azimuth angle of the moving target and the radar , distance , Doppler velocity etc., which is not limited herein.

[0068] It should be noted that in the embodiments of the present application, only an example is given in which the surrounding environment is first divided into regions, and then the measurement values of all moving targets in each environmental region are obtained. In the actual application process of the present application, it is also possible to first obtain the measurement values of all moving targets, and then divide the surrounding environment. After that, according to the obtained measurement values of the moving targets, the environmental region to which the moving targets belong is determined, which is not limited herein.

[0069] Specifically, the horizontal and vertical coordinates of the moving target in the target coordinate system can be determined according to the azimuth angle and the distance between the moving target A and the radar. As Figure 5 shown, since the angles of each angle in the triangle are known, the lengths of the two right-angled sides can be obtained respectively according to the side length R, that is, the horizontal and vertical coordinates (x, y) of the moving target A in the target rectangular coordinate system.

[0070] Optionally, in another embodiment of the present application, an implementation manner of step S102, as Figure 6 shown, includes:

[0071] S601. For each moving target in each environmental region, determine the lateral velocity and longitudinal velocity of the moving target according to the azimuth angle and Doppler velocity between the moving target and the radar.

[0072] Specifically, according to the azimuth angle and Doppler velocity between the moving target and the radar, the specific implementation process of determining the lateral velocity and longitudinal velocity of the moving target may be but is not limited to:

[0073] (1) Establish a state equation of target motion (such as a uniform motion model or a uniformly accelerated model).

[0074] (2) Use the Doppler velocity and azimuth angle as observation values to establish an observation equation.

[0075] (3) Use a filtering algorithm (such as Kalman filtering) to estimate the lateral velocity and longitudinal velocity of the moving target.

[0076] S602. Determine the heading angle of the moving target according to the lateral velocity and longitudinal velocity of the moving target.

[0077] In the specific implementation process of the present application, the heading angle of the moving target can be calculated using but not limited to the following calculation formula :

[0078] ;

[0079] Among them, is the lateral speed of the moving target; is the longitudinal speed of the moving target.

[0080] S603. Determine the dominant heading of the environmental area according to the heading angles of all moving targets in the environmental area.

[0081] Specifically, count the number of moving targets and their heading angles in each environmental area respectively, determine which driving heading is dominant in the environmental area, and output the corresponding heading angle as the dominant heading of the environmental area.

[0082] For example, Figure 7 as shown, the number of straight - moving targets in this area is 3 (targets), the number of diagonally - crossing targets is 0, and the number of horizontally - crossing targets is 0. Then the dominant heading of this area is straight, and the corresponding heading angle is output .

[0083] S103. When there is a new track in the environmental area, use the dominant heading of the environmental area, the azimuth angle and Doppler velocity of the new track to determine the potential heading and target velocity of the new track.

[0084] Specifically, project the Doppler velocity of the new track onto the dominant heading of the environmental area based on the dominant heading of the environmental area and the azimuth angle of the new track to obtain the target velocity of the new track, and determine the potential heading of the new track according to the dominant heading of the environmental area.

[0085] Optionally, in another embodiment of the present application, an implementation manner of step S103, as Figure 8 shown, includes:

[0086] S801. When there is a new track in the environmental area, use the dominant heading of the environmental area as the potential heading of the new track.

[0087] S802. Determine the lateral speed and longitudinal speed of the new track according to the dominant heading of the environmental area, the azimuth angle and Doppler velocity of the new track.

[0088] In the specific implementation process of the present application, the lateral speed and longitudinal speed of the new track can be calculated by using, but not limited to, the following calculation formulas:

[0089] ;

[0090] ;

[0091] Among them, is the Doppler velocity of the new track, is the azimuth angle of the new track, is the lateral velocity of the newborn track; is the longitudinal velocity of the newborn track.

[0092] As Figure 7 shown, there are known-heading targets in this area, and newborn unknown-heading targets . According to the above steps, the heading angle in this slice area can be determined . Then, the potential heading of the newborn target is straight ahead, and the target speed is ; .

[0093] As can be seen from the above solution, the present application provides a method for determining the start of a newborn track. By dividing the surrounding environment into regions to obtain multiple environmental regions; for each environmental region, according to the measurement values of all moving targets in the environmental region, the dominant heading of the environmental region is determined; when there is a newborn track in the environmental region, the potential heading and target speed of the newborn track are determined by using the dominant heading of the environmental region, the azimuth angle and Doppler velocity of the newborn track. The influence of complex environments on the accuracy of traffic flow recognition is reduced, and the accuracy and efficiency of track initiation are effectively improved.

[0094] Another embodiment of the present application provides a device for determining the start of a newborn track, as Figure 9 shown, specifically including:

[0095] A region division unit 901, configured to divide the surrounding environment into regions to obtain multiple environmental regions.

[0096] Optionally, in another embodiment of the present application, an implementation manner of the region division unit 901 includes:

[0097] A coordinate system establishment unit, configured to use the radar center as the coordinate origin and establish a rectangular coordinate system in the horizontal plane of the surrounding environment to obtain a target coordinate system.

[0098] A region division sub-unit, configured to divide the target coordinate system according to a preset division method to obtain multiple environmental regions.

[0099] For the specific working process of the units disclosed in the above embodiments of the present application, reference may be made to the corresponding method embodiment content, as Figure 2 shown, which will not be elaborated here.

[0100] A dominant heading determination unit 902, configured to, for each environmental region, determine the dominant heading of the environmental region according to the measurement values of all moving targets in the environmental region.

[0101] Optionally, in another embodiment of the present application, the measurement value of the moving target includes the azimuth angle and Doppler velocity between the moving target and the radar. An implementation of the dominant heading determination unit 902 includes:

[0102] A velocity determination unit, configured to determine the lateral velocity and longitudinal velocity of each moving target in each environmental area according to the azimuth angle and Doppler velocity between the moving target and the radar.

[0103] A heading angle determination unit, configured to determine the heading angle of the moving target according to the lateral velocity and longitudinal velocity of the moving target.

[0104] A dominant heading determination subunit, configured to determine the dominant heading of the environmental area according to the heading angles of all moving targets in the environmental area.

[0105] For the specific working process of the unit disclosed in the above embodiments of the present application, reference may be made to the corresponding method embodiment content, as Figure 6 shown, and details are not described herein again.

[0106] A new track initiation determination unit 903, configured to, when there is a new track in the environmental area, determine the potential heading and target velocity of the new track by using the dominant heading of the environmental area and the azimuth angle and Doppler velocity of the new track.

[0107] For the specific working process of the unit disclosed in the above embodiments of the present application, reference may be made to the corresponding method embodiment content, as Figure 1 shown, and details are not described herein again.

[0108] Optionally, in another embodiment of the present application, an implementation of the new track initiation determination unit 903 includes:

[0109] A potential heading determination unit, configured to, when there is a new track in the environmental area, use the dominant heading of the environmental area as the potential heading of the new track.

[0110] A new track velocity determination unit, configured to determine the lateral velocity and longitudinal velocity of the new track according to the dominant heading of the environmental area, the azimuth angle and Doppler velocity of the new track.

[0111] For the specific working process of the unit disclosed in the above embodiments of the present application, reference may be made to the corresponding method embodiment content, as Figure 8 shown, and details are not described herein again.

[0112] As can be seen from the above solution, the present application provides a device for determining the start of a new track. After the surrounding environment is divided into multiple environmental regions by the region division unit 901; for each environmental region, the dominant heading determination unit 902 determines the dominant heading of the environmental region according to the measurement values of all moving targets in the environmental region; when there is a new track in the environmental region, the new track start determination unit 903 uses the dominant heading of the environmental region and the azimuth and Doppler velocity of the new track to determine the potential heading and target velocity of the new track. The influence of complex environments on the accuracy of vehicle flow recognition is reduced, and the accuracy and efficiency of track start are effectively improved.

[0113] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, without limitation, the exemplary types of hardware logic components that can be used include: Field Programmable Gate Arrays (FPGA), Application Specific Integrated Circuits (ASIC), Application Specific Standard Products (ASSP), Systems on Chip (SOC), Complex Programmable Logic Devices (CPLD), and so on.

[0114] Another embodiment of the present application provides an electronic device, as Figure 10 shown, including:

[0115] One or more processors 1001.

[0116] A storage device 1002, on which one or more programs are stored.

[0117] When the one or more programs are executed by the one or more processors 1001, the one or more processors 1001 are caused to implement the method for determining the start of a new track as described in the above embodiment.

[0118] Another embodiment of the present application provides a computer storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method for determining the start of a new track as described in the above embodiment.

[0119] In the context of the present application, a machine-readable medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0120] It should be noted that the computer-readable medium described above in the present application may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium may, for example, be but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In the present application, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device. And in the present application, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable signal medium may send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0121] The above computer-readable medium may be included in the above electronic device; or it may exist separately and not be assembled into the electronic device.

[0122] Another embodiment of the present application provides a computer program product, which is used to execute the above-mentioned method for determining the initiation of a new track when the computer program product is executed.

[0123] Specifically, according to the embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments of the present application include a computer program product that includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processing device, the above-mentioned functions defined in the methods of the embodiments of the present application are executed.

[0124] Although the subject matter has been described in language specific to structural features and / or method logical acts, it should be understood that the subject matter defined in the present application is not necessarily limited to the specific features or acts described above. On the contrary, the specific features and acts described above are only example forms for implementing the present application.

[0125] Although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present application. Certain features described in the context of separate embodiments can also be implemented in combination in a single embodiment. On the contrary, the various features described in the context of a single embodiment can also be implemented separately or in any suitable sub-combination in multiple embodiments.

[0126] The above description is only a preferred embodiment of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the application involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above application concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions applied in the present application.

Claims

1. A method for determining the start of a new track, characterized in that: include: Divide the surrounding environment into regions to obtain multiple environmental regions; For each environmental area, determining a dominant heading of the environmental area according to the measured values ​​of all moving targets in the environmental area; When there is a new track in the environmental area, the potential course and target speed of the new track are determined by using the dominant course of the environmental area and the azimuth and Doppler speed of the new track.

2. The method for determining the start of a new track according to claim 1, characterized in that: The surrounding environment is divided into regions to obtain multiple environmental regions, including: Taking the center of the radar as the coordinate origin, a rectangular coordinate system is established in the horizontal plane of the surrounding environment to obtain the target coordinate system; The target coordinate system is divided according to a preset division method to obtain multiple environmental areas.

3. The method for determining the start of a new track according to claim 1, characterized in that: The measurement value of the moving target includes the azimuth and Doppler velocity of the moving target and the radar. For each environmental area, determining the dominant heading of the environmental area according to the measurement values ​​of all moving targets in the environmental area includes: For each moving target in each environmental area, determine the lateral speed and longitudinal speed of the moving target according to the azimuth angle and Doppler speed between the moving target and the radar; Determining the heading angle of the moving target according to the lateral speed and the longitudinal speed of the moving target; The dominant heading of the environmental area is determined according to the heading angles of all moving targets in the environmental area.

4. The method for determining the start of a new track according to claim 1, characterized in that: When there is a new track in the environmental area, using the dominant heading of the environmental area and the azimuth and Doppler speed of the new track to determine the potential heading and target speed of the new track, comprises: When there is a new track in the environmental area, taking the dominant heading of the environmental area as the potential heading of the new track; The lateral speed and the longitudinal speed of the new-born track are determined according to the dominant heading of the environmental area, the azimuth angle and the Doppler speed of the new-born track.

5. A device for determining the start of a new track, characterized in that: include: A region division unit, used for dividing the surrounding environment into regions to obtain a plurality of environmental regions; A dominant heading determination unit, configured to determine, for each environmental area, a dominant heading of the environmental area according to the measurement values ​​of all moving targets in the environmental area; The new track start determination unit is used to determine the potential course and target speed of the new track by using the dominant course of the environmental area and the azimuth and Doppler speed of the new track when there is a new track in the environmental area.

6. The device for determining the start of a new track according to claim 5, characterized in that: The area division unit comprises: A coordinate system establishment unit is used to establish a rectangular coordinate system in the horizontal plane of the surrounding environment with the radar center as the coordinate origin to obtain a target coordinate system; The area division subunit is used to divide the target coordinate system according to a preset division method to obtain multiple environmental areas.

7. The device for determining the start of a new track according to claim 5, characterized in that: The measured value of the moving target includes the azimuth and Doppler velocity of the moving target and the radar, and the advantageous heading determination unit includes: A speed determination unit, for determining, for each moving target in each environment area, a lateral speed and a longitudinal speed of the moving target according to an azimuth angle and a Doppler speed between the moving target and the radar; A heading angle determination unit, used to determine the heading angle of the moving target according to the lateral speed and the longitudinal speed of the moving target; The dominant heading determination subunit is used to determine the dominant heading of the environmental area according to the heading angles of all moving targets in the environmental area.

8. The device for determining the start of a new track according to claim 5, characterized in that: The new track start determination unit comprises: a potential heading determination unit, configured to, when there is a new track in the environmental area, use the dominant heading of the environmental area as the potential heading of the new track; The new track speed determination unit is used to determine the lateral speed and longitudinal speed of the new track according to the dominant heading of the environmental area, the azimuth angle and the Doppler speed of the new track.

9. An electronic device, characterized in that: include: one or more processors; a storage device having one or more programs stored thereon; When the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method for determining the start of a new track as claimed in any one of claims 1 to 4.

10. A computer storage medium, characterized in that: A computer program is stored thereon, wherein when the computer program is executed by a processor, the method for determining the start of a new track as claimed in any one of claims 1 to 4 is implemented.

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