Radar target processing method, computer program product and electronic equipment

Abstract

The invention provides a radar target processing method, a computer program product and electronic equipment, and according to the radar target processing method provided by the invention, after a preset driving auxiliary function of a vehicle is activated, according to target related information of an initial radar target around the vehicle obtained through radar target detection, the target related information can be used for processing a radar target around the vehicle. Determining a radar target group including a plurality of initial radar targets belonging to the same target object; moreover, the initial radar target, closest to the vehicle, in the radar target group can be determined as the credible radar target which needs to be used in the operation process of the preset driving auxiliary function of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted radars, and in particular, to a radar target processing method, a computer program product, and an electronic device. Background Art

[0002] With the continuous development of technology, automobiles are gradually equipped with various driving assistance functions. By combining the distribution and movement of radar targets detected by vehicle-mounted radar devices around the vehicle, the driving process of the vehicle is assisted to control, so as to improve the safety and convenience of the vehicle occupants during the driving process. Since the accuracy of the radar targets used during the operation of the preset driving assistance functions of the vehicle directly affects the smoothness and reliability of the operation of the preset driving assistance functions of the vehicle, and further affects the safety and user experience of the vehicle occupants, therefore, how to improve the accuracy of the radar targets used during the operation of the preset driving assistance functions of the vehicle has become an urgent problem to be solved. Summary of the Invention

[0003] Based on this, the present invention provides a radar target processing method, a computer program product, and an electronic device. By using the radar target processing method, the initial radar target closest to the vehicle among multiple initial radar targets belonging to the same target object is used as the credible radar target required during the operation of the preset driving assistance functions of the vehicle, which is beneficial to ensuring the normal and stable operation of the preset driving assistance functions.

[0004] On the one hand, the present invention provides a radar target processing method, and the method includes:

[0005] After the preset driving assistance function of the vehicle is activated, obtain the target-related information of the initial radar targets around the vehicle detected by radar target detection;

[0006] According to the target-related information of the initial radar targets, determine a radar target group including multiple initial radar targets belonging to the same target object;

[0007] Determine the initial radar target closest to the vehicle in the radar target group as the credible radar target required during the operation of the preset driving assistance function.

[0008] Further, in some embodiments, the determining a radar target group including multiple initial radar targets belonging to the same target object according to the target-related information of the initial radar targets includes:

[0009] Based on the position information, driving speed information, and the information on the type of target object to which any two of the initial radar targets belong, determine whether the similarity between any two of the initial radar targets reaches a first preset value to obtain a first judgment result; or,

[0010] Based on the position information, driving speed information, and the information on the type of target object to which any two of the initial radar targets belong, determine whether there is an overlapping area between any two of the initial radar targets, the difference in driving speed is less than a second preset value, and the types of target objects to which they belong are the same, to obtain a second judgment result;

[0011] If the first judgment result indicates that the similarity between any two of the initial radar targets reaches the first preset value, or the second judgment result indicates that there is an overlapping area between any two of the initial radar targets, the difference in driving speed is less than the second preset value, and the types of target objects to which they belong are the same, then classify any two of the initial radar targets into the same radar target group.

[0012] Further, in some embodiments, the determining the radar target group including multiple initial radar targets belonging to the same target object according to the target-related information of the initial radar targets further includes:

[0013] Determine the initial radar targets whose confidence levels reach a third preset value according to the confidence level data of the initial radar targets;

[0014] The determining whether the similarity between any two of the initial radar targets reaches the first preset value includes:

[0015] Determine whether the similarity between any two of the initial radar targets whose confidence levels reach the third preset value reaches the first preset value;

[0016] The determining whether there is an overlapping area between any two of the initial radar targets, the difference in driving speed is less than the second preset value, and the types of target objects to which they belong are the same includes:

[0017] Determine whether there is an overlapping area between any two of the initial radar targets whose confidence levels reach the third preset value, the difference in driving speed is less than the second preset value, and the types of target objects to which they belong are the same.

[0018] Further, in some embodiments, the determining the initial radar target closest to the vehicle in the radar target group as the reliable radar target required during the operation of the preset driving assistance function includes:

[0019] For any one of the initial radar targets in the radar target group, obtain the target distance value of the target type between the first preset position at the initial radar target and the second preset position at the vehicle; wherein, the target distance value includes at least one of a horizontal distance value, a vertical distance value, and a straight-line distance value;

[0020] Determine, from the radar target group, the initial radar target corresponding to the minimum value of the target distance value, and obtain the reliable radar target required during the operation of the preset driving assistance function.

[0021] Further, in some embodiments, the obtaining of the target distance value of the target type between the first preset position at the initial radar target and the second preset position at the vehicle includes:

[0022] If the preset driving assistance function is an automatic emergency braking function or an adaptive cruise control function, obtain the first ordinate data of the first preset position at the initial radar target in a preset coordinate system, and the second ordinate data of the second preset position at the vehicle in the preset coordinate system; wherein, the vertical axis of the preset coordinate system is parallel to the longitudinal center line of the vehicle;

[0023] Calculate the absolute value of the difference between the first ordinate data and the second ordinate data to obtain the vertical distance value between the first preset position and the second preset position.

[0024] Further, in some embodiments, the obtaining of the target distance value of the target type between the first preset position at the initial radar target and the second preset position at the vehicle includes:

[0025] If the preset driving assistance function is a door opening warning function, obtain the first abscissa data of the first preset position at the initial radar target in a preset coordinate system, and the second abscissa data of the second preset position at the vehicle in the preset coordinate system; wherein, the horizontal axis of the preset coordinate system is parallel to the transverse center line of the vehicle;

[0026] Calculate the absolute value of the difference between the first abscissa data and the second abscissa data to obtain the horizontal distance value between the first preset position and the second preset position.

[0027] Further, in some embodiments, the obtaining of the target distance value of the target type between the first preset position at the initial radar target and the second preset position at the vehicle further includes:

[0028] Obtain the straight-line distance value between the first preset position at the initial radar target and the second preset position at the vehicle; wherein, the straight-line distance value is the square root of the sum of the square value of the horizontal distance value and the square value of the vertical distance value between the first preset position and the second preset position.

[0029] Further, in some embodiments, the above method further includes:

[0030] For any one of the initial radar targets in the radar target group, obtain a preset distance value of a preset type between the first preset position at the initial radar target and the second preset position at the vehicle; wherein, the preset distance value includes: any one of the horizontal distance value and the vertical distance value;

[0031] Judge whether the absolute value of the difference between the preset distances corresponding to any two of the initial radar targets in the radar target group is less than or equal to a preset distance threshold, to obtain a third judgment result;

[0032] The step of determining the initial radar target closest to the vehicle in the radar target group as the reliable radar target required during the operation of the preset driving assistance function includes:

[0033] If the third judgment result indicates that the absolute value of the difference between the preset distances corresponding to any two of the initial radar targets in the radar target group is less than or equal to the preset distance threshold, then determine the initial radar target closest to the vehicle in the radar target group as the reliable radar target required during the operation of the preset driving assistance function.

[0034] Further, in some embodiments, if the preset driving assistance function is an automatic emergency braking function or an adaptive cruise control function, then the preset distance value is the vertical distance value, and the preset distance threshold includes: the maximum value of the length values of the regions where the any two initial radar targets are located or a fourth preset value;

[0035] If the preset driving assistance function is a door opening warning function, then the preset distance value is the horizontal distance value, and the preset distance threshold includes: the maximum value of the width values of the regions where the any two initial radar targets are located or a fifth preset value.

[0036] On the other hand, the present invention also provides a computer program product, on which at least one instruction is stored, and when the at least one instruction is executed by a controller, the steps of the above method are implemented.

[0037] On the other hand, the present invention also provides an electronic device, comprising: a processor and a memory; wherein, the memory stores computer-readable instructions, and the computer-readable instructions are adapted to be loaded and executed by the processor to perform the steps of the method as described above.

[0038] Further, in some embodiments, the electronic device includes at least one of a radar device and a domain controller.

[0039] According to the radar target processing method provided by the present invention, after the preset driving assistance function of the vehicle is activated, according to the target-related information of the initial radar targets around the vehicle obtained by radar target detection, a radar target group including a plurality of the initial radar targets belonging to the same target object can be determined; and, the initial radar target closest to the vehicle in the radar target group can be determined as the reliable radar target required during the operation of the preset driving assistance function of the vehicle, which is beneficial to avoiding erroneously deleting the radar targets involved in the driving assistance control of the preset driving assistance function, thereby ensuring the normal and stable operation of the preset driving assistance function of the vehicle, and further improving the safety and user experience of the passengers in the vehicle.

[0040] It should be understood that the content described in the summary of the invention is not intended to limit the key or important features of the embodiments of the present invention, nor to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of a radar target detection result provided by an embodiment of the present invention;

[0042] Figure 2 A flowchart of a radar target processing method provided by an embodiment of the present invention;

[0043] Figure 3 Another schematic diagram of a radar target detection result provided by an embodiment of the present invention;

[0044] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0046] In the description of one or more embodiments of the present invention, the term "including" and its similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions hereinafter.

[0047] Currently, under the influence of factors such as radar device factors, environmental factors, target object characteristic factors, and radar target detection algorithm factors, a vehicle-mounted radar device may detect multiple initial radar targets with relatively consistent position information and attribute information. At this time, it is usually considered that these initial radar targets belong to the same target object. Therefore, it is necessary to select a specific radar target from these initial radar targets to be used as the radar target that can represent the target object when the preset driving assistance function operates. However, when the specific radar target selected from multiple initial radar targets to represent the target object is unreasonable, it often affects the normal and stable operation of the vehicle's preset driving assistance function.

[0048] For the sake of easy understanding, an example is given here in combination with Figure 1 for illustration. Figure 1 FIG. is a schematic diagram of a radar target detection result provided by an embodiment of the present invention. As Figure 1 shown, it is assumed that the vehicle 101 driven by the user is traveling in the arrow direction, and initial radar targets 102-105 are obtained by performing radar target detection on the surrounding environment of the vehicle 101.

[0049] If the positions of the initial radar target 102 and the initial radar target 103 are relatively close, and their attribute information is also relatively consistent, then when the initial radar target 103 is filtered out and the initial radar target 102 is retained to represent the corresponding target object, since the distance between the initial radar target 102 and the vehicle 101 is relatively large, the automatic emergency braking function or adaptive cruise control function at the vehicle 101 may not be able to effectively avoid a collision between the vehicle 101 and the target object represented by the initial radar target 102 based on the initial radar target 102, thus affecting the normal and stable operation of the above driving assistance function.

[0050] Alternatively, if the positions of the initial radar target 104 and the initial radar target 105 are relatively close and their attribute information is also relatively consistent, when the initial radar target 105 is filtered out and the initial radar target 104 is retained to represent the corresponding target object, since the distance between the initial radar target 104 and the vehicle 101 is relatively large, the door opening warning function at the vehicle 101 may not be able to give a warning for the target object represented by the initial radar target 104, thus affecting the normal and stable operation of this driving assistance function.

[0051] Based on this, how to improve the accuracy and rationality of the radar targets used during the operation of the preset driving assistance function of the vehicle has become an urgent problem to be solved.

[0052] The present invention proposes a radar target processing method. After the preset driving assistance function of the vehicle is activated, this method can determine a radar target group containing multiple initial radar targets belonging to the same target object according to the target-related information of the initial radar targets around the vehicle obtained through radar target detection; and, the initial radar target closest to the vehicle in the radar target group can be determined as the credible radar target required during the operation of the preset driving assistance function of the vehicle, which helps to avoid erroneously deleting the radar targets involved in the driving assistance control of the preset driving assistance function, thereby ensuring the normal and stable operation of the preset driving assistance function of the vehicle, and further improving the safety and user experience of the passengers in the vehicle.

[0053] Please refer to Figure 2 , which is a schematic flowchart of a radar target processing method provided by an embodiment of the present invention. From a program perspective, the execution subject of this process can be a program for managing radar targets installed on a radar device or a vehicle controller. Alternatively, the execution subject of this process can also be a radar device or a vehicle controller, or other devices capable of communicating with the radar device or the vehicle controller, and no specific limitation is made thereto.

[0054] Next, a detailed description will be given of the Figure 2 shown process. The radar target processing method may specifically include the following steps:

[0055] Step S202, after the preset driving assistance function of the vehicle is activated, obtain the target-related information of the initial radar targets around the vehicle obtained through radar target detection.

[0056] In an embodiment of the present invention, the preset driving assistance function at the vehicle may include functions carried by the vehicle that can control the vehicle according to target objects existing around the vehicle to improve the driving convenience, use safety and comfort of the vehicle. For example, the preset driving assistance function may include: Adaptive Cruise Control (ACC), Autonomous Emergency Braking (AEB), Door open Warning (DOW), etc., which are not specifically limited herein.

[0057] Among them, the adaptive cruise control function may refer to the function of adjusting the speed of the vehicle driven by the user so that a safe distance is maintained between the vehicle and a following target existing on its forward road. The autonomous emergency braking function may refer to the function of giving an alarm prompt when the distance between the vehicle driven by the user and an obstacle is less than the alarm distance, and controlling the vehicle to automatically brake when the distance between the vehicle driven by the user and the obstacle is less than the safety distance and the driver fails to brake in time. The door open warning function may refer to the function of warning the target object approaching the vehicle when the vehicle is in a stationary state or a low-speed state and a non-stationary target object is detected approaching the vehicle from the side and rear of the vehicle by using sensors. Details are not elaborated herein.

[0058] In an embodiment of the present invention, after the preset driving assistance function at the vehicle is activated, radar perception data obtained by the radar device carried by the vehicle through data collection for the surrounding area of the vehicle can be acquired, so as to perform radar target detection on the collected radar perception data to obtain target-related information of the initial radar targets existing around the vehicle.

[0059] In practical applications, since the areas where the target objects relied on by different preset driving assistance functions for driving assistance control may vary. For example, the adaptive cruise control function and the autonomous emergency braking function need to rely on the target objects existing in front of the vehicle to control the driving speed of the vehicle, while the door open warning function needs to perform warning processing on the target objects existing in the side area or rear area of the vehicle. Therefore, the areas around the vehicle where the initial radar targets need to be acquired after different preset driving assistance functions are activated may vary.

[0060] In practical applications, there can be various types of target-related information of the initial radar target. For example, it can include the position information, traveling speed information, and the type information of the target object to which it belongs. In addition, it can also include the confidence data of the initial radar target, etc., and no specific limitation is made thereto. Moreover, the radar devices installed on the vehicle can include millimeter-wave radar devices, ultrasonic radar devices, lidar devices, etc., and no specific limitation is made thereto either.

[0061] Step S204: Determine a radar target group that includes multiple initial radar targets belonging to the same target object according to the target-related information of the initial radar target.

[0062] In the embodiment of the present invention, since the radar device often detects multiple radar reflection points for the same target object, by analyzing and classifying the characteristics of each radar reflection point, the radar reflection points that may belong to the same target object predicted are clustered and analyzed, so as to obtain the target-related information of the initial radar target. However, when the target object is large in volume, or when the target object does not travel parallel to the radar device, and when the propagation and reflection of radar waves are interfered, it may cause significant differences in the speeds or distances of the radar reflection points belonging to the same target object, so that multiple different initial radar targets are incorrectly identified based on multiple radar reflection points belonging to the same target object. Therefore, it is necessary to determine a radar target group that includes multiple initial radar targets belonging to the same target object, so as to filter out some radar targets in the radar target group, thereby obtaining a credible radar target that can accurately represent the target object.

[0063] Step S206: Determine the initial radar target closest to the vehicle in the radar target group as the credible radar target required during the operation of the preset driving assistance function.

[0064] In the embodiment of the present invention, since the radar targets far from the vehicle usually pose a relatively small safety risk to the vehicle, the preset driving assistance function of the vehicle usually needs to rely on the radar targets closer to the vehicle for driving assistance control. Based on this, for multiple initial radar targets belonging to the same target object existing around the vehicle, the initial radar target closest to the vehicle can be used as the credible radar target that can represent the target object, and other initial radar targets belonging to the target object are filtered out, so that not only the accuracy of the credible radar target required during the operation of the preset driving assistance function can be guaranteed, but also the preset driving assistance function can timely perform driving assistance control according to the target object corresponding to the credible radar target, which is also beneficial to ensuring the normal and stable operation of the preset driving assistance function, thereby improving the safety and user experience of the passengers in the vehicle.

[0065] In a feasible implementation manner, determining a radar target group including a plurality of the initial radar targets belonging to the same target object according to the target-related information of the initial radar target may include:

[0066] Judging whether the similarity between any two of the initial radar targets reaches a first preset value according to the position information, traveling speed information, and the type information of the target object to which they belong, to obtain a first judgment result. Or,

[0067] Judging whether there is an overlapping area between any two of the initial radar targets, the difference in traveling speed is less than a second preset value, and the types of the target objects to which they belong are the same according to the position information, traveling speed information, and the type information of the target object to which they belong, to obtain a second judgment result.

[0068] If the first judgment result indicates that the similarity between any two of the initial radar targets reaches the first preset value, or the second judgment result indicates that there is an overlapping area between any two of the initial radar targets, the difference in traveling speed is less than the second preset value, and the types of the target objects to which they belong are the same, then classify any two of the initial radar targets into the same radar target group.

[0069] In the embodiments of the present invention, since the distribution positions of a plurality of radar reflection points belonging to the same target object are usually relatively concentrated, and the consistency of the attribute information (such as classification information, intensity information, speed information, etc.) of each radar reflection point is usually relatively high, therefore, when a plurality of different initial radar targets are incorrectly identified according to a plurality of radar reflection points belonging to the same target object, there is often an overlapping situation between the areas where these initial radar targets are located, and moreover, the difference in the traveling speeds of these initial radar targets is usually relatively small. Additionally, the types of target objects to which these initial radar targets belong (such as vegetation, buildings, roads, vehicles, pedestrians, etc.) are also relatively consistent. Based on this, a plurality of initial radar targets detected for the same target object can be determined according to the position information, traveling speed information, and the type information of the target object included in the target-related information of the initial radar target.

[0070] Specifically, the deep learning model can be pre-trained using training samples so that the deep learning model has the ability to extract the feature data of the initial radar target based on the position information, traveling speed information, and the type information of the target object to which the initial radar target belongs, etc. Based on this, the deep learning model can be used to extract the feature data of each initial radar target, and then the similarity between the feature data of two initial radar targets can be calculated as the similarity between these two initial radar targets. Moreover, when the similarity between two initial radar targets reaches a first preset value, it can be considered that these two initial radar targets belong to the same target object, and thus they are classified into the same radar target group; otherwise, it can be considered that these two initial radar targets belong to different target objects and are prohibited from being classified into the same radar target group; this is convenient and fast. Among them, the first preset value can be set according to actual needs, and no specific limitation is made on this. Of course, other methods can also be used to calculate the similarity between two initial radar targets to determine whether these two initial radar targets belong to the same target object, and no specific limitation is made on this either.

[0071] Alternatively, it can also be determined whether two initial radar targets meet multiple preset conditions such as: there is an overlapping area, the difference in traveling speed is less than a second preset value, and the types of the target objects to which they belong are the same. If the above preset conditions are all met, it can also be considered that these two initial radar targets belong to the same target object. Of course, during the periodic radar target detection process, if the target object has just been detected in the recent few radar target detection cycles, problems such as poor accuracy of the traveling speeds of multiple initial radar targets generated for this target object may occur due to factors such as less historical data collected for this target object. At this time, when two initial radar targets meet preset conditions such as having an overlapping area and the same type of the target object to which they belong, it can be considered that these two initial radar targets belong to the same target object, and thus they are classified into the same radar target group; it has good flexibility, and no specific limitation is made on this.

[0072] In practical applications, a radar target group may only contain two initial radar targets that belong to the same target object, or it may also contain all the initial radar targets that belong to the same target object. At this time, the number of initial radar targets included in a radar target group can be greater than two, and no specific limitation is made on this.

[0073] In a feasible implementation manner, the step of determining a radar target group that contains multiple initial radar targets belonging to the same target object according to the target-related information of the initial radar target may further include:

[0074] Determining the initial radar targets whose confidence levels reach a third preset value according to the confidence level data of the initial radar targets.

[0075] Correspondingly, the determination of whether the similarity between any two of the initial radar targets reaches a first preset value may include:

[0076] Determine whether the similarity between any two of the initial radar targets with a confidence level reaching a third preset value reaches the first preset value.

[0077] Correspondingly, the determination of whether there is an overlapping area between any two of the initial radar targets, the difference in traveling speed is less than a second preset value, and the types of target objects to which they belong are the same may include:

[0078] Determine whether there is an overlapping area between any two of the initial radar targets with a confidence level reaching a third preset value, the difference in traveling speed is less than a second preset value, and the types of target objects to which they belong are the same.

[0079] In an embodiment of the present invention, the confidence data of the initial radar target can reflect the possibility of the actual existence of the initial radar target. In practical applications, the evaluation of the confidence level of the initial radar target can be based on various factors, including signal strength, motion characteristics of the target, echo characteristics, and the degree of matching with the known target database, etc. Generally, when the confidence data of the initial radar target does not reach the third preset value, it may indicate that the initial radar target is likely to be a false detection target generated due to noise influence or other factors. When the confidence data of the initial radar target reaches the third preset value, it may indicate that the initial radar target is likely to actually exist. Thus, the initial radar targets with a confidence level not reaching the third preset value can be filtered out first, and only from the initial radar targets with a confidence level reaching the third preset value, the radar target groups belonging to the same target object are further identified. This is beneficial to improving the accuracy and reliability of the reliable radar targets required during the operation of the preset driving assistance function screened from the radar target groups.

[0080] In a feasible implementation manner, the determination of the initial radar target closest to the vehicle in the radar target group as the reliable radar target required during the operation of the preset driving assistance function may include:

[0081] For any one of the initial radar targets in the radar target group, obtain the target distance value of the target type between a first preset position at the initial radar target and a second preset position at the vehicle; wherein, the target distance value includes at least one of a horizontal distance value, a vertical distance value, and a straight-line distance value.

[0082] From the radar target group, determine the initial radar target corresponding to the minimum value of the target distance value, and obtain the reliable radar target required during the operation of the preset driving assistance function.

[0083] In the embodiments of the present invention, since the target objects relied on for driving assistance control by different preset driving assistance functions may vary. For example, the adaptive cruise control function and the automatic emergency braking function need to rely on the target objects existing in front of the vehicle to control the vehicle driving speed, while the door opening warning function needs to perform warning processing on the target objects existing in the side area of the vehicle. Therefore, the strategies adopted when screening the reliable radar targets required by different preset driving assistance functions from the radar target group may vary.

[0084] On this basis, according to the actual requirements of the preset driving assistance function, the initial radar target with the minimum horizontal distance value, vertical distance value, or straight-line distance value between the radar target group and the vehicle can be used as the reliable radar target required during the operation of the preset driving assistance function. This is beneficial to improving the accuracy and rationality of the selected reliable radar target, and further beneficial to ensuring the normal and stable operation of the preset driving assistance function of the vehicle.

[0085] In the embodiments of the present invention, in order to facilitate measuring the distance between the initial radar target and the vehicle, the first preset position at the initial radar target and the second preset position at the vehicle required for measuring the distance between the two can be preset. Among them, the first preset position and the second preset position can be set according to actual requirements. For example, the first preset position can be the center point of the top edge or bottom edge of the area where the initial radar target is located, or can be the center point of the side edge of the area where the initial radar target is located, etc.; while the second preset position can be the center point of the rear axle of the vehicle, the center point of the rear bumper, the center of mass, etc.; no specific limitations are made on this.

[0086] In practical applications, when the horizontal direction is the lateral center line direction of the vehicle and the vertical direction is the longitudinal center line direction of the vehicle, the horizontal distance value between the first preset position at the initial radar target and the second preset position at the vehicle can refer to the distance between the two along the above horizontal direction, and the horizontal distance value can reflect the deviation between the two in the left-right direction. The vertical distance value between the first preset position at the initial radar target and the second preset position at the vehicle can refer to the distance between the two along the above vertical direction, and the vertical distance value can reflect the deviation between the two in the front-rear direction. And the straight-line distance value between the first preset position at the initial radar target and the second preset position at the vehicle can refer to the length of the line segment connecting the two points, and the straight-line distance value can reflect the comprehensive deviation between the two in the left-right and front-rear directions, etc., which will not be elaborated here.

[0087] In a feasible implementation manner, obtaining the target distance value of the target type between the first preset position at the initial radar target and the second preset position at the vehicle may include:

[0088] If the preset driving assistance function is an automatic emergency braking function or an adaptive cruise control function, obtain the first ordinate data of the first preset position at the initial radar target in a preset coordinate system, and the second ordinate data of the second preset position at the vehicle in the preset coordinate system; wherein, the vertical axis of the preset coordinate system is parallel to the longitudinal center line of the vehicle.

[0089] Calculate the absolute value of the difference between the first ordinate data and the second ordinate data to obtain the vertical distance value between the first preset position and the second preset position.

[0090] In the embodiments of the present invention, if the preset driving assistance function is a function that requires relying on a target object existing in front of the vehicle for driving assistance control, for example, an automatic emergency braking function and an adaptive cruise control function, etc., then the above-mentioned preset driving assistance function usually needs to make a decision on whether to select the initial radar target as a following target or a collision object according to the vertical distance value between the initial radar target and the vehicle. And, if the initial radar target with a smaller vertical distance value from the vehicle is deleted, it may cause an incorrect judgment that there is no following target or collision object required for the above-mentioned preset driving assistance function currently, thereby affecting the normal and stable operation of the above-mentioned preset driving assistance function. Based on this, it is necessary to determine the vertical distance value between the initial radar target and the vehicle, so as to make a decision on whether to use the initial radar target as a credible radar target according to this vertical distance value.

[0091] In the embodiments of the present invention, in order to facilitate measuring the vertical distance between the initial radar target and the vehicle, the vertical axis of the preset coordinate system can be made parallel to the longitudinal center line of the vehicle, and the horizontal axis of the preset coordinate system can be made parallel to the transverse center line of the vehicle. And the origin of the preset coordinate system can be either the second preset position at the vehicle to reduce the calculation amount, or it can be other positions, and no specific limitation is made thereto.

[0092] In practical applications, the target-related information of the initial radar target usually may include the position information of the area where the initial radar target is located relative to the vehicle. By combining the position information of the initial radar target, the positional relationship between the first preset position at the initial radar target and the area where the initial radar target is located, the positional relationship between the second preset position at the vehicle and the area where the vehicle is located, and the preset coordinate system information, the first ordinate data of the first preset position at the initial radar target in the preset coordinate system can be calculated, and the second ordinate data of the second preset position at the vehicle in the preset coordinate system can be calculated. Furthermore, the absolute value of the difference between the first ordinate data and the second ordinate data can be calculated as the vertical distance value between the first preset position and the second preset position, which is convenient and fast.

[0093] Figure 3 FIG. 4 is a schematic diagram of another radar target detection result provided by an embodiment of the present invention; for the convenience of understanding the vertical distance value between the initial radar target and the vehicle, an example is given herein in combination with Figure 3 FIG. 6. Assume that the orientation of the vehicle 301 is in the direction of the arrow 308, and there is an initial radar target 302 in front of the vehicle 301. If the center point 305 of the rear axle of the vehicle 301 is used as the origin of the preset coordinate system, and the horizontal axis 304 of the preset coordinate system is parallel to the lateral center line of the vehicle 301, and the vertical axis 303 of the preset coordinate system is parallel to the longitudinal center line of the vehicle 301. When the center point 305 of the rear axle of the vehicle 301 is used as the second preset position at the vehicle, and the center point 306 of the bottom edge of the initial radar target 302 is used as the first preset position at the initial radar target 302, the first ordinate data of the first preset position in the preset coordinate system can be: the dotted line length between the center point 306 of the bottom edge of the initial radar target 302 and its perpendicular point 307 on the horizontal axis 304 of the preset coordinate system. The second ordinate data of the second preset position in the preset coordinate system can be 0. At this time, the absolute value of the difference between the first ordinate data and the second ordinate data can be conveniently calculated, so as to obtain the vertical distance value corresponding to the initial radar target 302. Of course, the first preset position, the second preset position, and the origin position of the preset coordinate system can also be other positions, and no specific limitation is made thereto.

[0094] In a feasible implementation manner, obtaining the target distance value of the target type between the first preset position at the initial radar target and the second preset position at the vehicle may include:

[0095] If the preset driving assistance function is the door opening warning function, obtain the first abscissa data of the first preset position at the initial radar target in the preset coordinate system, and the second abscissa data of the second preset position at the vehicle in the preset coordinate system; wherein, the horizontal axis of the preset coordinate system is parallel to the lateral center line of the vehicle.

[0096] Calculate the absolute value of the difference between the first abscissa data and the second abscissa data to obtain the horizontal distance value between the first preset position and the second preset position.

[0097] In the embodiment of the present invention, if the preset driving assistance function is a function that requires relying on a target object existing on the side of the vehicle for driving assistance control, for example, the door opening warning function, etc., then the above preset driving assistance function usually needs to make a decision on whether to select the initial radar target as the warning object according to the horizontal distance value between the initial radar target and the vehicle. And, if the initial radar target with a smaller horizontal distance value from the vehicle is deleted, it may lead to an incorrect judgment that there is currently no warning object required for the door opening warning function, thereby affecting the stable operation of the preset driving assistance function. Based on this, it is necessary to determine the horizontal distance value between the initial radar target and the vehicle, so as to make a decision on whether to use the initial radar target as a reliable radar target according to this horizontal distance value.

[0098] In the embodiment of the present invention, in order to facilitate measuring the horizontal distance between the initial radar target and the vehicle, the vertical axis of the preset coordinate system can be made parallel to the longitudinal center line of the vehicle, and the horizontal axis of the preset coordinate system can be made parallel to the lateral center line of the vehicle. And, the first abscissa data of the first preset position at the initial radar target in the preset coordinate system can be calculated by combining the position information of the initial radar target, the positional relationship between the first preset position at the initial radar target and the area where the initial radar target is located, the positional relationship between the second preset position at the vehicle and the area where the vehicle is located, and the preset coordinate system information, etc. Also, the second abscissa data of the second preset position at the vehicle in the preset coordinate system can be obtained. Furthermore, the absolute value of the difference between the first abscissa data and the second abscissa data can be calculated as the horizontal distance value between the first preset position and the second preset position, which is convenient and fast.

[0099] Figure 3 Another schematic diagram of the radar target detection result provided by the embodiment of the present invention; in order to facilitate understanding the horizontal distance value between the initial radar target and the vehicle, an example is given here in combination with Figure 3 Assume that the vertical axis 303, horizontal axis 304 and origin 305 of the preset coordinate system are as Figure 3As shown, the second preset position of the vehicle is the origin 305 of the preset coordinate system, and the first preset position at the initial radar target 302 is the center point 306 of the bottom edge of the initial radar target 302. Then, the first abscissa data of the first preset position can be the length between the foot of the perpendicular 307 of the center point 306 of the bottom edge of the initial radar target 302 on the horizontal axis 304 and the origin 305, and the second abscissa data of the second preset position can be 0. At this time, the absolute value of the difference between the first abscissa data and the second abscissa data can be conveniently calculated, so as to obtain the horizontal distance value corresponding to the initial radar target 302. Of course, the first preset position, the second preset position, and the origin position of the preset coordinate system can also be other positions, and no specific limitation is made thereto.

[0100] In a feasible implementation manner, obtaining the target distance value of the target type between the first preset position at the initial radar target and the second preset position at the vehicle may further include:

[0101] Obtaining the straight-line distance value between the first preset position at the initial radar target and the second preset position at the vehicle; wherein, the straight-line distance value is the square root of the sum of the square value of the horizontal distance value and the square value of the vertical distance value between the first preset position and the second preset position.

[0102] In the embodiment of the present invention, when the preset driving assistance function is the automatic emergency braking function or the adaptive cruise control function, however, the vertical distance values between the first preset positions of the respective initial radar targets in the radar target group and the second preset position at the vehicle are the same; or, when the preset driving assistance function is the door opening warning function, however, the horizontal distance values between the first preset positions of the respective initial radar targets in the radar target group and the second preset position at the vehicle are the same; then, the straight-line distance value between the first preset position and the second preset position can be further combined to use the initial radar target with the smallest corresponding straight-line distance value in the radar device group as the credible radar target, which is beneficial to ensuring Figure 2 the normal operation of the radar target processing solution therein.

[0103] Figure 3 This is another schematic diagram of the radar target detection result provided by the embodiment of the present invention; in order to facilitate the understanding of the straight-line distance value between the initial radar target and the vehicle, an example is given herein in combination with Figure 3 As Figure 3As shown in the figure, it is assumed that the second preset position of the vehicle is the origin 305 of the preset coordinate system, and the first preset position at the initial radar target 302 is the center point 306 of the bottom edge of the initial radar target 302. Then, the linear distance value between the first preset position and the second preset position can be the distance between the center point 306 of the bottom edge and the origin 305. Of course, the first preset position, the second preset position, and the origin position of the preset coordinate system can also be other positions, and no specific limitation is made thereto.

[0104] It can be understood that after determining the credible radar target by executing the Figure 2 scheme, the credible radar target and the single initial radar target detected only for a single target object can be used together as candidate radar targets, so that the preset driving assistance function can decide whether the candidate radar targets belong to the following targets or warning targets of the preset driving assistance function according to actual needs. That is Figure 2 the credible radar target determined by the Figure 2 scheme is not necessarily selected as the following target or warning target of the preset driving assistance function. However, by executing the Figure 2 scheme, the accuracy of the candidate radar targets can be effectively improved, and further, the operation stability and accuracy of the preset driving assistance function can also be improved, so as to ensure the safety and user experience of the passengers in the vehicle.

[0105] In a feasible implementation manner, Figure 2 the method in

[0106] may further include:

[0107] For any initial radar target in the radar target group, obtain a preset distance value of a preset type between the first preset position at the initial radar target and the second preset position at the vehicle; wherein, the preset distance value includes any one of a horizontal distance value and a vertical distance value.

[0108] Correspondingly, the step of determining the initial radar target closest to the vehicle in the radar target group as the credible radar target required in the operation of the preset driving assistance function may include:

[0109] If the third judgment result indicates that the absolute value of the difference between the preset distances corresponding to any two initial radar targets in the radar target group is less than or equal to the preset distance threshold, then determine the initial radar target closest to the vehicle in the radar target group as the credible radar target required in the operation of the preset driving assistance function.

[0110] If the absolute value of the difference between the preset distances corresponding to any two of the initial radar targets in the radar target group indicated by the third judgment result is greater than a preset distance threshold, a specific initial radar target can be screened out from the radar target group by using the current radar target merging method as a credible radar target that can represent the corresponding target object.

[0111] In the embodiment of the present invention, due to the limited accuracy of the radar target group of multiple initial radar targets belonging to the same target object screened according to the position information, driving speed information, and the type information of the target object to which they belong, etc., there may be a situation where multiple initial radar targets that do not belong to the same target object are divided into the same radar target group. At this time, if only a specific radar target is screened out from this radar target group for use in the preset driving assistance function, it may accidentally delete the initial radar targets corresponding to other target objects, making the preset driving assistance function unable to accurately know the comprehensive target objects existing around the vehicle.

[0112] Since when the difference value of the preset distance values between the first preset positions at different initial radar targets and the second preset position at the vehicle is relatively large, it often indicates that the differences between the regions where different initial radar targets are located are relatively large. At this time, the possibility that these initial radar targets belong to different target objects is relatively high. Therefore, in order to reduce the hidden dangers brought by accidentally deleting radar targets, when the absolute value of the difference between the preset distances corresponding to two initial radar targets is less than or equal to the preset distance threshold, the initial radar target closest to the vehicle in the radar target group is allowed to be determined as the credible radar target required during the operation of the preset driving assistance function; otherwise, other strategies can be used to merge and filter the initial radar targets in the radar equipment group; which is beneficial to ensuring the normal and stable operation of the preset driving assistance function.

[0113] In a feasible implementation manner, if the preset driving assistance function is an automatic emergency braking function or an adaptive cruise control function, the preset distance value can be a vertical distance value, and the preset distance threshold can include: the maximum value of the length values of the regions where any two of the initial radar targets are located or a fourth preset value.

[0114] If the preset driving assistance function is a door opening warning function, the preset distance value can be a horizontal distance value, and the preset distance threshold can include: the maximum value of the width values of the regions where any two of the initial radar targets are located or a fifth preset value.

[0115] In an embodiment of the present invention, when the preset driving assistance function is a function that requires driving assistance control depending on the target object existing in front of the vehicle, for example, the automatic emergency braking function and the adaptive cruise control function, etc., if the difference in the vertical distance values between two initial radar targets and the vehicle is relatively large, then when different credible radar targets are selected from these initial radar targets, the interference to the operation result of the preset driving assistance function is relatively large. Therefore, it is possible to prohibit simply using the initial radar target closest to the vehicle in the radar device group as the credible radar target. Based on this, when the preset driving assistance function is the automatic emergency braking function or the adaptive cruise control function, it is only allowed to use the initial radar target closest to the vehicle in the radar device group as the credible radar target when the absolute value of the difference in the vertical distance values corresponding to two initial radar targets in the radar target group is less than the preset distance threshold. This is beneficial to ensuring the accuracy of the selected credible radar target, and further beneficial to ensuring the normal operation of the preset driving assistance function.

[0116] Similarly, when the preset driving assistance function is a function that requires driving assistance control depending on the target object existing on the side of the vehicle, for example, the door opening warning function, then it is only allowed to use the initial radar target closest to the vehicle in the radar device group as the credible radar target when the absolute value of the difference in the horizontal distance values corresponding to two initial radar targets in the radar target group is less than the preset distance threshold. This is also beneficial to ensuring the accuracy of the selected credible radar target, and further beneficial to ensuring the normal operation of the preset driving assistance function.

[0117] In practical applications, the preset distance threshold can be set according to actual needs. For example, it can be the fourth preset value or the fifth preset value in the form of a fixed numerical value; or, it can also generate the preset distance threshold in combination with the length value or width value of the area where the initial radar target in the radar target group is located, with good flexibility, and no specific limitation is made thereto. Among them, the length value of the area where the initial radar target is located can refer to the side length of the initial radar target, and the width value of the area where the initial radar target is located can refer to the top side or bottom side length of the initial radar target, which will not be elaborated here.

[0118] The present invention also provides a computer program product, which includes a computer program. When the computer program is executed by a controller, it implements the steps of the radar target processing method in the above embodiments. The specific execution process can refer to the specific descriptions in the above embodiments, and will not be elaborated here.

[0119] In one embodiment, the present invention also provides Figure 4 the structural schematic diagram of the electronic device shown. As Figure 4, at the hardware level, the electronic device may include a processor 41 and a memory 45. Of course, it may also include an internal bus 42, a network interface 43, a memory 44, and other hardware required for other services. The electronic device may be disposed in a vehicle, and the processor 41 therein may read corresponding computer-readable instructions from the memory 45 into the memory and then run them to implement the above-mentioned vehicle driving control method. For the specific execution process, reference may be made to the specific descriptions in the above embodiments, and details are not repeated here.

[0120] In a feasible implementation manner, the electronic device may include at least one of a domain controller and a radar device, and no specific limitation is made thereto.

[0121] Finally, each embodiment in the present invention is described in a progressive manner. For the same or similar parts among the embodiments, reference may be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for embodiments such as computer program products and electronic devices, since they are basically similar to the method embodiments, the descriptions are relatively simple, and reference may be made to the partial descriptions of the method embodiments for the relevant parts.

[0122] The above are only the embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, various changes and modifications can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A radar target processing method, comprising: After a preset driving assistance function of the vehicle is activated, obtaining target-related information of initial radar targets around the vehicle obtained through radar target detection; According to the target-related information of the initial radar targets, determining a radar target group including a plurality of the initial radar targets belonging to the same target object; Determining the initial radar target closest to the vehicle in the radar target group as the credible radar target required during the operation of the preset driving assistance function.

2. The method according to claim 1, wherein the determining a radar target group including a plurality of the initial radar targets belonging to the same target object according to the target-related information of the initial radar targets comprises: Judging whether the similarity between any two of the initial radar targets reaches a first preset value according to the position information, driving speed information, and target object type information of the any two initial radar targets, to obtain a first judgment result; or, Judging whether there is an overlapping area between any two of the initial radar targets, the driving speed difference is less than a second preset value, and the target object types are the same according to the position information, driving speed information, and target object type information of the any two initial radar targets, to obtain a second judgment result; If the first judgment result indicates that the similarity between any two of the initial radar targets reaches the first preset value, or the second judgment result indicates that there is an overlapping area between any two of the initial radar targets, the driving speed difference is less than the second preset value, and the target object types are the same, then dividing the any two initial radar targets into the same radar target group.

3. The method according to claim 2, wherein the determining a radar target group including a plurality of the initial radar targets belonging to the same target object according to the target-related information of the initial radar targets further comprises: Determining the initial radar targets with a confidence level reaching a third preset value according to the confidence data of the initial radar targets; The judging whether the similarity between any two of the initial radar targets reaches the first preset value comprises: Judging whether the similarity between any two of the initial radar targets with a confidence level reaching the third preset value reaches the first preset value; The judging whether there is an overlapping area between any two of the initial radar targets, the driving speed difference is less than the second preset value, and the target object types are the same comprises: Judging whether there is an overlapping area between any two of the initial radar targets with a confidence level reaching the third preset value, the driving speed difference is less than the second preset value, and the target object types are the same.

4. The method according to claim 1, wherein the determining the initial radar target closest to the vehicle in the radar target group as the credible radar target required during the operation of the preset driving assistance function comprises: For any one of the initial radar targets in the radar target group, obtain the target distance value of the target type between the first preset position at the initial radar target and the second preset position at the vehicle; wherein, the target distance value includes at least one of a horizontal distance value, a vertical distance value, and a straight-line distance value. Determine, from the radar target group, the initial radar target corresponding to the minimum value of the target distance value, to obtain the reliable radar target required during the operation of the preset driving assistance function.

5. The method according to claim 4, wherein the obtaining the target distance value of the target type between the first preset position at the initial radar target and the second preset position at the vehicle includes: If the preset driving assistance function is an automatic emergency braking function or an adaptive cruise control function, obtain the first ordinate data of the first preset position at the initial radar target in a preset coordinate system, and the second ordinate data of the second preset position at the vehicle in the preset coordinate system; wherein, the vertical axis of the preset coordinate system is parallel to the longitudinal center line of the vehicle. Calculate the absolute value of the difference between the first ordinate data and the second ordinate data to obtain the vertical distance value between the first preset position and the second preset position.

6. The method according to claim 4, wherein the obtaining the target distance value of the target type between the first preset position at the initial radar target and the second preset position at the vehicle includes: If the preset driving assistance function is a door opening warning function, obtain the first abscissa data of the first preset position at the initial radar target in a preset coordinate system, and the second abscissa data of the second preset position at the vehicle in the preset coordinate system; wherein, the horizontal axis of the preset coordinate system is parallel to the transverse center line of the vehicle. Calculate the absolute value of the difference between the first abscissa data and the second abscissa data to obtain the horizontal distance value between the first preset position and the second preset position.

7. The method according to claim 5 or 6, wherein the obtaining the target distance value of the target type between the first preset position at the initial radar target and the second preset position at the vehicle further includes: Obtain the straight-line distance value between the first preset position at the initial radar target and the second preset position at the vehicle; wherein, the straight-line distance value is the square root of the sum of the square value of the horizontal distance value and the square value of the vertical distance value between the first preset position and the second preset position.

8. The method according to claim 1 further includes: For any one of the initial radar targets in the radar target group, obtain the preset distance value of the preset type between the first preset position at the initial radar target and the second preset position at the vehicle; wherein, the preset distance value includes any one of a horizontal distance value and a vertical distance value. Judge whether the absolute value of the difference between the preset distances corresponding to any two of the initial radar targets in the radar target group is less than or equal to a preset distance threshold, to obtain a third judgment result. Determining the initial radar target closest to the vehicle in the radar target group as the reliable radar target required during the operation of the preset driving assistance function includes: If the absolute value of the difference between the preset distances corresponding to any two initial radar targets in the radar target group is less than or equal to a preset distance threshold according to the third judgment result, then determine the initial radar target closest to the vehicle in the radar target group as the reliable radar target required during the operation of the preset driving assistance function.

9. According to the method described in claim 8, if the preset driving assistance function is an automatic emergency braking function or an adaptive cruise control function, the preset distance value is a vertical distance value, and the preset distance threshold includes: The maximum value of the length values of the regions where any two of the initial radar targets are located or a fourth preset value; If the preset driving assistance function is a door opening warning function, the preset distance value is a horizontal distance value, and the preset distance threshold includes: the maximum value of the width values of the regions where any two of the initial radar targets are located or a fifth preset value.

10. A computer program product, on which at least one instruction is stored, and when the at least one instruction is executed by a controller, the steps of the method according to any one of claims 1 to 9 are implemented.

11. An electronic device, comprising: A processor and a memory; wherein, the memory stores computer-readable instructions, and the computer-readable instructions are adapted to be loaded and executed by the processor to perform the steps of the method according to any one of claims 1 to 9.

12. The electronic device according to claim 11, wherein the electronic device comprises: At least one of a radar device and a domain controller.

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