Vehicle-mounted radar dynamic compensation method under maneuvering condition

Abstract

The invention belongs to the technical field of radar compensation, and particularly relates to a vehicle-mounted radar dynamic compensation method under a maneuvering condition, which solves the problem that the existing vehicle-mounted radar dynamic compensation method is poor in compensation effect, and comprises the following steps: carrying out motion monitoring on a moving object in a radar working monitoring period, and obtaining a first radar monitoring coefficient; obtaining moving object monitoring data; performing signal loss monitoring on the radar signal received by each radar signal monitoring point to obtain a second radar monitoring coefficient; acquiring a vehicle-mounted radar compensation evaluation coefficient to perform working mode switching on the target vehicle-mounted radar to obtain radar working mode switching data; and performing dynamic compensation on the target vehicle-mounted radar in the second radar working mode. According to the invention, the environmental pertinence and the recognition accuracy of the vehicle-mounted radar dynamic compensation method can be improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of radar compensation, and particularly relates to a dynamic compensation method for vehicle-mounted radar under mobile conditions. Background Art

[0002] When the existing vehicle-mounted radar monitors objects, the following specific defects exist:

[0003] 1. It is impossible to automatically enable the radar dynamic compensation method according to the signal attenuation situation of the vehicle-mounted radar in the current environment and the relative motion state of the dynamic objects in the environment, resulting in a lack of environmental pertinence in the process of the vehicle-mounted radar dynamic compensation method;

[0004] 2. The vehicle-mounted radar cannot be dynamically compensated by the method of visual image supplementation according to the vehicle-mounted radar dynamic compensation method, resulting in a lack of accuracy in the radar detection result.

[0005] Therefore, a dynamic compensation method for vehicle-mounted radar under mobile conditions needs to be proposed. Summary of the Invention

[0006] (I) Technical Problems to be Solved

[0007] The technical problem to be solved by the present invention is: how to provide a dynamic compensation method for vehicle-mounted radar under mobile conditions, aiming to improve the environmental pertinence and switching efficiency of the vehicle-mounted radar dynamic compensation method.

[0008] (II) Technical Solutions

[0009] To solve the above technical problems, the present invention provides a dynamic compensation method for vehicle-mounted radar under mobile conditions, and the dynamic compensation method includes:

[0010] Step S1: Obtain the radar working monitoring period and the radar effective monitoring area. During the radar working monitoring period, monitor the moving speed and the distance of the moving object for each moving object in the radar effective monitoring area, respectively obtain the monitoring peak speed-distance ratio, the monitoring average speed-distance ratio, and the regional moving object density value according to the monitoring results, analyze to obtain the first radar monitoring coefficient, and define the radar working monitoring period and the first radar monitoring coefficient as the moving object monitoring data;

[0011] Step S2: During the radar working monitoring period, mark a number of radar signal monitoring points on the surface of the moving object detected by the target vehicle-mounted radar in the radar effective monitoring area, respectively monitor the signal loss of the radar signal received by each radar signal monitoring point to obtain a plurality of radar path loss deviations, and comprehensively analyze the plurality of radar path loss deviations to obtain the second radar monitoring coefficient;

[0012] Step S3: Obtain the vehicle-mounted radar compensation evaluation coefficient by analyzing the first radar monitoring coefficient and the second radar monitoring coefficient, obtain the threshold value of the vehicle-mounted radar compensation evaluation coefficient, compare it numerically with the vehicle-mounted radar compensation evaluation coefficient, and automatically switch the target vehicle-mounted radar to the first radar working mode and the second radar working mode according to the numerical comparison result to obtain the radar working mode switching data;

[0013] Step S4: Perform dynamic compensation on the target vehicle-mounted radar in the second radar working mode according to the radar working mode switching data.

[0014] Among them, in the said step S1, it specifically includes the following steps:

[0015] Step S11: During the process of the target vehicle-mounted radar working under maneuvering conditions, mark the time point corresponding to the current moment as the cycle end time point, mark a cycle start time point in the time period before the current moment, and name the time period between the cycle start time point and the cycle end time point as the radar working monitoring cycle;

[0016] Step S12: Mark the vehicle equipped with the target vehicle-mounted radar as the feature monitoring vehicle, obtain the effective monitoring distance of the target vehicle-mounted radar to get the radar effective monitoring distance, draw a monitoring feature circle with the target vehicle-mounted radar as the center and the radar effective monitoring distance as the radius, mark the space area covered by the monitoring feature circle as the radar effective monitoring area, and obtain the area of the radar effective monitoring area to get the radar monitoring area area value;

[0017] Step S13: Mark each moving object within the radar effective monitoring area of the target vehicle-mounted radar, count the number of the marked moving objects to get the regional moving object quantity value, calculate the ratio of the regional moving object quantity value to the radar monitoring area area value to get the regional moving object density value;

[0018] Step S14: Mark several moving objects within the radar effective monitoring area with numbers t1 to ty respectively to obtain the t1 moving object to the ty moving object;

[0019] Step S15: Obtain the first radar monitoring coefficient;

[0020] Step S16: Define the radar working monitoring cycle and the first radar monitoring coefficient as the moving object monitoring data.

[0021] Among them, in the said step S15, it specifically includes the following steps:

[0022] Step S151: Monitor the speed of the t1 moving object to obtain the t1 object moving speed value;

[0023] Step S152: Obtain the object moving speed values of the object moving from the t2 moving object to the ty moving object respectively, to obtain the object moving speed values from the t2 object to the ty object;

[0024] Step S153: Monitor the distance of the t1 moving object to obtain the t1 object approaching distance value;

[0025] Step S154: Obtain the object approaching distance values of the object moving from the t2 moving object to the ty moving object respectively, to obtain the object approaching distance values from the t2 object to the ty object;

[0026] Step S155: Calculate the ratio of the t1 object moving speed value to the t1 object approaching distance value to obtain the speed - distance ratio corresponding to the t1 moving object, and name it the t1 speed - distance ratio. Obtain the speed - distance ratios corresponding to the t2 moving object to the ty moving object respectively, to obtain the t2 speed - distance ratio to the ty speed - distance ratio;

[0027] Step S156: Compare the numerical magnitudes of the t1 speed - distance ratio to the ty speed - distance ratio, and name the speed - distance ratio with the largest value the monitored peak speed - distance ratio;

[0028] Step S157: Calculate the average value of the t1 speed - distance ratio to the ty speed - distance ratio to obtain the monitored average speed - distance ratio;

[0029] Step S158: Calculate the first radar monitoring coefficient through the monitored peak speed - distance ratio, the monitored average speed - distance ratio, and the regional moving object density value;

[0030] Calculate the first radar monitoring coefficient, and the specific formula is as follows:

[0031] Ldj1 = Sjf 2 + Sjp 2 + Qwp;

[0032] Among them, Ldj1 is the first radar monitoring coefficient, Sjf is the monitored peak speed - distance ratio, Sjp is the monitored average speed - distance ratio, and Qwp is the regional moving object density value;

[0033] Among them, in the said step S151, it specifically includes the following steps:

[0034] Step S1511: Obtain the signal frequency value of the target vehicle - mounted radar transmitting a signal to the t1 moving object to obtain the first signal frequency value, and obtain the radar signal frequency value reflected back by the t1 moving object to obtain the second signal frequency value;

[0035] Step S1512: Calculate the object moving speed value corresponding to the t1 moving object from the first signal frequency value and the second signal frequency value, and name it the t1 object moving speed value;

[0036] Calculate the object moving speed value, and the specific formula is as follows:

[0037]

[0038] Among them, Vys is the object moving speed value corresponding to the t1 moving object, Fx1 is the first signal frequency value, Fx2 is the second signal frequency value, and c is the speed of light.

[0039] Among them, in the step S153, it specifically includes the following steps:

[0040] Step S1531: When the t1 moving object is within the effective monitoring area of the radar, the target vehicle-mounted radar continuously emits several groups of radar signals to the t1 moving object, and obtains multiple radar signal groups;

[0041] Step S1532: Randomly select a radar signal group from the multiple emitted radar signal groups as the characteristic radar signal group;

[0042] Step S1533: Decompose the characteristic radar signal group into a radar emission signal and a radar reception signal, mark the time point when the transmitting radar emits the signal as the first signal characteristic time point, and mark the time point when the receiving radar receives the signal as the second signal characteristic time point;

[0043] Step S1534: Calculate the object distance value corresponding to the characteristic radar signal group from the first signal characteristic time point and the second signal characteristic time point;

[0044] Calculate the object distance value corresponding to the characteristic radar signal group, and the specific formula is as follows:

[0045]

[0046] Among them, Dtz is the object distance value corresponding to the characteristic radar signal group, Sd1 is the specific time value corresponding to the first signal characteristic time point, and Sd2 is the specific time value corresponding to the second signal characteristic time point;

[0047] Step S1535: Obtain the object distance values corresponding to each radar signal group respectively, obtain multiple object distance values, compare the numerical sizes of the obtained multiple object distance values, and name the object distance value with the smallest numerical value as the t1 object approaching distance value.

[0048] Among them, in the step S2, it specifically includes the following steps:

[0049] Step S21: During the radar working monitoring period, mark several radar signal monitoring points on the surface of the object detected by the target vehicle-mounted radar, and select a characteristic radar signal monitoring point from the marked several radar signal monitoring points;

[0050] Step S22: Obtain the radar path loss deviation corresponding to the characteristic radar signal monitoring point;

[0051] Step S23: Calculate the radar path loss deviation corresponding to each radar signal monitoring point respectively to obtain multiple radar path loss deviations, and calculate the average of the obtained multiple radar path loss deviations to obtain the second radar monitoring coefficient.

[0052] Among them, in the step S22, the following specific steps are included:

[0053] Step S221: Name the radar signal emitted by the target vehicle-mounted radar to the characteristic radar signal monitoring point as the first radar signal, and name the radar signal received by the target vehicle-mounted radar after being reflected by the characteristic radar signal monitoring point as the second radar signal;

[0054] Step S222: Mark the time value when the target vehicle-mounted radar emits the first radar signal as the first time value, and mark the time value when the target vehicle-mounted radar receives the second radar signal as the second time value;

[0055] Step S223: Calculate the distance value between the target vehicle-mounted radar and the characteristic radar signal monitoring point through the first time value and the second time value, and name it the characteristic radar distance value;

[0056] Calculate the characteristic radar distance value, and the specific formula is as follows:

[0057]

[0058] Among them, Tzj is the characteristic radar distance value, Sz1 is the first time value, and Sz2 is the second time value;

[0059] Step S224: Obtain the transmission power of the first radar signal to get the first signal power value, and obtain the received power of the second radar signal to get the second signal power value;

[0060] Step S225: Calculate the radar path loss corresponding to the characteristic radar signal monitoring point through the first signal frequency value, the second signal frequency value and the characteristic radar distance value;

[0061] Calculate the radar path loss corresponding to the characteristic radar signal monitoring point, and the specific formula is as follows:

[0062]

[0063] Among them, Ljs is the radar path loss corresponding to the characteristic radar signal monitoring point, Tzj is the characteristic radar distance value, Pl1 is the first signal frequency value, Pl2 is the second signal frequency value, and c is the speed of light;

[0064] Step S226: Obtain the reference radar path loss corresponding to the characteristic radar signal monitoring point, and perform a numerical comparison between the radar path loss and the reference radar path loss;

[0065] Step S227: When the radar path loss is greater than the reference radar path loss, calculate the difference between the radar path loss and the reference radar path loss, and take the absolute value of the obtained difference to obtain the radar path loss deviation corresponding to the characteristic radar signal monitoring point;

[0066] Step S228: When the radar path loss is less than or equal to the reference radar path loss, assign the value 0 to the radar path loss deviation as a parameter.

[0067] Among them, in the said step S3, it specifically includes the following steps:

[0068] Step S31: Obtain the first radar monitoring coefficient and the second radar monitoring coefficient;

[0069] Step S32: Calculate the vehicle-mounted radar compensation evaluation coefficient from the first radar monitoring coefficient and the second radar monitoring coefficient;

[0070] Calculate the vehicle-mounted radar compensation evaluation coefficient, and the specific formula is as follows:

[0071] Bcg = Ldj1 + Ldj2 2 ;

[0072] Among them, Bcg is the vehicle-mounted radar compensation evaluation coefficient, Ldj1 is the first radar monitoring coefficient, and Ldj2 is the second radar monitoring coefficient;

[0073] Step S33: Obtain the vehicle-mounted radar compensation evaluation coefficient threshold and perform a numerical comparison with the vehicle-mounted radar compensation evaluation coefficient. According to the result of the numerical comparison, switch the target vehicle-mounted radar to the first radar working mode and the second radar working mode to obtain the radar working mode switching data.

[0074] Among them, in the said step S33, it specifically includes the following steps:

[0075] Step S331: Obtain the first radar monitoring coefficient threshold and the second radar monitoring coefficient threshold respectively, and calculate the vehicle-mounted radar compensation evaluation coefficient threshold from the first radar monitoring coefficient threshold and the second radar monitoring coefficient threshold to obtain the radar working mode switching data;

[0076] Calculate the compensation evaluation coefficient threshold of the vehicle-mounted radar. The specific formula is as follows:

[0077] Bcgy = Ldjy1 + Ldjy2 2 ;

[0078] Among them, Bcgy is the compensation evaluation coefficient threshold of the vehicle-mounted radar, Ldjy1 is the first radar monitoring coefficient threshold, and Ldjy2 is the second radar monitoring coefficient threshold; among them, obtain the historical work records corresponding to the target vehicle-mounted radar, and obtain the historical time periods when the target vehicle-mounted radar is in the second radar working mode according to the historical work records, obtaining multiple radar historical work time periods. Respectively obtain the first radar monitoring coefficients corresponding to each radar historical work time period, and perform numerical comparison on the obtained multiple first radar monitoring coefficients. Mark the first radar monitoring coefficient with the largest value as the first radar monitoring coefficient threshold. Respectively obtain the second radar monitoring coefficients corresponding to each radar historical work time period, and perform numerical comparison on the obtained multiple second radar monitoring coefficients. Mark the second radar monitoring coefficient with the largest value as the second radar monitoring coefficient threshold;

[0079] Step S332: When the vehicle-mounted radar compensation evaluation coefficient is greater than or equal to the vehicle-mounted radar compensation evaluation coefficient threshold, automatically switch the target vehicle-mounted radar to the first radar working mode; the first radar working mode is the working mode in which the target vehicle-mounted radar does not need to turn on visual dynamic compensation;

[0080] Step S333: When the vehicle-mounted radar compensation evaluation coefficient is less than the vehicle-mounted radar compensation evaluation coefficient threshold, automatically switch the target vehicle-mounted radar to the second radar working mode; the target vehicle-mounted radar needs to turn on the visual dynamic compensation working mode.

[0081] Among them, in step S4, the following specific steps are further included:

[0082] Step S41: Obtain the radar working mode switching data;

[0083] Step S42: If the radar working monitoring period is in the first radar working mode, the target vehicle-mounted radar works normally;

[0084] Step S43: If the radar working monitoring period is in the second radar working mode, perform visual dynamic compensation on the target vehicle-mounted radar;

[0085] In step S43, the following specific steps are further included:

[0086] Step S431: Obtain the radar detection image of the radar effective monitoring area by the target vehicle-mounted radar, mark the real-time moving objects in the radar detection image to obtain multiple radar detection target objects, and count the number of multiple radar detection target objects to obtain the radar detection object quantity value;

[0087] Step S432: Respectively obtain the real-time video stream images of multiple radar effective monitoring areas through the image acquisition device, mark the moving objects in each real-time video stream image through the image recognition algorithm to obtain multiple image detection target objects, and count the number of multiple image detection target objects to obtain the image detection object quantity value;

[0088] Step S433: If the radar detection object quantity value is less than the image detection object quantity value, name the objects not detected by the target vehicle-mounted radar as image compensation objects, and obtain the object image compensation data to compensate the radar detection image;

[0089] Step S434: If the radar detection object quantity value is greater than or equal to the image detection object quantity value, do not compensate the target vehicle-mounted radar.

[0090] Among them, in the said step S433, it specifically includes the following steps:

[0091] Step S4331: Mark the position feature points of the target vehicle-mounted radar, draw a straight line parallel to the body of the feature monitoring vehicle through the position feature points to obtain the first position feature line, and draw a straight line perpendicular to the first position feature line through the position feature points to obtain the second position feature line;

[0092] Step S4332: Combine multiple real-time video stream images into a monitoring area plan view. In the monitoring area plan view, mark the position feature points as the coordinate origin, the first position feature line as the coordinate y-axis, and the first position feature line as the coordinate x-axis to obtain the monitoring area plane rectangular coordinate system;

[0093] Step S4333: In the monitoring area plane rectangular coordinate system, mark each image compensation object, and select a sample image compensation object from the multiple marked image compensation objects;

[0094] Step S4334: During the process of monitoring the sample image compensation object, mark the first compensation monitoring time point and the second compensation monitoring time point respectively, and obtain the time interval between the first compensation monitoring time point and the second compensation monitoring time point to obtain the characteristic compensation time difference;

[0095] Step S4335: In the plane rectangular coordinate system of the monitoring area, obtain the position coordinates of the sample image compensation object corresponding to the first compensation monitoring time point to obtain the first compensation coordinates, and obtain the position coordinates of the sample image compensation object corresponding to the second compensation monitoring time point to obtain the second compensation coordinates;

[0096] Step S4336: Calculate the real-time motion speed of the sample image compensation object through the first compensation coordinates, the second compensation coordinates, and the characteristic compensation time difference;

[0097] The calculation of the real-time motion speed is as follows:

[0098]

[0099] Among them, Syd is the real-time motion speed of the sample image compensation object, (x i1 , y i1 ) are the first compensation coordinates, (x i2 , y i2 ) are the second compensation coordinates, and Bcc is the characteristic compensation time difference;

[0100] Step S4337: Name the second compensation coordinates as the real-time position coordinates of the sample image compensation object;

[0101] Step S4338: Calculate the real-time distance value of the sample image compensation object through the second compensation coordinates and the origin coordinates;

[0102] The calculation of the real-time distance value is as follows:

[0103]

[0104] Among them, Szj is the real-time distance value, (x i2 , y i2 ) are the second compensation coordinates, and (0, 0) are the origin coordinates;

[0105] Step S4339: Obtain the real-time motion speed, real-time position coordinates, and real-time distance value corresponding to each image compensation object respectively to obtain the object image compensation data. <�

[0106] (III) Beneficial Effects

[0107] Compared with the prior art, the beneficial effects of the present invention are:

[0108] (1) During the radar working monitoring period, the present invention monitors the moving speed and the distance of moving objects of each moving object in the effective monitoring area of the radar, and respectively obtains the monitoring peak speed-distance ratio, the monitoring average speed-distance ratio and the density value of regional moving objects according to the monitoring results. Further analysis is carried out to obtain the first radar monitoring coefficient, and the dynamic switching of the compensation method of the vehicle-mounted radar is carried out according to the first radar monitoring coefficient, which can improve the environmental pertinence of the radar dynamic compensation method.

[0109] (2) During the radar working monitoring period, the present invention marks several radar signal monitoring points on the surface of the object detected by the target vehicle-mounted radar, monitors the signal loss of the radar signals received by each radar signal monitoring point respectively, obtains a plurality of radar path loss deviations, and comprehensively analyzes the plurality of radar path loss deviations to obtain the second radar monitoring coefficient. The dynamic switching of the compensation method of the vehicle-mounted radar is carried out according to the second radar monitoring coefficient, so that the radar dynamic compensation method can more accurately identify the signal attenuation situation under specific environments and conditions, thereby realizing more accurate compensation and improving the driving safety of motor vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0110] Figure 1 is a diagram of the implementation steps of the present invention;

[0111] Figure 2 is a schematic diagram of the effective monitoring area of the radar of the present invention;

[0112] Figure 3 is a schematic diagram of the plane rectangular coordinate system of the monitoring area of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0113] In order to make the objectives, contents and advantages of the present invention clearer, the following further describes in detail the specific implementation manners of the present invention with reference to the drawings and embodiments.

[0114] Embodiment 1

[0115] Please refer to Figure 1 , the present invention provides a technical solution: a dynamic compensation method for vehicle-mounted radar under mobile conditions, including the following specific steps:

[0116] Step S1: Obtain the radar working monitoring period and the effective monitoring area of the radar. During the radar working monitoring period, monitor the moving speed and the distance of moving objects of each moving object in the effective monitoring area of the radar, and respectively obtain the monitoring peak speed-distance ratio, the monitoring average speed-distance ratio and the density value of regional moving objects according to the monitoring results. Further analysis is carried out to obtain the first radar monitoring coefficient, and the radar working monitoring period and the first radar monitoring coefficient are defined as the moving object monitoring data.

[0117] In step S1, the following specific steps are further included:

[0118] Step S11: When the target vehicle-mounted radar works under maneuvering conditions, mark the time point corresponding to the current moment as the cycle end time point, mark a cycle start time point in the time period before the current moment, and name the time period between the cycle start time point and the cycle end time point as the radar working monitoring cycle;

[0119] It should be noted here that:

[0120] In this application, as the time point corresponding to the current moment changes, the cycle start time point and the cycle end time point also change accordingly, so as to realize the dynamic update of the radar working monitoring cycle.

[0121] In this application, the target vehicle-mounted radar involved here is the vehicle-mounted radar that needs to be dynamically compensated.

[0122] In this application, the target vehicle-mounted radar involved is specifically a millimeter-wave radar.

[0123] Step S12: Please refer to Figure 2 , mark the vehicle equipped with the target vehicle-mounted radar as the feature monitoring vehicle, obtain the effective monitoring distance of the target vehicle-mounted radar to get the radar effective monitoring distance, make a monitoring feature circle with the target vehicle-mounted radar as the center and the radar effective monitoring distance as the radius, mark the spatial area covered by the monitoring feature circle as the radar effective monitoring area, and obtain the area of the radar effective monitoring area to get the radar monitoring area area value.

[0124] Calculate the radar monitoring area area value, and the specific formula is as follows:

[0125] Sjc = π × Rjl 2 ;

[0126] Wherein, Sjc is the radar monitoring area area value, and Rjl is the radar effective monitoring distance;

[0127] Step S13: Mark each moving object in the radar effective monitoring area through the target vehicle-mounted radar, count the number of the marked moving objects to get the regional moving object quantity value, and calculate the ratio of the regional moving object quantity value to the radar monitoring area area value to get the regional moving object density value;

[0128] Step S14: Mark several moving objects in the radar effective monitoring area with numbers t1 to ty respectively to obtain the t1 moving object to the ty moving object;

[0129] It should be noted here that:

[0130] In this application, the character t is the identification symbol corresponding to the moving object, y is the numerical value of the number of moving objects within the effective monitoring area of the radar, and y is an integer greater than 0;

[0131] In this application, the moving objects involved herein specifically include vehicles and pedestrians.

[0132] Step S15: Obtain the first radar monitoring coefficient;

[0133] In the said step S15, the following specific steps are further included:

[0134] Step S151: Monitor the speed of the t1 moving object to obtain the numerical value of the moving speed of the t1 object;

[0135] In the said step S151, the following specific steps are further included:

[0136] Step S1511: Obtain the signal frequency numerical value of the signal emitted by the target vehicle-mounted radar to the t1 moving object to obtain the first signal frequency numerical value, and obtain the radar signal frequency numerical value reflected by the t1 moving object to obtain the second signal frequency numerical value;

[0137] Step S1512: Calculate the numerical value of the moving speed of the object corresponding to the t1 moving object from the first signal frequency numerical value and the second signal frequency numerical value, and name it the numerical value of the moving speed of the t1 object;

[0138] Calculate the numerical value of the moving speed of the object, and the specific formula is as follows:

[0139]

[0140] Among them, Vys is the numerical value of the moving speed of the object corresponding to the t1 moving object, Fx1 is the first signal frequency numerical value, Fx2 is the second signal frequency numerical value, and c is the speed of light;

[0141] It should be noted here that:

[0142] In this application, the speed of light involved herein is specifically limited to 3×10 8 m / s;

[0143] Step S152: Obtain the numerical values of the moving speeds of the objects of the t2 moving object to the ty moving object respectively to obtain the numerical values of the moving speeds of the t2 object to the ty object;

[0144] Step S153: Monitor the distance of the t1 moving object to obtain the numerical value of the approaching distance of the t1 object;

[0145] In the said step S153, the following specific steps are further included:

[0146] Step S1531: When the t1 moving object is within the effective monitoring area of the radar, the target vehicle-mounted radar continuously emits several groups of radar signals towards the t1 moving object, obtaining multiple groups of radar signals;

[0147] Step S1532: Randomly select one group of radar signals from the multiple groups of emitted radar signals as the characteristic radar signal group;

[0148] It should be noted here that:

[0149] In this application, the radar signal group involved here includes the radar emission signal for the t1 moving object and the radar reception signal reflected by the t1 moving object;

[0150] Step S1533: Decompose the characteristic radar signal group into the radar emission signal and the radar reception signal, mark the time point when the radar emission signal is emitted as the first signal characteristic time point, and mark the time point when the radar reception signal is received as the second signal characteristic time point;

[0151] Step S1534: Calculate the object distance value corresponding to the characteristic radar signal group from the first signal characteristic time point and the second signal characteristic time point;

[0152] Calculate the object distance value corresponding to the characteristic radar signal group, and the specific formula is as follows:

[0153]

[0154] Where Dtz is the object distance value corresponding to the characteristic radar signal group, Sd1 is the specific time value corresponding to the first signal characteristic time point, and Sd2 is the specific time value corresponding to the second signal characteristic time point;

[0155] It should be noted here that:

[0156] In this application, when monitoring the distance of the moving object, the object distance value generated by the time difference between the radar signal reflected by the moving object and the target vehicle-mounted radar receiving the reflected radar signal is a measurement error here and can be ignored;

[0157] Step S1535: Obtain the object distance value corresponding to each group of radar signals respectively, obtaining multiple object distance values, and compare the magnitudes of the obtained multiple object distance values, and name the object distance value with the smallest value as the t1 object approach distance value;

[0158] Step S154: Obtain the object approach distance values from the t2 moving object to the ty moving object respectively, obtaining the t2 object approach distance value to the ty object approach distance value;

[0159] Step S155: Calculate the ratio of the moving speed value of object t1 to the approaching distance value of object t1 to obtain the speed-distance ratio corresponding to the moving object t1, and name it the t1 speed-distance ratio. Obtain the speed-distance ratios corresponding to the moving objects from t2 to ty respectively, to get the t2 speed-distance ratio to the ty speed-distance ratio;

[0160] Step S156: Compare the numerical sizes of the t1 speed-distance ratio to the ty speed-distance ratio, and name the speed-distance ratio with the largest numerical value the monitored peak speed-distance ratio;

[0161] Step S157: Calculate the average value of the t1 speed-distance ratio to the ty speed-distance ratio to obtain the monitored average speed-distance ratio;

[0162] Step S158: Obtain the first radar monitoring coefficient through the calculation of the monitored peak speed-distance ratio, the monitored average speed-distance ratio, and the regional moving object density value;

[0163] Calculate the first radar monitoring coefficient, and the specific formula is as follows:

[0164] Ldj1 = Sjf 2 + Sjp 2 + Qwp;

[0165] Among them, Ldj1 is the first radar monitoring coefficient, Sjf is the monitored peak speed-distance ratio, Sjp is the monitored average speed-distance ratio, and Qwp is the regional moving object density value.

[0166] Step S16: Define the radar working monitoring period and the first radar monitoring coefficient as the moving object monitoring data;

[0167] Step S2: Monitor the signal attenuation of the target vehicle-mounted radar during the radar working monitoring period to obtain the second radar monitoring coefficient;

[0168] In the said step S2, it further includes the following specific steps:

[0169] Step S21: Obtain the moving object monitoring data, and obtain the radar working monitoring period according to the moving object monitoring data;

[0170] Step S22: During the radar working monitoring period, mark several radar signal monitoring points on the surface of the object detected by the target vehicle-mounted radar, and select a characteristic radar signal monitoring point from the marked several radar signal monitoring points;

[0171] Step S23: Obtain the radar path loss deviation corresponding to the characteristic radar signal monitoring point;

[0172] In the said step S23, it further includes the following specific steps:

[0173] Step S231: Name the radar signal transmitted by the target vehicle-mounted radar to the characteristic radar signal monitoring point as the first radar signal, and name the radar signal received by the target vehicle-mounted radar after being reflected by the characteristic radar signal monitoring point as the second radar signal;

[0174] It should be noted here that:

[0175] The first radar signal and the second radar signal involved here are the same set of radar signals.

[0176] Step S232: Mark the time value when the target vehicle-mounted radar transmits the first radar signal as the first time value, and mark the time value when the target vehicle-mounted radar receives the second radar signal as the second time value;

[0177] Step S233: Calculate the distance value between the target vehicle-mounted radar and the characteristic radar signal monitoring point through the first time value and the second time value, and name it the characteristic radar distance value;

[0178] Calculate the characteristic radar distance value, and the specific formula is as follows:

[0179]

[0180] Among them, Tzj is the characteristic radar distance value, Sz1 is the first time value, and Sz2 is the second time value;

[0181] Step S234: Obtain the transmission power of the first radar signal to get the first signal power value, and obtain the received power of the second radar signal to get the second signal power value;

[0182] Step S235: Calculate the radar path loss corresponding to the characteristic radar signal monitoring point through the first signal frequency value, the second signal frequency value, and the characteristic radar distance value;

[0183] Calculate the radar path loss corresponding to the characteristic radar signal monitoring point, and the specific formula is as follows:

[0184]

[0185] Among them, Ljs is the radar path loss corresponding to the characteristic radar signal monitoring point, Tzj is the characteristic radar distance value, Pl1 is the first signal frequency value, Pl2 is the second signal frequency value, and c is the speed of light;

[0186] Step S236: Obtain the reference radar path loss corresponding to the characteristic radar signal monitoring point, and compare the numerical values of the radar path loss and the reference radar path loss;

[0187] It should be noted here that:

[0188] In this application, the reference radar path loss involved here needs to be specifically set according to the characteristic radar distance value and the radar signal transmission frequency.

[0189] Step S237: When the radar path loss is greater than the reference radar path loss, calculate the difference between the radar path loss and the reference radar path loss, and take the absolute value of the obtained difference to obtain the radar path loss deviation corresponding to the characteristic radar signal monitoring point;

[0190] Step S238: When the radar path loss is less than or equal to the reference radar path loss, assign the value 0 to the radar path loss deviation as a parameter;

[0191] Step S24: Calculate the radar path loss deviation corresponding to each radar signal monitoring point respectively, obtain multiple radar path loss deviations, and calculate the average of the obtained multiple radar path loss deviations to obtain the second radar monitoring coefficient.

[0192] Step S3: Obtain the vehicle-mounted radar compensation evaluation coefficient by analyzing the first radar monitoring coefficient and the second radar monitoring coefficient, compare the vehicle-mounted radar compensation evaluation coefficient threshold with the vehicle-mounted radar compensation evaluation coefficient numerically, and automatically switch the target vehicle-mounted radar to the first radar working mode and the second radar working mode according to the numerical comparison result to obtain the radar working mode switching data;

[0193] In the said step S3, the following specific steps are further included:

[0194] Step S31: Obtain the first radar monitoring coefficient and the second radar monitoring coefficient;

[0195] Step S32: Calculate the vehicle-mounted radar compensation evaluation coefficient from the first radar monitoring coefficient and the second radar monitoring coefficient;

[0196] Calculate the vehicle-mounted radar compensation evaluation coefficient, and the specific formula is as follows:

[0197] Bcg = Ldj1 + Ldj2 2 ;

[0198] Where, Bcg is the vehicle-mounted radar compensation evaluation coefficient, Ldj1 is the first radar monitoring coefficient, and Ldj2 is the second radar monitoring coefficient;

[0199] Step S33: Obtain the vehicle-mounted radar compensation evaluation coefficient threshold and compare it numerically with the vehicle-mounted radar compensation evaluation coefficient, and switch the target vehicle-mounted radar to the first radar working mode and the second radar working mode according to the numerical comparison result to obtain the radar working mode switching data.

[0200] In the said step S33, the following specific steps are further included:

[0201] Step S331: Obtain the first radar monitoring coefficient threshold and the second radar monitoring coefficient threshold respectively, and calculate the vehicle-mounted radar compensation evaluation coefficient threshold from the first radar monitoring coefficient threshold and the second radar monitoring coefficient threshold to obtain radar working mode switching data;

[0202] It should be noted here that:

[0203] In this application, the specific second radar working mode involved here is the working mode in which the target vehicle-mounted radar needs to turn on visual dynamic compensation, and the specific first radar working mode involved here is the working mode in which the target vehicle-mounted radar does not need to turn on visual dynamic compensation;

[0204] In this application, obtain the historical working records corresponding to the target vehicle-mounted radar, obtain the historical time periods when the target vehicle-mounted radar is in the second radar working mode according to the historical working records, obtain multiple radar historical working time periods, obtain the first radar monitoring coefficients corresponding to each radar historical working time period respectively, compare the values of the obtained multiple first radar monitoring coefficients, mark the first radar monitoring coefficient with the largest value as the first radar monitoring coefficient threshold, obtain the second radar monitoring coefficients corresponding to each radar historical working time period respectively, compare the values of the obtained multiple second radar monitoring coefficients, and mark the second radar monitoring coefficient with the largest value as the second radar monitoring coefficient threshold;

[0205] Calculate the vehicle-mounted radar compensation evaluation coefficient threshold, and the specific formula is as follows:

[0206] Bcgy = Ldjy1 + Ldjy2 2 ;

[0207] Where, Bcgy is the vehicle-mounted radar compensation evaluation coefficient threshold, Ldjy1 is the first radar monitoring coefficient threshold, and Ldjy2 is the second radar monitoring coefficient threshold;

[0208] Step S332: When the vehicle-mounted radar compensation evaluation coefficient is greater than or equal to the vehicle-mounted radar compensation evaluation coefficient threshold, automatically switch the target vehicle-mounted radar to the first radar working mode;

[0209] Step S333: When the vehicle-mounted radar compensation evaluation coefficient is less than the vehicle-mounted radar compensation evaluation coefficient threshold, automatically switch the target vehicle-mounted radar to the second radar working mode.

[0210] Step S4: Perform dynamic compensation on the target vehicle-mounted radar in the second radar working mode according to the radar working mode switching data;

[0211] In the said step S4, the following specific steps are further included:

[0212] Step S41: Obtain the radar working mode switching data;

[0213] Step S42: If the radar working monitoring period is in the first radar working mode, the target vehicle-mounted radar works normally;

[0214] Step S43: If the radar working monitoring period is in the second radar working mode, perform visual dynamic compensation on the target vehicle-mounted radar;

[0215] In the said step S43, it further includes the following specific steps:

[0216] Step S431: Obtain the radar detection image of the radar effective monitoring area by the target vehicle-mounted radar, mark the real-time moving objects in the radar detection image to obtain multiple radar detection target objects, and count the number of multiple radar detection target objects to obtain the radar detection object quantity value;

[0217] It should be noted here that:

[0218] In this application, the radar detection image involved here is specifically the image representation of the radar information obtained by the target vehicle-mounted radar;

[0219] Step S432: Respectively obtain the real-time video stream images of multiple radar effective monitoring areas through the image acquisition device, mark the moving objects in each real-time video stream image through the image recognition algorithm to obtain multiple image detection target objects, and count the number of multiple image detection target objects to obtain the image detection object quantity value;

[0220] It should be noted here that:

[0221] In this application, the image acquisition positions corresponding to each real-time video stream image involved here are all different.

[0222] Step S433: If the radar detection object quantity value is less than the image detection object quantity value, name the objects not detected by the target vehicle-mounted radar as image compensation objects, and obtain the object image compensation data to compensate the radar detection image.

[0223] In the said step S433, it further includes the following specific steps:

[0224] Step S4331: Mark the position feature points of the target vehicle-mounted radar, draw a straight line parallel to the body of the feature monitoring vehicle through the position feature points to obtain the first position feature line, and draw a straight line perpendicular to the first position feature line through the position feature points to obtain the second position feature line;

[0225] Step S4332: Please refer to Figure 3, combine multiple real-time video stream images into a floor plan of the monitoring area. In the floor plan of the monitoring area, mark the position feature point as the coordinate origin, the first position feature line as the coordinate y-axis, and the first position feature line as the coordinate x-axis to obtain a rectangular coordinate system of the monitoring area plane;

[0226] Step S4333: In the rectangular coordinate system of the monitoring area plane, mark each image compensation object and select a sample image compensation object from the multiple marked image compensation objects;

[0227] Step S4334: During the monitoring process of the sample image compensation object, mark the first compensation monitoring time point and the second compensation monitoring time point respectively, and obtain the time interval between the first compensation monitoring time point and the second compensation monitoring time point to get the characteristic compensation time difference;

[0228] Step S4335: In the rectangular coordinate system of the monitoring area plane, obtain the position coordinates corresponding to the sample image compensation object at the first compensation monitoring time point to get the first compensation coordinate, and obtain the position coordinates corresponding to the sample image compensation object at the second compensation monitoring time point to get the second compensation coordinate;

[0229] Step S4336: Calculate the real-time movement speed corresponding to the sample image compensation object through the first compensation coordinate, the second compensation coordinate, and the characteristic compensation time difference;

[0230] Calculate the real-time movement speed as follows:

[0231]

[0232] Among them, Syd is the real-time movement speed corresponding to the sample image compensation object, (x i1 , y i1 ) is the first compensation coordinate, (x i2 , y i2 ) is the second compensation coordinate, and Bcc is the characteristic compensation time difference;

[0233] Step S4337: Name the second compensation coordinate as the real-time position coordinate corresponding to the sample image compensation object;

[0234] Step S4338: Calculate the real-time distance value corresponding to the sample image compensation object by calculating the second compensation coordinate and the origin coordinate;

[0235] Calculate the real-time distance value as follows:

[0236]

[0237] Among them, Szj is the real-time distance value, (x i2 , yi2 ) is the second compensation coordinate, and (0, 0) is the origin coordinate;

[0238] Step S4339: Obtain the real-time motion speed, real-time position coordinates, and real-time distance values corresponding to each image compensation object respectively to obtain object image compensation data;

[0239] Step S434: If the number value of the radar-detected objects is greater than or equal to the number value of the image-detected objects, no compensation is performed on the target vehicle-mounted radar.

[0240] In this application, if there are corresponding calculation formulas, the above calculation formulas are all dimensionless and take their numerical values for calculation. The weight coefficients, proportionality coefficients, and other coefficients in the formulas are set to obtain a result value by quantifying each parameter. Regarding the magnitudes of the weight coefficients and proportionality coefficients, as long as the proportional relationship between the parameters and the result value is not affected.

[0241] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A dynamic compensation method for in-vehicle radar under mobile conditions, characterized in that, The dynamic compensation method includes: Step S1: Obtain the radar working monitoring period and the radar effective monitoring area. During the radar working monitoring period, monitor the moving speed and the distance of the moving object for each moving object in the radar effective monitoring area, and respectively obtain the monitoring peak speed-distance ratio, the monitoring average speed-distance ratio, and the regional moving object density value according to the monitoring results. Analyze to obtain the first radar monitoring coefficient, and define the radar working monitoring period and the first radar monitoring coefficient as the moving object monitoring data; Step S2: During the radar working monitoring period, mark a number of radar signal monitoring points on the surface of the moving object detected by the target vehicle-mounted radar in the radar effective monitoring area, and respectively monitor the signal loss of the radar signals received by each radar signal monitoring point to obtain a plurality of radar path loss deviations, and comprehensively analyze the plurality of radar path loss deviations to obtain the second radar monitoring coefficient; Step S3: Obtain the vehicle-mounted radar compensation evaluation coefficient by analyzing the first radar monitoring coefficient and the second radar monitoring coefficient, obtain the vehicle-mounted radar compensation evaluation coefficient threshold and compare it with the vehicle-mounted radar compensation evaluation coefficient numerically. According to the numerical comparison result, automatically switch the target vehicle-mounted radar to the first radar working mode and the second radar working mode to obtain the radar working mode switching data; Step S4: Perform dynamic compensation on the target vehicle-mounted radar in the second radar working mode according to the radar working mode switching data.

2. The vehicle-mounted radar dynamic compensation method under motorized conditions according to claim 1, wherein In the said step S1, it specifically includes the following steps: Step S11: During the process of the target vehicle-mounted radar working under maneuvering conditions, mark the time point corresponding to the current moment as the cycle end time point, mark a cycle start time point in the time period before the current moment, and name the time period between the cycle start time point and the cycle end time point as the radar working monitoring period; Step S12: Mark the vehicle equipped with the target vehicle-mounted radar as the feature monitoring vehicle, obtain the effective monitoring distance of the target vehicle-mounted radar to get the radar effective monitoring distance, draw a monitoring feature circle with the target vehicle-mounted radar as the center and the radar effective monitoring distance as the radius, mark the spatial area covered by the monitoring feature circle as the radar effective monitoring area, and obtain the area of the radar effective monitoring area to get the radar monitoring area area value; Step S13: Mark each moving object of the target vehicle-mounted radar in the radar effective monitoring area, and count the number of the marked moving objects to obtain the regional moving object quantity value, calculate the ratio of the regional moving object quantity value to the radar monitoring area area value to obtain the regional moving object density value; Step S14: Mark a number of moving objects in the radar effective monitoring area with numbers t1 to ty respectively to obtain the t1 moving object to the ty moving object; Step S15: Obtain the first radar monitoring coefficient; Step S16: Define the radar working monitoring period and the first radar monitoring coefficient as the moving object monitoring data.

3. The vehicle-mounted radar dynamic compensation method under motorized conditions according to claim 2, characterized in that, In the said step S15, it specifically includes the following steps: Step S151: Monitor the speed of the t1 moving object to obtain the t1 object moving speed value; Step S152: Obtain the object moving speed values of the object moving from t2 to ty respectively, to get the object moving speed values from the t2 object to the ty object; Step S153: Monitor the distance of the t1 moving object to obtain the t1 object approaching distance value; Step S154: Obtain the object approaching distance values of the objects moving from t2 to ty respectively, to get the object approaching distance values from the t2 object to the ty object; Step S155: Calculate the ratio of the t1 object moving speed value to the t1 object approaching distance value to obtain the speed-distance ratio corresponding to the t1 moving object, and name it the t1 speed-distance ratio. Obtain the speed-distance ratios corresponding to the objects moving from t2 to ty respectively, to get the t2 speed-distance ratio to the ty speed-distance ratio; Step S156: Compare the numerical magnitudes of the t1 speed-distance ratio to the ty speed-distance ratio, and name the speed-distance ratio with the largest numerical value the monitored peak speed-distance ratio; Step S157: Calculate the average value of the t1 speed-distance ratio to the ty speed-distance ratio to obtain the monitored average speed-distance ratio; Step S158: Calculate the first radar monitoring coefficient through the monitored peak speed-distance ratio, the monitored average speed-distance ratio, and the regional moving object density value; Calculate the first radar monitoring coefficient, and the specific formula is as follows: Ldj1 = Sjf 2 + Sjp 2 + Qwp; Among them, Ldj1 is the first radar monitoring coefficient, Sjf is the monitored peak speed-distance ratio, Sjp is the monitored average speed-distance ratio, and Qwp is the regional moving object density value; Among them, in the said step S151, it specifically includes the following steps: Step S1511: Obtain the signal frequency value of the target vehicle-mounted radar transmitting a signal to the t1 moving object to get the first signal frequency value, and obtain the radar signal frequency value reflected back by the t1 moving object to get the second signal frequency value; Step S1512: Calculate the object moving speed value corresponding to the t1 moving object through the first signal frequency value and the second signal frequency value, and name it the t1 object moving speed value; Calculate the object moving speed value, and the specific formula is as follows: Among them, Vys is the object moving speed value corresponding to the t1 moving object, Fx1 is the first signal frequency value, Fx2 is the second signal frequency value, and c is the speed of light.

4. The vehicle-mounted radar dynamic compensation method under mobile conditions according to claim 3, wherein, In the said step S153, it specifically includes the following steps: Step S1531: When the t1 moving object is within the effective monitoring area of the radar, the target vehicle-mounted radar continuously transmits several groups of radar signals to the t1 moving object to obtain multiple radar signal groups; Step S1532: Randomly select one radar signal group from the multiple transmitted radar signal groups as the characteristic radar signal group; Step S1533: Decompose the characteristic radar signal group into a radar transmitting signal and a radar receiving signal. Mark the time point when the transmitting radar transmits the signal as the first signal characteristic time point, and mark the time point when the receiving radar receives the signal as the second signal characteristic time point; Step S1534: Calculate the object distance value corresponding to the characteristic radar signal group based on the first signal characteristic time point and the second signal characteristic time point; Calculate the object distance value corresponding to the characteristic radar signal group. The specific formula is as follows: Where Dtz is the object distance value corresponding to the characteristic radar signal group, Sd1 is the specific time value corresponding to the first signal characteristic time point, and Sd2 is the specific time value corresponding to the second signal characteristic time point; Step S1535: Obtain the object distance values corresponding to each radar signal group respectively, getting multiple object distance values, and compare the magnitudes of the obtained multiple object distance values. Name the object distance value with the smallest magnitude as the t1 object approaching distance value.

5. The vehicle-mounted radar dynamic compensation method under mobile conditions according to claim 4, wherein, In the said Step S2, it includes the following specific steps: Step S21: During the radar working monitoring period, mark several radar signal monitoring points on the surface of the object detected by the target vehicle-mounted radar, and select a characteristic radar signal monitoring point from the marked several radar signal monitoring points; Step S22: Obtain the radar path loss deviation corresponding to the characteristic radar signal monitoring point; Step S23: Calculate the radar path loss deviations corresponding to each radar signal monitoring point respectively, getting multiple radar path loss deviations, and calculate the average of the obtained multiple radar path loss deviations to obtain the second radar monitoring coefficient.

6. The vehicle-mounted radar dynamic compensation method under mobile conditions according to claim 5, wherein, In the said Step S22, it includes the following specific steps: Step S221: Name the radar signal emitted by the target vehicle-mounted radar to the characteristic radar signal monitoring point as the first radar signal, and name the radar signal received by the target vehicle-mounted radar after being reflected by the characteristic radar signal monitoring point as the second radar signal; Step S222: Mark the time value when the target vehicle-mounted radar emits the first radar signal as the first time value, and mark the time value when the target vehicle-mounted radar receives the second radar signal as the second time value; Step S223: Calculate the distance value between the target vehicle-mounted radar and the characteristic radar signal monitoring point based on the first time value and the second time value, and name it the characteristic radar distance value; Calculate the characteristic radar distance value. The specific formula is as follows: Where Tzj is the characteristic radar distance value, Sz1 is the first time value, and Sz2 is the second time value; Step S224: Obtain the transmission power of the first radar signal to get the first signal power value, and obtain the received power of the second radar signal to get the second signal power value; Step S225: Calculate the radar path loss corresponding to the characteristic radar signal monitoring point based on the first signal frequency value, the second signal frequency value, and the characteristic radar distance value; Calculate the radar path loss corresponding to the characteristic radar signal monitoring point. The specific formula is as follows: Where Ljs is the radar path loss corresponding to the characteristic radar signal monitoring point, Tzj is the characteristic radar distance value, Pl1 is the first signal frequency value, Pl2 is the second signal frequency value, and c is the speed of light; Step S226: Obtain the reference radar path loss corresponding to the characteristic radar signal monitoring point, and compare the radar path loss with the reference radar path loss numerically; Step S227: When the radar path loss is greater than the reference radar path loss, calculate the difference between the radar path loss and the reference radar path loss, and take the absolute value of the obtained difference to obtain the radar path loss deviation corresponding to the characteristic radar signal monitoring point; Step S228: When the radar path loss is less than or equal to the reference radar path loss, assign the value 0 to the radar path loss deviation as a parameter.

7. The vehicle-mounted radar dynamic compensation method under mobile conditions according to claim 6, characterized in that, In the said Step S3, it includes the following specific steps: Step S31: Obtain the first radar monitoring coefficient and the second radar monitoring coefficient; Step S32: Calculate the vehicle-mounted radar compensation evaluation coefficient from the first radar monitoring coefficient and the second radar monitoring coefficient; The calculation of the vehicle-mounted radar compensation evaluation coefficient is as follows: Bcg = Ldj1 + Ldj2 2 ; Among them, Bcg is the vehicle-mounted radar compensation evaluation coefficient, Ldj1 is the first radar monitoring coefficient, and Ldj2 is the second radar monitoring coefficient; Step S33: Obtain the vehicle-mounted radar compensation evaluation coefficient threshold and compare it with the vehicle-mounted radar compensation evaluation coefficient numerically. According to the numerical comparison result, switch the target vehicle-mounted radar to the first radar working mode and the second radar working mode to obtain the radar working mode switching data.

8. The vehicle-mounted radar dynamic compensation method under mobile conditions according to claim 7, characterized in that In the said Step S33, it includes the following specific steps: Step S331: Obtain the first radar monitoring coefficient threshold and the second radar monitoring coefficient threshold respectively, and calculate the vehicle-mounted radar compensation evaluation coefficient threshold from the first radar monitoring coefficient threshold and the second radar monitoring coefficient threshold to obtain the radar working mode switching data; The calculation of the vehicle-mounted radar compensation evaluation coefficient threshold is as follows: Bcgy = Ldjy1 + Ldjy2 2 ; Among them, Bcgy is the vehicle-mounted radar compensation evaluation coefficient threshold, Ldjy1 is the first radar monitoring coefficient threshold, and Ldjy2 is the second radar monitoring coefficient threshold; among them, obtain the historical work record corresponding to the target vehicle-mounted radar, and obtain the historical time period when the target vehicle-mounted radar is in the second radar working mode according to the historical work record to obtain multiple radar historical work time periods. Obtain the first radar monitoring coefficient corresponding to each radar historical work time period respectively, and compare the obtained multiple first radar monitoring coefficients numerically, and mark the first radar monitoring coefficient with the largest value as the first radar monitoring coefficient threshold. Obtain the second radar monitoring coefficient corresponding to each radar historical work time period respectively, and compare the obtained multiple second radar monitoring coefficients numerically, and mark the second radar monitoring coefficient with the largest value as the second radar monitoring coefficient threshold; Step S332: When the vehicle-mounted radar compensation evaluation coefficient is greater than or equal to the vehicle-mounted radar compensation evaluation coefficient threshold, automatically switch the target vehicle-mounted radar to the first radar working mode; the first radar working mode is the working mode in which the target vehicle-mounted radar does not need to turn on visual dynamic compensation; Step S333: When the in-vehicle radar compensation evaluation coefficient is less than the in-vehicle radar compensation evaluation coefficient threshold, automatically switch the target in-vehicle radar to the second radar working mode; the target in-vehicle radar needs to turn on the visual dynamic compensation working mode.

9. The vehicle-mounted radar dynamic compensation method under mobile conditions according to claim 8, characterized in that, In step S4, the following specific steps are further included: Step S41: Obtain radar working mode switching data; Step S42: If the radar working monitoring period is in the first radar working mode, the target in-vehicle radar works normally; Step S43: If the radar working monitoring period is in the second radar working mode, perform visual dynamic compensation on the target in-vehicle radar; In step S43, the following specific steps are further included: Step S431: Obtain the radar detection image of the radar effective monitoring area by the target in-vehicle radar, mark the real-time moving objects in the radar detection image to obtain multiple radar detection target objects, and count the number of multiple radar detection target objects to obtain the radar detection object quantity value; Step S432: Respectively obtain the real-time video stream images of multiple radar effective monitoring areas through the image acquisition device, mark the moving objects in each real-time video stream image through the image recognition algorithm to obtain multiple image detection target objects, and count the number of multiple image detection target objects to obtain the image detection object quantity value; Step S433: If the radar detection object quantity value is less than the image detection object quantity value, name the objects not detected by the target in-vehicle radar as image compensation objects, and obtain the object image compensation data to compensate the radar detection image; Step S434: If the radar detection object quantity value is greater than or equal to the image detection object quantity value, no compensation is performed on the target in-vehicle radar.

10. The on-vehicle radar dynamic compensation method under mobile conditions according to claim 9, characterized in that, In step S433, the following specific steps are included: Step S4331: Mark the position feature points of the target in-vehicle radar, draw a straight line parallel to the body of the feature monitoring vehicle through the position feature points to obtain the first position feature line, and draw a straight line perpendicular to the first position feature line through the position feature points to obtain the second position feature line; Step S4332: Combine multiple real-time video stream images into a monitoring area plan view. In the monitoring area plan view, mark the position feature points as the coordinate origin, the first position feature line as the coordinate y-axis, and the first position feature line as the coordinate x-axis to obtain the monitoring area plane rectangular coordinate system; Step S4333: In the monitoring area plane rectangular coordinate system, mark each image compensation object, and select a sample image compensation object from the multiple marked image compensation objects; Step S4334: During the monitoring of the sample image compensation object, mark the first compensation monitoring time point and the second compensation monitoring time point respectively, and obtain the time interval between the first compensation monitoring time point and the second compensation monitoring time point to obtain the characteristic compensation time difference; Step S4335: In the plane rectangular coordinate system of the monitoring area, obtain the position coordinates of the sample image compensation object corresponding to the first compensation monitoring time point to obtain the first compensation coordinates, and obtain the position coordinates of the sample image compensation object corresponding to the second compensation monitoring time point to obtain the second compensation coordinates; Step S4336: Calculate the real-time motion speed corresponding to the sample image compensation object through the first compensation coordinates, the second compensation coordinates, and the characteristic compensation time difference; Perform calculations on the real-time motion speed, specifically as follows: Among them, Syd is the real-time motion speed corresponding to the sample image compensation object, (x i1 , y i1 ) is the first compensation coordinate, (x i2 , y i2 ) is the second compensation coordinate, and Bcc is the feature compensation time difference; Step S4337: Name the second compensation coordinates as the real-time position coordinates corresponding to the sample image compensation object; Step S4338: Calculate the real-time distance value corresponding to the sample image compensation object by calculating the second compensation coordinates and the origin coordinates; Perform calculations on the real-time distance value, specifically as follows: Among them, Szj is the real-time distance value, (x i2 , y i2 ) is the second compensation coordinate, and (0, 0) is the origin coordinate; Step S4339: Obtain the real-time motion speed, the real-time position coordinates, and the real-time distance value corresponding to each image compensation object respectively to obtain the object image compensation data.

Images