Target speed estimation method, device and equipment based on multi-millimeter-wave radar data fusion and storage medium

Abstract

The invention discloses a target speed estimation method, device and equipment based on multi-millimeter-wave radar data fusion, and a storage medium, and relates to the technical field of radar speed measurement, and the method comprises the steps: obtaining detection information collected by different millimeter-wave radars in a radar overlapping region, the detection information comprises multiple groups of point cloud coordinates and radar acquisition data corresponding to the coordinates; obtaining target data information through a preset algorithm based on the multiple groups of point cloud coordinates; and performing target speed estimation according to the detection information and the target data information. According to the invention, target speed estimation is carried out through multi-radar data fusion processing, and the real-time performance and precision of speed detection can be improved.

Description

Technical Field

[0001] The present application relates to the field of radar speed measurement technology, and in particular to a target speed estimation method, device, equipment and storage medium based on multi-millimeter-wave radar data fusion. Background Art

[0002] Vehicle-mounted millimeter-wave radar has high speed measurement accuracy, but the radar directly measures radial velocity and cannot directly determine the target's lateral and longitudinal speed. The traditional method estimates the target's lateral and longitudinal speed based on the target's lateral and longitudinal displacement. However, due to the radar's position detection accuracy, the speed estimation accuracy is poor. In addition, the speed measurement obtained by estimating the speed data based on the displacement will have a significant lag. At the same time, since the estimation is performed in the radar data processing part, the data processing difficulty is increased. Summary of the Invention

[0003] The main purpose of this application is to provide a target speed estimation method, device, equipment and storage medium based on multi-millimeter-wave radar data fusion, aiming to solve the technical problem of how to improve the real-time performance and accuracy of speed detection.

[0004] To achieve the above objectives, the present application proposes a target velocity estimation method based on multi-millimeter-wave radar data fusion, the method comprising:

[0005] Acquire detection information collected by different millimeter-wave radars in the radar overlap area, the detection information including multiple sets of point cloud coordinates and radar collection data corresponding to the coordinates;

[0006] Based on the multiple sets of point cloud coordinates, target data information is obtained through a preset algorithm;

[0007] Target speed estimation is performed based on the detection information and the target data information.

[0008] In one embodiment, the step of obtaining target data information based on the multiple sets of point cloud coordinates through a preset algorithm includes:

[0009] Obtaining point cloud coordinate sets corresponding to different millimeter-wave radars according to the multiple sets of point cloud coordinates;

[0010] The point cloud coordinate set is matched with the nearest neighbor relationship by a preset algorithm to obtain the target data information.

[0011] In one embodiment, the step of estimating the target speed based on the detection information and the target data information includes:

[0012] Obtaining target multi-radar data according to the detection information and the target data information;

[0013] Target speed estimation is performed based on the target multi-radar data.

[0014] In one embodiment, the step of obtaining target multi-radar data based on the detection information and the target data information includes:

[0015] According to the detection information, obtaining radial velocities and angles collected by different millimeter-wave radars corresponding to the target data information;

[0016] The target data information, the radial velocity, and the angle are used as target multi-radar data.

[0017] In one embodiment, the step of estimating the target speed based on the target multi-radar data includes:

[0018] Obtaining a target movement angle and a target movement speed according to the target multi-radar data;

[0019] According to the target moving angle and the target moving speed, a target lateral speed and a target longitudinal speed are obtained to complete target speed estimation.

[0020] In one embodiment, the step of obtaining detection information collected by different millimeter-wave radars in the radar overlap area includes:

[0021] Acquire detection data collected by the vehicle's millimeter-wave radar through a communication bus;

[0022] The detection data are screened, and the detection data in the radar overlap area is used as detection information.

[0023] In one embodiment, before the step of obtaining detection information collected by different millimeter-wave radars in the radar overlap area, the method further includes:

[0024] Get the field of view of the vehicle's millimeter-wave radar;

[0025] A radar overlapping area is obtained according to the field of view range.

[0026] In addition, to achieve the above objectives, the present application also proposes a target speed estimation device based on multi-millimeter wave radar data fusion, the device comprising:

[0027] A data acquisition module is used to obtain detection information collected by different millimeter-wave radars in the radar overlap area, wherein the detection information includes multiple sets of point cloud coordinates and radar collection data corresponding to the coordinates;

[0028] A coordinate matching module, configured to obtain target data information through a preset algorithm based on multiple sets of point cloud coordinates;

[0029] The speed estimation module is used to estimate the target speed according to the detection information and the target data information.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a target speed estimation device based on multi-millimeter-wave radar data fusion, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the target speed estimation method based on multi-millimeter-wave radar data fusion as described above.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the target speed estimation method based on multi-millimeter-wave radar data fusion as described above are implemented.

[0032] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the target speed estimation method based on multi-millimeter wave radar data fusion as described above.

[0033] One or more technical solutions proposed in this application have at least the following technical effects:

[0034] By using multi-radar data fusion processing to estimate target speed, the technical problems of poor speed estimation accuracy, serious speed measurement lag and difficult back-end data processing are solved. Compared with the existing technology, the real-time performance and accuracy of speed detection are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0037] Figure 1 This is a flowchart of a first embodiment of a method for estimating target velocity based on multi-millimeter-wave radar data fusion according to the present invention;

[0038] Figure 2 This is a flow chart of a second embodiment of a method for estimating target velocity based on multi-millimeter-wave radar data fusion according to the present invention;

[0039] Figure 3 This is a flowchart of a third embodiment of a method for estimating target speed based on multi-millimeter-wave radar data fusion according to the present invention;

[0040] Figure 4 A speed calculation reference diagram for a target speed estimation method based on multi-millimeter-wave radar data fusion provided in Example 3 of the present application;

[0041] Figure 5 This is a flowchart of a fourth embodiment of a method for estimating target velocity based on multi-millimeter-wave radar data fusion according to the present invention;

[0042] Figure 6 This is a flowchart of a fifth embodiment of a method for estimating target speed based on multi-millimeter-wave radar data fusion according to the present invention;

[0043] Figure 7 A schematic diagram of the radar overlap area of the target velocity estimation method based on multi-millimeter-wave radar data fusion provided in Example 5 of the present application;

[0044] Figure 8 This is a schematic diagram of the module structure of a target speed estimation device based on multi-millimeter-wave radar data fusion according to an embodiment of the present application;

[0045] Figure 9 Schematic diagram of the device structure of the hardware operating environment involved in the target speed estimation method based on multi-millimeter-wave radar data fusion in an embodiment of the present application.

[0046] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0048] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0049] The main solution of the embodiment of the present application is: obtaining detection information collected by different millimeter-wave radars in the radar overlap area, the detection information including multiple sets of point cloud coordinates and radar collection data corresponding to the coordinates; based on the multiple sets of point cloud coordinates, obtaining target data information through a preset algorithm; and estimating the target speed based on the detection information and the target data information.

[0050] In this embodiment, for ease of description, the following description is made by taking the internal executor of the target velocity estimation system based on multi-millimeter-wave radar data fusion as the execution body.

[0051] The existing technology has poor speed estimation accuracy, serious speed measurement lag and great difficulty in back-end data processing.

[0052] This application provides a solution that uses multi-radar data fusion processing to estimate target speed, thereby improving the real-time performance and accuracy of speed detection.

[0053] It can be seen from the above embodiments that the present application solves the technical problems of poor speed estimation accuracy, serious speed measurement lag and difficulty in back-end data processing by adopting multi-radar data fusion processing to estimate the target speed, thereby improving the real-time performance and accuracy of speed detection.

[0054] It should be noted that the execution entity of this embodiment can be a computing service device with data processing, network communication, and program execution capabilities, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of performing the aforementioned functions. The following describes this embodiment and the following embodiments using the internal execution entity of a target velocity estimation system based on multi-millimeter-wave radar data fusion as an example.

[0055] Based on this, the embodiment of the present application provides a target speed estimation method based on multi-millimeter wave radar data fusion, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the target velocity estimation method based on multi-millimeter-wave radar data fusion of the present application.

[0056] In this embodiment, the target speed estimation method based on multi-millimeter-wave radar data fusion includes steps S10 to S30:

[0057] Step S10: Acquire detection information collected by different millimeter-wave radars in the radar overlap area, where the detection information includes multiple sets of point cloud coordinates and radar collection data corresponding to the coordinates.

[0058] It should be noted that the radar overlap region is the portion of the coverage area of multiple radar systems that is detected simultaneously by two or more radars. This region offers dual or multiple coverage, richer data, and enhanced detection performance. Specifically, it provides a higher probability of target discovery and more accurate positioning information, generating a large amount of observation data containing multiple measurement information. The detection capabilities of multiple radars can complement each other to improve detection accuracy, resolution, and anti-interference capabilities.

[0059] It's also important to note that millimeter-wave radar operates in the millimeter-wave frequency band, using electromagnetic waves in this band to detect target distance, velocity, angle, and other information. The principle is that a transmitter transmits a millimeter-wave electromagnetic signal, which is reflected by the target and received by the receiver. The target's distance is calculated based on the time difference between the transmitted and received signals. The radial velocity of the target is calculated by measuring the frequency change of the reflected signal using the Doppler effect. An antenna array consisting of multiple receiving antennas determines the target's angle based on the time difference or phase difference between the signals reaching different antennas.

[0060] Additionally, it should be noted that detection information includes the position, velocity, and angle of the target detected by the millimeter-wave radar. By transmitting millimeter-wave signals and measuring the time difference between the round-trip signals, combined with the known millimeter-wave propagation speed, the straight-line distance between the target and the radar can be calculated. The Doppler effect is used to detect and analyze the frequency shift of the reflected signal due to the relative motion of the target, known as the Doppler shift, to calculate the radial velocity of the target relative to the radar's line of sight. Using an antenna array consisting of multiple receiving antennas, the target's azimuth and elevation relative to the radar are calculated based on the time and phase differences in the reflected signals received by different antennas, thereby determining the target's angular position in space.

[0061] In addition, it should be noted that point cloud coordinates are used to represent the position of the target detected by the millimeter wave radar, usually using a two-dimensional Cartesian coordinate system, represented by (x, y). Taking the vehicle's orientation as the X-axis direction and the direction perpendicular to the vehicle's orientation as the Y-axis direction, the x-coordinate represents the position of the point in the X-axis direction, which is equivalent to drawing a perpendicular line from the point to the X-axis with the foot of the perpendicular on the X-axis. The y-coordinate represents the position of the point in the Y-axis direction, which is equivalent to drawing a perpendicular line from the point to the Y-axis with the foot of the perpendicular on the Y-axis. Through these two coordinate values, the position of a point in two-dimensional space can be uniquely determined.

[0062] Step S20: obtaining target data information through a preset algorithm based on the multiple sets of point cloud coordinates.

[0063] It should be noted that the preset algorithm is for nearest neighbor association matching and can be a brute force search algorithm, a KD tree algorithm, a Ball tree algorithm, etc. The target data information is a set of point cloud coordinates obtained through nearest neighbor association matching. These point cloud coordinates can be considered as the position detection data of the same target by two millimeter-wave radars.

[0064] Step S30: Estimating target speed based on the detection information and the target data information.

[0065] Millimeter-wave radar detection information can be used to determine the target's radial velocity and angle. Furthermore, given the target's point cloud coordinates, a series of calculations can be performed using the relationship between the target's radial velocity, angle, and point cloud coordinates to derive the target's lateral and longitudinal velocity components. This calculation method typically involves the application of trigonometric functions and mathematical principles such as coordinate transformation.

[0066] The radial velocity and angle of the target detected by the millimeter-wave radar are obtained based on the detection information. Combined with the point cloud coordinates of the target, the lateral velocity and longitudinal velocity of the target can be obtained through a specific calculation method.

[0067] This embodiment provides a target velocity estimation method based on multi-millimeter-wave radar data fusion. This method uses multi-radar data fusion processing to perform target velocity estimation, solving the technical problems of poor velocity estimation accuracy, severe velocity measurement lag, and difficult back-end data processing, thereby improving the real-time performance and accuracy of velocity detection.

[0068] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 2 , step S20 includes steps S21 to S22:

[0069] Step S21: Obtain point cloud coordinate sets corresponding to different millimeter-wave radars based on multiple sets of point cloud coordinates.

[0070] Each millimeter-wave radar will detect the target and the surrounding environment separately, thereby collecting multiple sets of point cloud coordinate data. The multiple sets of point cloud coordinates collected by a single millimeter-wave radar are aggregated and integrated together to form a point cloud coordinate set. This set covers all the point cloud coordinate information detected by the millimeter-wave radar. The point cloud coordinates of each millimeter-wave radar are summarized so that each millimeter-wave radar corresponds to a point cloud coordinate set.

[0071] Step S22: performing nearest neighbor association matching on the point cloud coordinate set using a preset algorithm to obtain target data information.

[0072] Taking the brute force search algorithm as an example, the brute force search algorithm is used to perform nearest neighbor association matching on the point cloud coordinate set to obtain the position detection data of the same target by different millimeter-wave radars. When using the brute force search algorithm, one point cloud coordinate in the set is selected as a reference, and then all the remaining point cloud coordinates in the entire set are traversed. The distance between the reference point and other points is calculated one by one according to a pre-set distance metric (such as Euclidean distance). In this way, the point closest to the reference point is found to determine the nearest neighbor relationship between them. Since different millimeter-wave radars have detected the target and generated corresponding point cloud coordinates, the point cloud coordinates belonging to the same target but from different millimeter-wave radars can be associated through the aforementioned nearest neighbor association matching process based on the brute force search algorithm, thereby obtaining the position detection data of the same target by different millimeter-wave radars.

[0073] For example, assume that the overlapping area is the detection overlap area of radar 1 and radar 2, where the point cloud targets detected by radar 1 are objA_1, objA_2, ..., objA_N, and the point cloud targets detected by radar 2 are objB_1, objB_2, ..., objB_M. The target data information detected by radar 1 and radar 2 are matched by nearest neighbor association. Successful matches are grouped together, such as objA_3 and objB_5, and are considered to be the detection data of the same target by the two radars.

[0074] This embodiment provides a target speed estimation method based on multi-millimeter-wave radar data fusion. Based on multiple groups of point cloud coordinates, a set of point cloud coordinates corresponding to different millimeter-wave radars is obtained; the point cloud coordinate sets are matched with the nearest neighbor relationship through a preset algorithm to obtain target data information, thereby improving the accuracy of speed detection.

[0075] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 3 , step S30 includes steps S31 to S32:

[0076] Step S31: Obtain target multi-radar data based on the detection information and the target data information.

[0077] It should be noted that the target multi-radar data is the radial velocity and angle of the target corresponding to the target data information collected by the millimeter-wave radar in the radar overlap area.

[0078] The target data is obtained by matching data collected by different millimeter-wave radars. The detection information contains the radial velocity and angle information of the target corresponding to the target data collected by the millimeter-wave radar. Based on the different radial velocities and angles at the same coordinate position, the actual moving speed and direction of the coordinate position can be calculated, and then the lateral and longitudinal velocities of the target can be obtained.

[0079] In a feasible implementation, step S31 includes steps S311 to S312:

[0080] Step S311: Acquire radial velocities and angles collected by different millimeter-wave radars corresponding to the target data information based on the detection information.

[0081] It should be noted that radial velocity refers to the target's velocity component in the direction of the millimeter-wave radar's line of sight. It is generated based on the Doppler effect. When there is relative motion between the target and the millimeter-wave radar, the frequency of the waves emitted or reflected by the target changes. This frequency change is related to the radial velocity, which is a vector quantity with magnitude and direction. The direction is the direction of the line connecting the target and the millimeter-wave radar, and the magnitude indicates the speed of the target's movement in that direction of the line of sight. The target's radial velocity is calculated by transmitting an electromagnetic wave signal of a specific frequency and detecting the frequency difference between the reflected signal and the transmitted signal, namely the Doppler shift, based on mathematical formulas and radar parameter settings.

[0082] In addition, it should be noted that the angle refers to the radial angle, which generally refers to the angle formed between the line connecting the target relative to the millimeter-wave radar and a reference direction, which can help determine the orientation of the target.

[0083] When detecting a target, each millimeter-wave radar obtains the target's radial velocity based on its own operating principle and detection mechanism. This is the target's velocity component relative to the radar in the direction of its line of sight. It can also obtain the target's angular information relative to the radar, including azimuth and elevation angles. Each time a point cloud coordinate is collected, a radial velocity and an angle are collected. After collecting this data, it is recorded and stored accordingly. After determining the target data information, the radial velocity and angle corresponding to the point cloud coordinate can be determined based on the recorded and stored data, providing important data support for subsequent further analysis of the target's movement speed.

[0084] Step S312: Use the target data information, the radial velocity, and the angle as target multi-radar data.

[0085] After obtaining the corresponding target data information, radial velocity and angle data, these data can be recorded and stored as target multi-radar data for subsequent target velocity calculation.

[0086] By obtaining the corresponding target data information, radial velocity and angle, a data basis is provided for velocity calculation.

[0087] Step S32: Estimating the target speed based on the target multi-radar data.

[0088] According to the target multi-radar data, the target's moving speed and moving direction are calculated by the formula, and then the target's lateral speed and longitudinal speed are calculated.

[0089] In a feasible implementation, step S32 includes steps S321 to S322:

[0090] Step S321: Obtain the target movement angle and target movement speed according to the target multi-radar data.

[0091] Speed calculation reference diagram Figure 4 As shown, the vehicle direction is the longitudinal axis, the direction perpendicular to the vehicle direction is the horizontal axis, (x, y) is the target data information, V1 is the target radial velocity collected by radar 1, V2 is the target radial velocity collected by radar 2, β1 is the target angle relative to the longitudinal axis collected by radar 1, β2 is the target angle relative to the longitudinal axis collected by radar 2, α is the target movement angle relative to the longitudinal axis, V obj is the target movement speed.

[0092] The target movement angle and target movement speed are calculated using the following formula:

[0093] cos(α-β1)×V obj =V1

[0094] cos(α-β2)×V obj =V2

[0095] Substituting the target multi-radar data into the above two formulas and solving them, we can get V obj and α.

[0096] Step S322 : Obtain a target lateral speed and a target longitudinal speed according to the target moving angle and the target moving speed, so as to complete target speed estimation.

[0097] According to V obj The lateral and longitudinal velocities of the target can be calculated by and α to complete the target velocity estimation. The formula is as follows:

[0098] V x =Vobj ×sinα

[0099] V y =V obj ×cosα

[0100] Among them, V x is the target's velocity in the direction perpendicular to the vehicle's direction, i.e., the lateral velocity, V y It is the speed of the target in the direction the vehicle is facing, that is, the longitudinal speed.

[0101] The target's lateral and longitudinal velocities are calculated using multiple radar data to improve the accuracy of velocity estimation.

[0102] This embodiment provides a target speed estimation method based on multi-millimeter-wave radar data fusion, which obtains target multi-radar data based on the detection information and the target data information; and estimates the target speed based on the target multi-radar data, thereby improving the accuracy of speed detection.

[0103] Based on the first embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 5 , step S10 includes steps S11 to S12:

[0104] Step S11: Acquire detection data collected by the vehicle's millimeter-wave radar through the communication bus.

[0105] It's important to note that a communication bus is a public channel used to connect multiple devices and enable data transmission and communication between them. It carries various types of data information, such as instructions, status, and measurement data, between different devices, enabling them to communicate and work together. It also facilitates the sharing of system resources, such as memory, storage devices, and printers, by multiple devices, improving resource utilization. Data transmission methods can be categorized as either parallel or serial buses. Parallel buses can transmit multiple data bits simultaneously, offering high speeds but high costs and complex wiring. Serial buses transmit data bit by bit, resulting in relatively slow speeds but low costs, strong interference immunity, and simple wiring.

[0106] When operating, each millimeter-wave radar continuously detects and scans the surrounding environment. When it detects a target, it collects relevant point cloud data according to its own working mechanism. These radars then send the collected point cloud data to the communication bus, which acts as a public channel for data aggregation and circulation. With the help of corresponding receiving devices or data processing systems, all data detected by all millimeter-wave radars can be obtained from the communication bus. In this way, the data from these millimeter-wave radars in different locations can be integrated to provide a comprehensive and rich data foundation for subsequent target velocity estimation.

[0107] Step S12: screening the detection data and taking the detection data in the radar overlap area as detection information.

[0108] Because radar overlap indicates that multiple radars are simultaneously detecting the area, the data from these different radars corroborate and complement each other, providing a more accurate and comprehensive reflection of the true situation of the targets in the area, thereby precisely estimating the target's speed. By analyzing the acquired detection data, the point cloud coordinates within the detection data can be used to determine which data was collected in the radar overlap area, and this detection data can be selected as detection information.

[0109] This embodiment provides a target speed estimation method based on multi-millimeter-wave radar data fusion, which obtains target multi-radar data based on the detection information and the target data information; and estimates the target speed based on the target multi-radar data, thereby improving the accuracy of speed detection.

[0110] Based on the first embodiment of the present application, in the fifth embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 6 , before step S10, steps S01 to S02 are included:

[0111] Step S01: Obtain the field of view of the vehicle's millimeter-wave radar.

[0112] It should be noted that the field of view (FOV) refers to the spatial angular area or distance range within which a radar can effectively detect and acquire target information. It includes both horizontal and vertical FOV. The horizontal FOV refers to the angular span of a radar's ability to detect a target in the horizontal direction. This span is measured from the radar's detection limit on one side to the detection limit on the other side, centered on the radar's location. The vertical FOV is the vertical angular range within which a radar can effectively detect a target, from its lowest to its highest detectable angle. The FOV can also be measured in distance, defining the spatial region enclosed by the maximum distance at which a radar can reliably detect a target in different directions. The size and shape of this region depend on a variety of factors, including radar type, transmit power, antenna characteristics, wavelength, signal processing capabilities, and target characteristics. It determines the spatial range a radar can monitor and its target coverage.

[0113] Step S02: Obtain a radar overlap area according to the field of view.

[0114] Vehicle millimeter-wave radars have their own specific field of view. Multiple millimeter-wave radars installed at different locations on the vehicle may have partially overlapping fields of view. These overlapping spatial areas are the radar's field of view overlap areas, or radar overlap areas. For example, the vehicle's forward millimeter-wave radar has its corresponding horizontal and vertical field of view, and the side millimeter-wave radar also has a corresponding field of view. On both sides of the vehicle's direction of travel, the forward radar's field of view and the side radar's field of view will overlap, and this overlapping portion constitutes the field of view overlap area. For another example, the millimeter-wave radar at the rear of the vehicle may also have an overlap with the field of view of the side rear radar in the area near the rear of the vehicle. The schematic diagram of the radar overlap area is shown below. Figure 7 As shown, each color block represents the field of view of the corresponding millimeter-wave radar, and the overlapping area of the color blocks represents the radar overlapping area.

[0115] This embodiment provides a target speed estimation method based on multi-millimeter-wave radar data fusion, which obtains the field of view range of the vehicle's millimeter-wave radar; and obtains the radar overlap area based on the field of view range, which can improve the accuracy of speed detection.

[0116] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation of the present application in obtaining detection information collected by different millimeter-wave radars in the radar overlapping area, wherein the detection information includes multiple sets of point cloud coordinates and radar collection data corresponding to the coordinates; based on the multiple sets of point cloud coordinates, target data information is obtained through a preset algorithm; the target speed estimation method is limited according to the detection information and the target data information, and more forms of simple transformations are performed based on this technical concept, which are all within the scope of protection of the present application.

[0117] This application also provides a target speed estimation device based on multi-millimeter wave radar data fusion, please refer to Figure 8 , the device comprises:

[0118] The data acquisition module 10 is used to obtain detection information collected by different millimeter-wave radars in the radar overlap area, and the detection information includes multiple sets of point cloud coordinates and radar collection data corresponding to the coordinates.

[0119] The coordinate matching module 20 is configured to obtain target data information through a preset algorithm based on the multiple sets of point cloud coordinates.

[0120] The speed estimation module 30 is configured to estimate the target speed based on the detection information and the target data information.

[0121] In one embodiment, the coordinate matching module 20 is further used to obtain a point cloud coordinate set corresponding to different millimeter wave radars based on multiple groups of point cloud coordinates; and perform nearest neighbor matching on the point cloud coordinate set through a preset algorithm to obtain target data information.

[0122] In one embodiment, the speed estimation module 30 is further configured to obtain target multi-radar data based on the detection information and the target data information; and estimate the target speed based on the target multi-radar data.

[0123] In one embodiment, the velocity estimation module 30 is further configured to obtain radial velocities and angles collected by different millimeter-wave radars corresponding to the target data information based on the detection information; and use the target data information, the radial velocity, and the angle as target multi-radar data.

[0124] In one embodiment, the speed estimation module 30 is further configured to obtain a target movement angle and a target movement speed based on the target multi-radar data; and obtain a target lateral speed and a target longitudinal speed based on the target movement angle and the target movement speed to complete target speed estimation.

[0125] In one embodiment, the data acquisition module 10 is further configured to acquire detection data collected by the vehicle's millimeter-wave radar via a communication bus; filter the detection data, and use the detection data within the radar overlap area as detection information.

[0126] In one embodiment, the data acquisition module 10 is further configured to acquire the field of view of the vehicle's millimeter-wave radar; and obtain a radar overlapping area based on the field of view.

[0127] The target velocity estimation device based on multi-millimeter-wave radar data fusion provided in this application utilizes the target velocity estimation method based on multi-millimeter-wave radar data fusion described in the aforementioned embodiments, thereby solving the technical problem of improving the real-time performance and accuracy of velocity detection. Compared to the prior art, the beneficial effects of the target velocity estimation device based on multi-millimeter-wave radar data fusion provided in this application are the same as those of the target velocity estimation method based on multi-millimeter-wave radar data fusion described in the aforementioned embodiments. Other technical features of the target velocity estimation device based on multi-millimeter-wave radar data fusion are the same as those disclosed in the aforementioned embodiments and are not further elaborated here.

[0128] The present application provides a target speed estimation device based on multi-millimeter-wave radar data fusion, and the target speed estimation device based on multi-millimeter-wave radar data fusion includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the target speed estimation method based on multi-millimeter-wave radar data fusion in the above-mentioned embodiment 1.

[0129] Reference below Figure 9, which shows a schematic structural diagram of a target velocity estimation device based on multi-millimeter-wave radar data fusion suitable for implementing an embodiment of the present application. The target velocity estimation device based on multi-millimeter-wave radar data fusion in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 9 The target velocity estimation device based on multi-millimeter-wave radar data fusion shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0130] like Figure 9 As shown, the target speed estimation device based on multi-millimeter-wave radar data fusion may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the target speed estimation device based on multi-millimeter-wave radar data fusion are also stored in RAM1004. The processing device 1001, ROM1002 and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the target velocity estimation device based on multi-millimeter-wave radar data fusion to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a target velocity estimation device based on multi-millimeter-wave radar data fusion with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented or have instead.

[0131] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0132] The target velocity estimation device based on multi-millimeter-wave radar data fusion provided in this application employs the target velocity estimation method based on multi-millimeter-wave radar data fusion described in the aforementioned embodiment, thereby solving the technical problem of improving the real-time performance and accuracy of velocity detection. Compared to the prior art, the beneficial effects of the target velocity estimation device based on multi-millimeter-wave radar data fusion provided in this application are the same as those of the target velocity estimation method based on multi-millimeter-wave radar data fusion described in the aforementioned embodiment. The other technical features of this target velocity estimation device based on multi-millimeter-wave radar data fusion are the same as those disclosed in the aforementioned embodiment and are not further elaborated upon here.

[0133] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0134] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0135] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, and the computer-readable program instructions are used to execute the target velocity estimation method based on multi-millimeter-wave radar data fusion in the above-mentioned embodiment.

[0136] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0137] The computer-readable storage medium may be included in the target speed estimation device based on multi-millimeter-wave radar data fusion; or it may exist independently without being assembled into the target speed estimation device based on multi-millimeter-wave radar data fusion.

[0138] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by a target speed estimation device based on multi-millimeter-wave radar data fusion, the target speed estimation device based on multi-millimeter-wave radar data fusion: obtains detection information collected by different millimeter-wave radars in the radar overlap area, and the detection information includes multiple sets of point cloud coordinates and radar collection data corresponding to the coordinates; obtains target data information based on the multiple sets of point cloud coordinates through a preset algorithm; and estimates the target speed according to the detection information and the target data information.

[0139] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0140] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0141] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0142] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned method for estimating target velocity based on multi-millimeter-wave radar data fusion. This computer-readable storage medium addresses the technical problem of improving the real-time performance and accuracy of velocity detection. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the method for estimating target velocity based on multi-millimeter-wave radar data fusion provided in the aforementioned embodiment, and are not further elaborated here.

[0143] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the target speed estimation method based on multi-millimeter-wave radar data fusion as described above.

[0144] The computer program product provided in this application can solve the technical problem of improving the real-time performance and accuracy of speed detection. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the target speed estimation method based on multi-millimeter-wave radar data fusion provided in the above embodiment, and will not be elaborated here.

[0145] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A target velocity estimation method based on multi-millimeter wave radar data fusion, characterized in that: The method comprises: Acquire detection information collected by different millimeter-wave radars in the radar overlap area, the detection information including multiple sets of point cloud coordinates and radar collection data corresponding to the coordinates; Based on the multiple sets of point cloud coordinates, target data information is obtained through a preset algorithm; Target speed estimation is performed based on the detection information and the target data information.

2. The method according to claim 1, wherein The step of obtaining target data information based on the plurality of sets of point cloud coordinates through a preset algorithm includes: Obtaining point cloud coordinate sets corresponding to different millimeter-wave radars according to the multiple sets of point cloud coordinates; The point cloud coordinate set is matched with the nearest neighbor association by a preset algorithm to obtain the target data information.

3. The method according to claim 1, wherein The step of estimating the target speed according to the detection information and the target data information comprises: Obtaining target multi-radar data according to the detection information and the target data information; Target speed estimation is performed based on the target multi-radar data.

4. The method according to claim 3, wherein The step of obtaining target multi-radar data according to the detection information and the target data information includes: According to the detection information, obtaining radial velocities and angles collected by different millimeter-wave radars corresponding to the target data information; The target data information, the radial velocity, and the angle are used as target multi-radar data.

5. The method according to claim 3, wherein The step of estimating target speed based on the target multi-radar data includes: Obtaining a target movement angle and a target movement speed according to the target multi-radar data; According to the target moving angle and the target moving speed, a target lateral speed and a target longitudinal speed are obtained to complete target speed estimation.

6. The method according to claim 1, wherein The step of obtaining detection information collected by different millimeter-wave radars in the radar overlap area includes: Acquire detection data collected by the vehicle's millimeter-wave radar through a communication bus; The detection data are screened, and the detection data in the radar overlap area is used as detection information.

7. The method according to claim 1, wherein Before the step of obtaining detection information collected by different millimeter-wave radars in the radar overlap area, the method further includes: Get the field of view of the vehicle's millimeter-wave radar; A radar overlapping area is obtained according to the field of view range.

8. A target velocity estimation device based on multi-millimeter wave radar data fusion, characterized in that: The device comprises: A data acquisition module is used to obtain detection information collected by different millimeter-wave radars in the radar overlap area, wherein the detection information includes multiple sets of point cloud coordinates and radar collection data corresponding to the coordinates; A coordinate matching module, configured to obtain target data information through a preset algorithm based on multiple sets of point cloud coordinates; The speed estimation module is used to estimate the target speed according to the detection information and the target data information.

9. A target velocity estimation device based on multi-millimeter wave radar data fusion, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the target speed estimation method based on multi-millimeter-wave radar data fusion according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the target speed estimation method based on multi-millimeter-wave radar data fusion according to any one of claims 1 to 7 are implemented.

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