Vehicle-mounted millimeter wave radar point cloud data-based recharging method, device and equipment and storage medium

Abstract

The invention discloses a recharge method, device and equipment based on vehicle-mounted millimeter wave radar point cloud data and a storage medium, and relates to the technical field of data processing, and the recharge method based on the vehicle-mounted millimeter wave radar point cloud data comprises the steps: obtaining target positioning point cloud data; performing information extraction on the target positioning point cloud data based on a first preset algorithm, and storing the information to a target file; and burning the target file to a test radar to enable the test radar to complete performance verification. According to the method, the key information in the actually measured point cloud data is screened and edited into the text format to be recharged into the radar to realize data playback, so that the radar debugging efficiency is improved, the debugging period is shortened, human resources required by external field road actual measurement are reduced, meanwhile, the intelligence and efficiency of data monitoring are improved, and the implementation cost is reduced. Data processing personnel can complete work in an office, and the field test pressure of the data processing personnel is released.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a method, device, equipment and storage medium for recharging vehicle-mounted millimeter-wave radar point cloud data. Background Art

[0002] With the development of autonomous driving technology, automotive millimeter-wave radar, as one of the key sensors, has a direct impact on the accuracy and reliability of the vehicle's advanced driver assistance systems (ADAS). These systems must accurately detect and process road conditions in real time, including key data such as distance, speed, and angle, to implement functions such as blind spot detection, lane change assistance, and door opening warning, thereby improving driving safety.

[0003] Currently, automotive millimeter-wave radars require debugging and nearly 1:1 field testing on external roads before official installation. This process involves testers and data processors monitoring data in real time and optimizing it to address false alarms, missed alarms, or false triggering. Field testing is then required to verify that the optimized data meets performance requirements. This process is not only time-consuming but also extremely inefficient in utilizing R&D resources.

[0004] The main problem with existing technologies is that the field measurement and data optimization processes are time-consuming, resulting in extended R&D cycles and inefficient resource utilization. Furthermore, data processing personnel must juggle the test vehicle, which not only increases workload but also limits the flexibility and efficiency of data processing. Therefore, improving data processing efficiency is a pressing issue. Summary of the Invention

[0005] The purpose of this application is to provide a method, device, equipment and storage medium for re-injection of vehicle-mounted millimeter-wave radar point cloud data, aiming to solve the technical problem of how to improve the efficiency of data processing.

[0006] To achieve the above objectives, the present application proposes a method for recharging vehicle-mounted millimeter-wave radar point cloud data, the method comprising:

[0007] Obtain target positioning point cloud data;

[0008] Extracting information from the target positioning point cloud data based on a first preset algorithm and storing the information in a target file;

[0009] Burn the target file to the test radar to enable the test radar to complete performance verification.

[0010] In one embodiment, before the step of obtaining target positioning point cloud data, the method further includes:

[0011] Obtain initial positioning point cloud data;

[0012] Detect the initial positioning point cloud data and obtain the initial frame number;

[0013] When the initial frame number is greater than or equal to a preset frame number threshold, data integration is performed based on the initial positioning point cloud data to obtain target positioning point cloud data.

[0014] In one embodiment, after detecting the initial positioning point cloud data and obtaining the initial frame number, the method further includes:

[0015] When the initial frame number is less than a preset frame number threshold, obtaining a target number in the current frame number according to the vehicle gear data, the vehicle speed data and the turn signal data;

[0016] If the number of targets is greater than the initial traversal variable, the target distance, target speed and target angle are obtained, and a reference traversal variable is obtained based on the initial traversal variable;

[0017] When the reference traversal variable is greater than or equal to the target number, obtaining a reference frame number based on the initial frame number;

[0018] When the reference frame number is greater than or equal to a preset frame number threshold, data integration is performed based on the initial positioning point cloud data to obtain target positioning point cloud data.

[0019] In one embodiment, extracting information from the target positioning point cloud data based on a first preset algorithm and storing the information in a target file includes:

[0020] Obtain a list of recharge requirements;

[0021] Extracting the target positioning point cloud data based on a first preset algorithm and the recharging requirement list to obtain initial recharging data;

[0022] The initial recharge data is stored in a target file.

[0023] In one embodiment, storing the initial recharge data to a target file includes:

[0024] Performing format conversion based on the initial recharge data to obtain reference recharge data;

[0025] Sorting the reference recharge data based on a preset template to obtain target recharge data;

[0026] The target recharge data is stored in a target file.

[0027] In one embodiment, burning the target file to a test radar so that the test radar completes performance verification includes:

[0028] Performing format conversion based on the target file to obtain an extended file;

[0029] Integrating the extension file into a preset radar project program, compiling the extension file through a traversal module to obtain a compiled file, wherein the preset radar project program includes the traversal module;

[0030] Burn the compiled file to the test radar, so that the test radar completes performance verification according to the compiled file.

[0031] In one embodiment, before the step of burning the compiled file to the test radar so that the test radar completes performance verification according to the compiled file, the method further includes:

[0032] Determine the status of the extension file based on the traversal module and extension file;

[0033] If the extended file status is incomplete, obtaining a data verification log;

[0034] Error information is obtained according to the data verification log, and an alarm is sent according to the error information.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a recharge device based on vehicle-mounted millimeter-wave radar point cloud data, the device comprising:

[0036] Acquisition module, used to obtain target positioning point cloud data;

[0037] An extraction module, configured to extract information from the target positioning point cloud data based on a first preset algorithm and store the information in a target file;

[0038] The completion module is used to burn the target file to the test radar so that the test radar completes performance verification.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a re-injection device based on vehicle-mounted millimeter-wave radar point cloud data, the device including: a memory, a processor, and a computer program stored on the memory and runnable on the processor, the computer program being configured to implement the steps of the re-injection method based on vehicle-mounted millimeter-wave radar point cloud data as described above.

[0040] 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 re-injection method based on vehicle-mounted millimeter-wave radar point cloud data as described above are implemented.

[0041] 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 re-injection method based on vehicle-mounted millimeter-wave radar point cloud data as described above.

[0042] One or more technical solutions proposed in this application have at least the following technical effects:

[0043] This application first collects accurate target positioning data, which contains key information about the vehicle's surroundings, laying the foundation for subsequent data processing and analysis. Then, by applying a preset algorithm, the collected point cloud data is analyzed and filtered, valuable information is extracted, and saved to the target file, preparing for data re-injection and further processing. Finally, the processed data file is burned into the test radar, and the accuracy of the data and the performance of the radar system are verified through actual performance verification. This application significantly improves the efficiency of vehicle-mounted millimeter-wave radar data processing, shortens the R&D cycle, reduces costs, and improves test accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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.

[0045] 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.

[0046] Figure 1 A flowchart of the first embodiment of the method for recharging vehicle-mounted millimeter-wave radar point cloud data is provided in this application;

[0047] Figure 2 This is a schematic diagram of the data screening process of the embodiment of the present application;

[0048] Figure 3 This is a flowchart of the target file burning embodiment of this application;

[0049] Figure 4 This is a flow chart of the second embodiment of the method for recharging vehicle-mounted millimeter-wave radar point cloud data;

[0050] Figure 5 This is a schematic diagram of the module structure of the recharging device based on vehicle-mounted millimeter-wave radar point cloud data according to an embodiment of the present application;

[0051] Figure 6This is a schematic diagram of the device structure of the hardware operating environment involved in the re-injection method based on vehicle-mounted millimeter-wave radar point cloud data in an embodiment of the present application.

[0052] 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

[0053] 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.

[0054] 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.

[0055] With the development of autonomous driving technology, automotive millimeter-wave radar, as one of the key sensors, has a direct impact on the accuracy and reliability of the vehicle's advanced driver assistance systems (ADAS). These systems require real-time and accurate detection and processing of road conditions, including key data such as distance, speed, and angle, to implement functions such as blind spot detection, lane change assistance, and door opening warning, thereby improving driving safety. Currently, automotive millimeter-wave radars require commissioning and nearly 1:1 field testing on external roads before official installation. This process involves testers and data processors monitoring data in real time and optimizing it to address false alarms, missed alarms, or false triggering. Field testing is then required to verify that the optimized data meets performance requirements. This process is not only time-consuming but also extremely inefficient in utilizing R&D resources. A major drawback of existing technologies is that the field testing and data optimization processes are time-consuming, resulting in extended R&D cycles and inefficient resource utilization. Furthermore, data processors must navigate the bumpy terrain of the test vehicle, which increases workload and limits the flexibility and efficiency of data processing.

[0056] The main solution of the embodiment of the present application is: This embodiment first collects accurate target positioning data, which contains key information about the vehicle's surrounding environment, laying the foundation for subsequent data processing and analysis. Then, by applying a preset algorithm, the collected point cloud data is analyzed and screened, valuable information is extracted, and saved to the target file, preparing for data re-injection and further processing. Finally, the processed data file is burned into the test radar, and the accuracy of the data and the performance of the radar system are verified through actual performance verification. This embodiment significantly improves the efficiency of vehicle-mounted millimeter-wave radar data processing, shortens the R&D cycle, reduces costs, and improves test accuracy.

[0057] It should be noted that the execution subject of the embodiments of the present application may be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device or computer capable of performing the above functions. The following describes this embodiment and the following embodiments using a computer as an example.

[0058] Based on this, the embodiment of the present application provides a method for recharging based on vehicle-mounted millimeter wave radar point cloud data, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the recharge method based on vehicle-mounted millimeter-wave radar point cloud data of this application.

[0059] In this embodiment, the recharging method based on vehicle-mounted millimeter-wave radar point cloud data includes steps S10 to S30:

[0060] Step S10, obtaining target positioning point cloud data;

[0061] It should be noted that target positioning point cloud data can be a series of three-dimensional spatial coordinate points collected by the vehicle's millimeter-wave radar system. This point cloud data can accurately describe the physical structure and dynamic changes of the vehicle's surrounding environment. Specifically, target positioning point cloud data includes: distance information (the distance of the target object relative to the radar); velocity information (the relative velocity of the target object relative to the radar); angle information (the azimuth and elevation angle of the target object relative to the radar); and amplitude information (the strength of the reflected signal), which can be used to determine the size or material of the target object.

[0062] It is understandable that the on-board millimeter-wave radar system is used to capture the three-dimensional spatial coordinate points of the vehicle's surrounding environment. These point cloud data contain key information such as the distance, speed, and angle of the target object, providing an accurate environmental model for the vehicle's perception system. It is the basis for realizing advanced driving assistance functions and safety warning systems.

[0063] As an example, before the step of obtaining target positioning point cloud data, it also includes: obtaining initial positioning point cloud data; detecting the initial positioning point cloud data to obtain an initial frame number; when the initial frame number is greater than or equal to a preset frame number threshold, performing data integration based on the initial positioning point cloud data to obtain target positioning point cloud data.

[0064] Among them, the initial positioning point cloud data can be the original three-dimensional spatial coordinate point data directly captured by the on-board millimeter-wave radar system before any data processing or filtering. These data are not optimized or filtered and contain preliminary information about the vehicle's surrounding environment. The initial frame number can be the number of consecutive frames captured by the radar system in the initial positioning point cloud data. Each frame represents the point cloud data at a point in time, and the initial frame number therefore reflects the total amount of data captured during the initial data acquisition phase. The preset frame number threshold can be a pre-set frame number standard used to determine whether the initial positioning point cloud data is sufficient for subsequent data integration and processing. If the initial frame number reaches or exceeds this preset threshold, it means that the data volume is rich enough and further data integration and analysis can be performed to obtain more accurate target positioning point cloud data. The setting of this threshold is usually based on performance requirements and data processing needs.

[0065] Specifically, the process first involves collecting raw, unprocessed point cloud data, known as the initial positioning point cloud data. This data is then inspected to determine the number of frames it contains, known as the initial frame count. If this initial frame count meets or exceeds a pre-set minimum frame count requirement, known as a preset frame count threshold, the data volume is deemed sufficient. This initial data is then processed through data integration to ultimately generate the target positioning point cloud data for further analysis and application.

[0066] As an example, after detecting the initial positioning point cloud data and obtaining the initial frame number, it also includes: when the initial frame number is less than a preset frame number threshold, obtaining the number of targets in the current frame number based on the vehicle gear data, vehicle speed data and turn signal data; if the target number is greater than the initial traversal variable, obtaining the target distance, target speed and target angle, and obtaining a reference traversal variable based on the initial traversal variable; when the reference traversal variable is greater than or equal to the target number, obtaining a reference frame number based on the initial frame number; when the reference frame number is greater than or equal to the preset frame number threshold, performing data integration based on the initial positioning point cloud data to obtain target positioning point cloud data.

[0067] Among them, vehicle gear data, vehicle speed data, and turn signal data can be key operational and status information of the vehicle during driving, including the vehicle's current gear (e.g., first, second, etc.), the vehicle's real-time speed (e.g., kilometers per hour), and the status of the vehicle's turn signals (e.g., left turn signal on, right turn signal on, or no turn signal on). This data is crucial for understanding the vehicle's dynamic behavior and interaction with its surrounding environment. The target count can be the number of target objects detected by the vehicle's millimeter-wave radar in the current frame. These target objects may include other vehicles, pedestrians, obstacles, etc., and their number is an important indicator for assessing the completeness and richness of the current frame's data. The reference traversal variable can be a variable used during data processing. It is determined based on the initial traversal variable (i.e., a baseline or starting value set before data processing begins) and the target count (i.e., the number of targets detected in the current frame). The reference traversal variable is used to guide the processing and screening of target point cloud data during the data integration process. The initial traversal variable can be a benchmark value or starting value set before starting data processing, which is used to compare with the target number to determine whether the data processing strategy needs to be adjusted, such as whether the level of detail of data integration needs to be increased or decreased. The reference frame number can be the result calculated based on the reference traversal variable and the initial frame number. If the reference traversal variable is greater than or equal to the target number, a reference frame number will be calculated based on this condition. This reference frame number will be used to determine whether there is enough data for the next step of data integration. The specific process can be as follows Figure 2 , Figure 2 This is a schematic diagram of the data screening process of the embodiment of the present application;

[0068] Specifically, when the initial number of frames captured by the on-board millimeter-wave radar does not reach a preset threshold, data such as the vehicle's gear position, speed, and turn signal are used to determine the number of targets in the current frame. If the number of these targets exceeds the preset initial traversal variable, the distance, speed, and angle information of each target will be collected and a reference traversal variable will be calculated based on this. Once this reference traversal variable reaches or exceeds the number of targets, a reference frame number will be determined based on the current initial frame number. When this reference frame number also meets or exceeds the preset frame number threshold, the initial positioning point cloud data will be integrated to generate target positioning point cloud data that meets the requirements.

[0069] Step S20: extracting information from the target positioning point cloud data based on a first preset algorithm and storing the information in a target file;

[0070] It should be noted that the target file can be a file used to store key information extracted after being processed by a specific algorithm. This file is the output of the data extraction process and contains important data analyzed and filtered from the original target positioning point cloud data, such as the distance, speed, angle and other parameters of the target object. The target file is usually saved in a specific format (such as TXT, CSV, JSON, etc.) for subsequent processing, analysis or use in other systems and programs, such as burning into a test radar for performance verification. The target file is a key intermediate product in data re-injection and display design. Its quality and format directly affect the execution of subsequent steps and the final result.

[0071] It can be understood that a predefined algorithm is used to analyze and process the target positioning point cloud data collected by the vehicle-mounted millimeter-wave radar to extract key information, such as the distance, speed and angle of the target object. The extracted data is then saved in a target file in a certain format. This file can be a text file or other type of file for subsequent data re-injection, testing or analysis.

[0072] Step S30: Burn the target file to the test radar to enable the test radar to complete performance verification.

[0073] It should be noted that a test radar can be an on-board millimeter-wave radar device used for performance verification and testing. This type of radar is typically used during the R&D and testing phases to verify the radar system's design, performance, and reliability. During this phase, the test radar receives processed and formatted target files containing point cloud data used to simulate real-world scenarios. By burning the target files into the test radar, various road conditions and traffic scenarios can be simulated, allowing the radar system's response, accuracy, and processing capabilities to be evaluated and verified without the risks of actual road testing.

[0074] It is understood that the processed and extracted target file data is uploaded to the test vehicle millimeter-wave radar equipment to verify and evaluate the radar's performance. Through this process, the test radar can simulate a real driving environment and verify its responsiveness and accuracy when receiving and processing target data, thereby ensuring that the radar system can reliably perform its safety assistance functions in real-world applications.

[0075] As an example, burning the target file to the test radar so that the test radar completes performance verification includes: performing format conversion based on the target file to obtain an extended file; integrating the extended file into a preset radar project program, compiling the extended file through a traversal module to obtain a compiled file, and the preset radar project program includes the traversal module; burning the compiled file to the test radar so that the test radar completes performance verification according to the compiled file.

[0076] Among them, the extension file can be a file obtained after the target file is converted into a format. This format conversion is to make the file compatible and recognizable by the preset radar project program. The extension file usually contains the necessary data and information for further processing and testing. The preset radar project program can be a software program specially designed for testing radars. This program can receive, process and execute data burned into the radar. It usually contains a series of instructions and algorithms for controlling the operation and response of the radar, as well as how to interpret and use the burned data. The traversal module can be a component of the preset radar project program. Its function is to process each piece of data in the extension file one by one to ensure that each piece of data can be correctly compiled and applied. The traversal module ensures the integrity and correctness of the data and is a key link in the compilation process. The compiled file can be a file processed and compiled by the traversal module. This file can be directly read and executed by the test radar. The compiled file contains all the necessary instructions and data, so that the test radar can simulate the real-world operating environment in actual testing and complete performance verification, such as Figure 3 , Figure 3 This is a flowchart of the target file burning embodiment of the present application.

[0077] Specifically, the target file is converted into an extension file suitable for the radar project program. This extension file is then integrated into the pre-set radar project program. The extension file is then compiled using the traversal module within the project program to generate a compiled file. Finally, the compiled file is burned into the test radar, allowing the radar to perform performance verification based on this compiled file, ensuring that the radar system can correctly process and respond to various simulated road conditions.

[0078] As an example, before burning the compiled file to the test radar so that the test radar completes the performance verification step according to the compiled file, it also includes: determining the extended file status based on the traversal module and the extended file; if the extended file status is incomplete, obtaining a data verification log; obtaining error information according to the data verification log, and sending an alarm according to the error information.

[0079] The extended file status can be the integrity and usability status of the extended file. In software and data processing, the extended file status is often used to describe whether a file has been completely created, contains all necessary data, and is ready for further processing or use. If the extended file status is incomplete, it means that the file may be missing some data or have other issues, requiring further inspection and processing. The data validation log is a record file generated during the data processing and testing process, which details each step of the data processing, the events that occurred, and any problems detected. When the extended file status is incomplete, the data validation log can provide detailed information about the specific problems encountered during file processing, including possible errors, omissions, or inconsistencies. Error information can be detailed information about identified problems extracted from the data validation log. This information describes the nature of the problem, its location, and possible causes, and is crucial for diagnosing the problem and taking remedial measures. Error information typically includes codes, messages, or indicators that help technicians quickly locate and understand the problem.

[0080] Specifically, if the extended file is found to be incomplete, data validation logs are obtained. These logs record all events and issues during data processing. By analyzing these logs, specific error messages can be extracted, such as data processing failures or data inconsistencies. Once these errors are identified, alerts are sent based on this information, notifying relevant personnel or systems to take appropriate corrective measures.

[0081] This embodiment provides a re-injection method based on vehicle-mounted millimeter-wave radar point cloud data. This embodiment first collects accurate target positioning data, which contains key information about the vehicle's surrounding environment and lays the foundation for subsequent data processing and analysis. The collected point cloud data is then analyzed and filtered by applying a preset algorithm to extract valuable information and save it to a target file, preparing for data re-injection and further processing. Finally, the processed data file is burned into the test radar, and the accuracy of the data and the performance of the radar system are verified through actual performance verification. This embodiment significantly improves the efficiency of vehicle-mounted millimeter-wave radar data processing, shortens the R&D cycle, reduces costs, and improves test accuracy.

[0082] 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 4 , Figure 4 This is a flow chart of a second embodiment of the recharge method based on vehicle-mounted millimeter-wave radar point cloud data of the present application. Step S20 of the recharge method based on vehicle-mounted millimeter-wave radar point cloud data includes steps S21 to S23:

[0083] Step S21, obtaining a recharge requirement list;

[0084] It should be noted that a re-injection requirements list is a detailed list of requirements developed to guide data re-injection operations during the on-board millimeter-wave radar data processing and testing process. This list typically includes the following: data type and format, including the type of data that needs to be re-injected (such as point cloud data, video information, etc.) and the required format of this data (such as TXT, CSV, etc.); data volume and range, including the amount of data that needs to be re-injected and the time or spatial range covered by the data; and key parameters, including key parameters that need to be included in the re-injected data, such as relative velocity, target azimuth, and target amplitude. The re-injection requirements list is a crucial document to ensure that data re-injection operations proceed smoothly and meet testing requirements. It provides clear guidance for data processors, helps improve the efficiency and quality of data re-injection, and ensures the accuracy and reliability of test results.

[0085] It is understandable that before re-injecting vehicle-mounted millimeter-wave radar data, it is first necessary to collect and organize a detailed list. This list clearly lists the specific requirements and conditions of the required re-injected data, including data type, format, key parameters, etc., to ensure that the re-injected data can meet the test requirements and guarantee the accuracy and validity of the test results.

[0086] Step S22, extracting the target positioning point cloud data based on a first preset algorithm and the recharging requirement list to obtain initial recharging data;

[0087] It should be noted that the first preset algorithm can be a predefined algorithm (such as python) used to process and analyze the target positioning point cloud data collected by the vehicle-mounted millimeter-wave radar, so as to extract data that meets specific test requirements. The first preset algorithm may include steps such as data filtering, feature recognition, and pattern matching, aiming to identify and extract useful information from a large amount of raw data. The initial re-injection data can be a basic data set extracted from the target positioning point cloud data by applying the first preset algorithm. These data have been preliminarily processed and screened according to the requirements in the re-injection requirements list, but may require further formatting or conversion in order to be able to be re-injected into the test radar system. The initial re-injection data is the basis for subsequent data re-injection and test verification, and its quality and integrity directly affect the accuracy of the test results.

[0088] As you can see, using predefined algorithms and a specific list of re-injection requirements, the massive amount of target positioning point cloud data collected by the vehicle-mounted millimeter-wave radar is filtered and processed to extract useful information that meets the test requirements, forming an initial re-injection dataset. This initial re-injection dataset contains the necessary data to meet specific test scenarios and conditions, laying the foundation for subsequent data formatting, conversion, and re-injection into the test radar.

[0089] Step S23: storing the initial recharge data into a target file.

[0090] It is understood that the initial re-injection data extracted from the target positioning point cloud data by the first preset algorithm and meeting the re-injection requirements is saved according to a certain format and standard to a designated target file. This file can be a text file, binary file, or other suitable data format file. It is used to record and store the extracted data for subsequent data conversion and processing, or directly for radar system testing and verification. This process ensures persistent data storage and easy management, providing a foundation for radar system performance verification and data analysis.

[0091] As an example, storing the initial recharge data in a target file includes: performing format conversion based on the initial recharge data to obtain reference recharge data; sorting the reference recharge data based on a preset template to obtain target recharge data; and storing the target recharge data in a target file.

[0092] Reference re-injection data can be the initial re-injection data that has undergone format conversion. This conversion is typically performed to adapt the data to specific system or software requirements, such as converting the data into a format suitable for further processing by the radar system or into a format that can be recognized by a specific software program. A preset template can be a pre-defined data structure or layout that guides how to organize and arrange the reference re-injection data. The preset template specifies the data sorting method, the order of fields, and the presentation format of the data, ensuring data consistency and readability for subsequent processing and analysis. Target re-injection data can be the reference re-injection data that has been sorted using a preset template. This data has been arranged in a specific order and format and can be directly used for testing and verification of the radar system. Target re-injection data is the final, prepared data set that meets all preset requirements and format standards and can be directly stored in a target file for subsequent testing and analysis.

[0093] Specifically, the initial recharge data is converted into a format suitable for further processing, known as reference recharge data. This data is then sorted using a pre-defined template to generate target recharge data that meets specific requirements. Finally, this sorted target recharge data is saved to a target file for subsequent testing and verification.

[0094] This embodiment first obtains a re-injection requirements list to clarify specific requirements, including the type, format, and key parameters of the required data. Then, based on a first preset algorithm and the re-injection requirements list, it accurately extracts initial re-injection data that meets the test requirements from the target positioning point cloud data. Finally, this initial re-injection data is stored in a target file, providing a foundation for subsequent data conversion and test verification. This embodiment ensures that the data extracted from the raw point cloud data not only meets specific test requirements but is also stored in an organized and accessible manner, laying a solid foundation for radar system performance verification and data analysis.

[0095] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the reinjection method of the present application based on vehicle-mounted millimeter-wave radar point cloud data. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0096] This application also provides a recharge device based on vehicle-mounted millimeter-wave radar point cloud data, please refer to Figure 5 The recharging device based on vehicle-mounted millimeter-wave radar point cloud data includes:

[0097] Acquisition module 10, used to acquire target positioning point cloud data;

[0098] An extraction module 20 is configured to extract information from the target positioning point cloud data based on a first preset algorithm and store the information in a target file;

[0099] The completion module 30 is used to burn the target file to the test radar so that the test radar completes the performance verification.

[0100] The recharge device based on vehicle-mounted millimeter-wave radar point cloud data provided in this application utilizes the recharge method based on vehicle-mounted millimeter-wave radar point cloud data in the above-mentioned embodiments, thereby solving the technical problem of improving data processing efficiency. Compared with the prior art, the beneficial effects of the recharge device based on vehicle-mounted millimeter-wave radar point cloud data provided in this application are the same as those of the recharge method based on vehicle-mounted millimeter-wave radar point cloud data provided in the above-mentioned embodiments. Other technical features of the recharge device based on vehicle-mounted millimeter-wave radar point cloud data are the same as those disclosed in the above-mentioned embodiments and are not further described here.

[0101] The present application provides a re-injection device based on vehicle-mounted millimeter-wave radar point cloud data. The re-injection device based on vehicle-mounted millimeter-wave radar point cloud data 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 re-injection method based on vehicle-mounted millimeter-wave radar point cloud data in the above-mentioned embodiment one.

[0102] Reference below Figure 6 , which shows a schematic structural diagram of a vehicle-mounted millimeter-wave radar point cloud data recirculation device suitable for implementing the embodiments of the present application. The vehicle-mounted millimeter-wave radar point cloud data recirculation device in the embodiments 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), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6 The recharging device based on vehicle-mounted millimeter-wave radar point cloud data shown is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of the present application.

[0103] like Figure 6As shown, the re-injection device based on vehicle-mounted millimeter-wave radar point cloud data may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. Various programs and data required for the operation of the re-injection device based on vehicle-mounted millimeter-wave radar point cloud data are also stored in RAM 1004. Processing device 1001, ROM 1002, and RAM 1004 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: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication devices 1009 can allow the re-injection device based on vehicle-mounted millimeter-wave radar point cloud data to communicate wirelessly or wired with other devices to exchange data. While the figure shows a re-injection device based on vehicle-mounted millimeter-wave radar point cloud data with various systems, it should be understood that implementation or presence of all the illustrated systems is not required. More or fewer systems may alternatively be implemented or present.

[0104] 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.

[0105] The recharge device based on vehicle-mounted millimeter-wave radar point cloud data provided in this application utilizes the recharge method based on vehicle-mounted millimeter-wave radar point cloud data in the above-mentioned embodiment, solving the technical problem of how to improve data processing efficiency. Compared with the prior art, the beneficial effects of the recharge device based on vehicle-mounted millimeter-wave radar point cloud data provided in this application are the same as those of the recharge method based on vehicle-mounted millimeter-wave radar point cloud data provided in the above-mentioned embodiment. The other technical features of the recharge device based on vehicle-mounted millimeter-wave radar point cloud data are the same as those disclosed in the above-mentioned embodiment and are not further described here.

[0106] 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.

[0107] 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.

[0108] 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 re-injection method based on vehicle-mounted millimeter-wave radar point cloud data in the above-mentioned embodiment.

[0109] 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.

[0110] The computer-readable storage medium may be included in the recharging device based on vehicle-mounted millimeter-wave radar point cloud data; or it may exist independently without being assembled into the recharging device based on vehicle-mounted millimeter-wave radar point cloud data.

[0111] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the re-injection device based on the vehicle-mounted millimeter-wave radar point cloud data, the re-injection device based on the vehicle-mounted millimeter-wave radar point cloud data: obtains target positioning point cloud data; extracts information from the target positioning point cloud data based on a first preset algorithm and stores it in a target file; and burns the target file to the test radar so that the test radar completes performance verification.

[0112] 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 the 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., through the Internet using an Internet service provider).

[0113] 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.

[0114] 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.

[0115] 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 recharging vehicle-mounted millimeter-wave radar point cloud data. This computer-readable storage medium addresses the technical problem of improving data processing efficiency. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are similar to those of the method for recharging vehicle-mounted millimeter-wave radar point cloud data provided in the aforementioned embodiment, and are not further elaborated here.

[0116] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned re-injection method based on vehicle-mounted millimeter-wave radar point cloud data.

[0117] The computer program product provided in this application can solve the technical problem of how to improve the efficiency of data processing. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the reinjection method based on vehicle-mounted millimeter-wave radar point cloud data provided in the above embodiment, and will not be repeated here.

[0118] 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 recharge method based on vehicle-mounted millimeter-wave radar point cloud data, characterized in that: The method comprises: Obtain target positioning point cloud data; Extracting information from the target positioning point cloud data based on a first preset algorithm and storing the information in a target file; Burn the target file to the test radar to enable the test radar to complete performance verification.

2. The method according to claim 1, wherein Before the step of obtaining target positioning point cloud data, the method further includes: Obtain initial positioning point cloud data; Detect the initial positioning point cloud data and obtain the initial frame number; When the initial frame number is greater than or equal to a preset frame number threshold, data integration is performed based on the initial positioning point cloud data to obtain target positioning point cloud data.

3. The method according to claim 2, wherein After detecting the initial positioning point cloud data and obtaining the initial number of frames, the method further includes: When the initial frame number is less than a preset frame number threshold, obtaining a target number in the current frame number according to the vehicle gear data, the vehicle speed data and the turn signal data; If the number of targets is greater than the initial traversal variable, the target distance, target speed and target angle are obtained, and a reference traversal variable is obtained based on the initial traversal variable; When the reference traversal variable is greater than or equal to the target number, obtaining a reference frame number based on the initial frame number; When the reference frame number is greater than or equal to a preset frame number threshold, data integration is performed based on the initial positioning point cloud data to obtain target positioning point cloud data.

4. The method according to claim 1, wherein The extracting information from the target positioning point cloud data based on the first preset algorithm and storing it in a target file includes: Obtain a list of recharge requirements; Extracting the target positioning point cloud data based on a first preset algorithm and the recharging requirement list to obtain initial recharging data; The initial recharge data is stored in a target file.

5. The method according to claim 4, wherein Storing the initial recharge data into a target file includes: Performing format conversion based on the initial recharge data to obtain reference recharge data; Sorting the reference recharge data based on a preset template to obtain target recharge data; The target recharge data is stored in a target file.

6. The method according to claim 1, wherein Burning the target file to the test radar so that the test radar completes performance verification includes: Performing format conversion based on the target file to obtain an extended file; Integrating the extension file into a preset radar project program, compiling the extension file through a traversal module to obtain a compiled file, wherein the preset radar project program includes the traversal module; Burn the compiled file to the test radar, so that the test radar completes performance verification according to the compiled file.

7. The method according to claim 1, wherein Before the step of burning the compiled file to the test radar so that the test radar completes performance verification according to the compiled file, the method further includes: Determine the status of the extension file based on the traversal module and extension file; If the extended file status is incomplete, obtaining a data verification log; Error information is obtained according to the data verification log, and an alarm is sent according to the error information.

8. A recharge device based on vehicle-mounted millimeter-wave radar point cloud data, characterized in that: The device comprises: Acquisition module, used to obtain target positioning point cloud data; An extraction module, configured to extract information from the target positioning point cloud data based on a first preset algorithm and store the information in a target file; The completion module is used to burn the target file to the test radar so that the test radar completes performance verification.

9. A recharge device based on vehicle-mounted millimeter-wave radar point cloud data, 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 recharge method based on vehicle-mounted millimeter-wave radar point cloud data as described in 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 recharge method based on vehicle-mounted millimeter-wave radar point cloud data are implemented as described in any one of claims 1 to 7.

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