Radar target detection method, device, equipment and storage medium

Abstract

The application provides a radar target detection method, device and equipment and a storage medium, and is applied to the technical field of radar detection. The method comprises the following steps: acquiring a second target and a first position of the second target currently mapped in a radar main lobe detection area when a first target is currently detected in a radar sidelobe detection area; acquiring a first frame image currently collected by a video device, and determining whether the second target mapped in the main lobe detection area is an angle ambiguity target according to the first position and a position correspondence relationship between the video device and the radar; in the case that the second target in the main lobe detection area is the angle ambiguity target, determining a target position corresponding to the first target in the sidelobe detection area according to the first position, a moving direction of the first target and a relative position relationship between the moving direction and the main lobe detection area; and in the first direction, a detection distance corresponding to the sidelobe detection area is smaller than a detection distance corresponding to the main lobe detection area. The radar near-detection capability can be improved by adopting the technical scheme.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of radar detection, and in particular to a radar target detection method, device, equipment and storage medium. BACKGROUND

[0002] Generally, radar uses the straight-line propagation / radiation, reflection and scattering characteristics of high-frequency electromagnetic waves (radio frequency, microwave or even millimeter wave) in free space to "illuminate" the target, so as to realize radar detection of the target. Meanwhile, when the radar antenna radiates or receives electromagnetic waves in space, the energy is not uniformly dispersed in all directions, but forms a "petal-shaped" directional diagram; the directional diagram includes a main lobe and a side lobe, wherein the energy of the main lobe is most concentrated, and the gain is highest; the radar uses the main lobe to truly "illuminate / scan" the target, and the detection distance is far and the accuracy is high; the energy and gain of the side lobe in the direction other than the main lobe are much smaller than those of the main lobe.

[0003] The detection capability and range of the radar have a certain relationship with the energy distribution of the radar itself; in general, it is hoped that the energy of the main lobe is as high as possible, and the energy of the side lobe is as low as possible, so that the influence of angle ambiguity can be avoided as much as possible, and the detection of the target in the normal position can be ensured. The field of view angle of the radar presents a sector in the two-dimensional plane, and the range covered thereby is measured by the angle, so for the radar, the closer the target to be detected is to the radar itself, the smaller the lateral range to be identified is, and in particular, when the radar is detected, the duration of the target is limited due to filtering of false alarms, which directly affects the detection distance and capability of the radar at close range.

[0004] Therefore, the current technology has the problem of poor detection capability of the radar for a target at close range. SUMMARY

[0005] The present application provides a radar target detection method, device, equipment and storage medium, which solves the defect of poor detection capability of the radar for a target at close range in the prior art, and realizes that when a target is detected in a side lobe detection area of the radar, the specific position of the target in the side lobe detection area is determined based on the moving direction of the target and the relative positional relationship between the target and the main lobe detection area when the target mapped by the main lobe detection area is an angle ambiguity target, so that the target can be detected in advance in the close range corresponding to the side lobe detection area, and the detection capability of the radar for a target at close range is improved.

[0006] The present application provides a radar target detection method, comprising:

[0007] In the case that a first target is currently detected in a side lobe detection area of a radar, a second target currently mapped in a main lobe detection area of the radar and a first position of the second target currently corresponding to the main lobe detection area are acquired;

[0008] acquire a first frame image currently collected by the video device, and determine whether the second target mapped in the main lobe detection region is an angle ambiguity target according to the first position and a position correspondence relationship between the video device and the radar; a field of view angle of the video device covers a field of view angle of the main lobe detection region;

[0009] in a case where the second target in the main lobe detection region is an angle ambiguity target, determine a target position of the first target currently in a side lobe detection region according to the first position, a moving direction of the first target currently on a horizontal axis and a relative position relationship between the moving direction and the main lobe detection region; the first direction detection distance corresponding to the side lobe detection region is less than the first direction detection distance corresponding to the main lobe detection region.

[0010] According to the radar target detection method provided by the application, the target position of the first target currently in the side lobe detection region is determined according to the first position, the moving direction of the first target currently on the horizontal axis and the relative position relationship between the moving direction and the main lobe detection region, and the method comprises the steps that:

[0011] determine a direction parameter of the first target in the side lobe detection region according to the moving direction of the first target currently on the horizontal axis and the relative position relationship between the moving direction and the main lobe detection region; the direction parameter is used for representing that the first target is on the left side or the right side of the main lobe detection region.

[0012] determine the target position of the first target currently in the side lobe detection region according to the first position of the second target in the main lobe detection region and the direction parameter.

[0013] According to the radar target detection method provided by the application, the target position of the first target currently in the side lobe detection region is determined according to the first position of the second target in the main lobe detection region and the direction parameter, and the method comprises the steps that:

[0014] determine a main lobe angle corresponding to the second target in the main lobe detection region according to the first position of the second target in the main lobe detection region.

[0015] determine a side lobe angle corresponding to the first target currently in the side lobe detection region according to the main lobe angle, the direction parameter and a preset mapping relationship; the mapping relationship comprises a mapping relationship between the main lobe angle, the direction parameter and the side lobe angle.

[0016] determine the target position of the first target currently in the side lobe detection region according to the side lobe angle corresponding to the first target currently in the side lobe detection region.

[0017] According to the radar target detection method provided by the application, the method further comprises the steps that:

[0018] According to the moving direction of the first target on the horizontal axis and the relative position relationship between the moving direction and the main lobe detection region, a direction parameter of the first target in a direction corresponding to the side lobe detection region is determined; the direction parameter is used to represent that the first target is on the left side or the right side of the main lobe detection region, and the first target moves towards or away from the main lobe detection region on the left side or the right side of the main lobe detection region;

[0019] In a case where it is determined according to the direction parameter that the first target moves towards the main lobe detection region, the first target is determined as a tracking target.

[0020] According to the radar target detection method provided by the present application, the method further comprises:

[0021] In a case where the first target enters the main lobe detection region at a subsequent moment, a second frame image collected by the video device at the subsequent moment is acquired, and target detection is performed on the second frame image to determine whether a real target appears in the second frame image;

[0022] It is determined whether the real target is detected by the main lobe detection region at the subsequent moment;

[0023] If the real target appears in the second frame image and / or the real target is detected by the main lobe detection region at the subsequent moment, a second tracking trajectory corresponding to the first target is determined according to a first tracking trajectory of the first target before the subsequent moment and a second position of the real target in the main lobe detection region.

[0024] According to the radar target detection method provided by the present application, the method further comprises:

[0025] In a case where the first target leaves the main lobe detection region, a real position of the first target in the side lobe detection region after leaving the main lobe detection region is determined according to a candidate position of the first target mapped in the main lobe detection region;

[0026] According to a motion parameter of the first target in the side lobe detection region after leaving the main lobe detection region, it is determined whether to associate the tracking trajectory of the first target;

[0027] In a case where it is determined to associate the tracking trajectory of the first target, a third tracking trajectory corresponding to the first target is determined according to the real position of the first target and the second tracking trajectory.

[0028] According to the radar target detection method provided by the present application, whether the second target mapped in the main lobe detection region is an angle ambiguity target is determined according to the first position, a position correspondence relationship between the video device and the radar, and comprises:

[0029] According to the position correspondence relationship between the video device and the radar, a third position corresponding to the first position is determined in the first frame image.

[0030] perform target detection on the first frame image to determine whether the second target exists at the third position;

[0031] in a case where the second target does not exist at the third position, determining that the second target mapped in the main lobe detection region is an angle ambiguous target.

[0032] The application further provides a radar target detection device, comprising the following modules:

[0033] The acquisition module is configured to, in a case where the radar side lobe detection region currently detects the first target, acquire the second target currently mapped in the radar main lobe detection region and a first position corresponding to the second target in the main lobe detection region.

[0034] The ambiguous target judgment module is configured to acquire a first frame image currently collected by a video device, and determine whether the second target mapped in the main lobe detection region is an angle ambiguous target according to the first position and a position correspondence relationship between the video device and the radar; a field of view angle of the video device covers a field of view angle of the main lobe detection region.

[0035] The target position determination module is configured to, in a case where the second target in the main lobe detection region is an angle ambiguous target, determine a target position corresponding to the first target in the side lobe detection region according to the first position, a moving direction of the first target currently on a horizontal axis and a relative position relationship between the moving direction and the main lobe detection region; a first direction detection distance corresponding to the side lobe detection region is less than a first direction detection distance corresponding to the main lobe detection region.

[0036] The application further provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the radar target detection method according to any one of the above when executing the computer program.

[0037] The application further provides a computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the radar target detection method according to any one of the above.

[0038] The application further provides a computer program product, comprising a computer program, wherein the computer program is executed by a processor to implement the radar target detection method according to any one of the above.

[0039] The radar target detection method, device, equipment and storage medium provided by the present application, in the case that a first target is currently detected in the radar sidelobe detection area, the second target currently mapped in the radar main lobe detection area and the first position corresponding to the second target in the main lobe detection area are obtained, the first frame image currently collected by the video device is obtained, whether the second target mapped in the main lobe detection area is an angle ambiguity target is determined according to the position correspondence relationship between the video device and the radar, in the case that the second target in the main lobe detection area is an angle ambiguity target, the target position corresponding to the first target in the sidelobe detection area is determined according to the first position, the moving direction of the first target on the horizontal axis and the relative position relationship between the moving direction and the main lobe detection area; wherein the field of view angle of the video device covers the field of view angle of the main lobe detection area, and the first direction detection distance of the sidelobe detection area is less than the first direction detection distance of the main lobe detection area. In this method, since the specific position of the target in the sidelobe detection area is determined based on the moving direction of the target and the relative position relationship between the moving direction and the main lobe detection area when the target mapped in the main lobe detection area is an angle ambiguity target in the case that the target is detected in the radar sidelobe detection area, the target can be detected in the corresponding near distance range of the sidelobe detection area in advance, and the detection capability of the radar for the near distance target is improved without special processing of the front stage antenna array. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0041] Figure 1 is the energy distribution diagram of the radar main lobe detection area and the sidelobe detection area provided by the embodiment of the present application.

[0042] Figure 2 is the flowchart of the radar target detection method provided by the embodiment of the present application.

[0043] Figure 3 is the radar video integrated machine detection range schematic diagram provided by the embodiment of the present application.

[0044] Figure 4 is the schematic diagram of the near distance target appearing in the sidelobe detection area and the main lobe detection area provided by the embodiment of the present application.

[0045] Figure 5 is the real trajectory schematic diagram of the target from the left sidelobe to the main lobe and then to the right sidelobe provided by the embodiment of the present application.

[0046] Figure 6 is a structural schematic diagram of a radar target detection device provided by an embodiment of the present application.

[0047] Figure 7 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0049] The detection capability and detection range of a radar have certain relationship with the energy distribution of the radar itself, such as the energy distribution diagram of the main lobe detection area and the side lobe detection area of the radar shown in FIG. 1. Figure 1 Generally, it is hoped that the main lobe energy is as high as possible and the side lobe energy is as low as possible, so as to avoid the influence of angle ambiguity as much as possible and ensure the detection of the normal position of the target. However, this will result in that the detection range of the radar for the near-distance target is limited. In addition, the more the detection target is close to the radar itself, the smaller the lateral range of the identification is. When the radar is detected, the duration of the target is limited due to the filtering of false alarm, so there is a problem that the detection capability of the radar for the near-distance target is poor. Based on this, an embodiment of the present application provides a radar target detection method, device, equipment and storage medium, which can solve the technical problem.

[0050] The following will first describe the proper nouns related to the embodiments of the present application.

[0051] Angular Ambiguity: In a millimeter wave radar system, angular ambiguity refers to the phenomenon that the radar cannot accurately distinguish targets coming from different directions due to the design of the radar antenna array or the limitation of the signal processing algorithm, resulting in the direction measurement of the target position being unclear. Specifically, when two or more targets are located at a certain distance within the radar viewing angle, but due to the insufficient angular resolution of the radar or the influence of other factors, these targets may be incorrectly identified as one target or their direction information may be confused.

[0052] It should be noted that the executing entity in the embodiments of the present invention can be a radar target detection device, or it can be an electronic device, or it can be other devices, equipment, or systems. No specific limitations are made here. The following embodiments will use an electronic device as the executing entity as an example for explanation. This electronic device can be a terminal or a server. It can be an electronic device within the radar, or an external electronic device connected to the radar, capable of acquiring radar detection data.

[0053] Figure 2 This is a flowchart illustrating the radar target detection method provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the method includes the following steps:

[0054] Step 202: If a first target is detected in the radar sidelobe detection area, obtain the second target currently mapped in the radar main lobe detection area and the first position of the second target in the main lobe detection area.

[0055] In this embodiment, the radar is a radar-video integrated unit that combines radar and video equipment. Before use, this integrated unit can be fused and calibrated, which involves mapping the position of the radar when detecting a target to the position of the video equipment when detecting the target. Here, the position can be coordinates. This integrated unit can detect targets in real time. The radar's detection range includes the range corresponding to the sidelobe detection area and the range corresponding to the main lobe detection area. The video equipment's detection range is the range corresponding to the video detection area. For details on the radar's and video equipment's detection ranges, please refer to [link to relevant documentation]. Figure 3 The diagram shows the detection range of the integrated radar-visual system. The thick solid line represents the sidelobe detection area, the thin solid line represents the main lobe detection area, and the dashed line represents the video detection area. The field of view corresponding to the video detection area covers / includes the main lobe detection area.

[0056] When the radar detects a target at close range, it is designated as the first target. This first target first enters the detection range corresponding to the radar's sidelobe detection area, meaning the first target is currently detected within the radar's sidelobe detection area. At this time, this first target will be mapped / formed into a target due to angular ambiguity within the radar's main lobe detection area, designated as the second target. See, for example... Figure 4 The diagram illustrates a near-range target appearing in both the sidelobe and main lobe detection regions. The target appearing in the sidelobe detection region is the first target, and the target appearing in the main lobe detection region is the second target. After mapping / forming the second target within the main lobe detection region, its current position within the main lobe detection region can be calculated and denoted as the first position.

[0057] In step 204, a first frame image currently collected by the video device is acquired, and it is determined whether the second target mapped in the main lobe detection region is an angle ambiguity target according to the first position and the position correspondence relationship between the video device and the radar; the field of view angle of the video device covers the field of view angle of the main lobe detection region.

[0058] After the second target is mapped in the main lobe detection region, it is needed to determine whether the second target is an angle ambiguity target caused by angle ambiguity. As mentioned above, the video detection region of the radar-video integrated machine corresponds to the field of view angle covering / including the field of view angle of the main lobe detection region. At this time, whether the second target is an angle ambiguity target can be comprehensively determined by combining the target detection result of the video device in the video detection region of the video device and the first position of the second target in the main lobe detection region.

[0059] As an option, the third position corresponding to the first position can be determined in the first frame image according to the position correspondence relationship between the video device and the radar; target detection is performed on the first frame image to determine whether the second target exists at the third position; and in the case that the second target does not exist at the third position, it is determined that the second target mapped in the main lobe detection region is an angle ambiguity target. That is, when the second target is currently formed in the main lobe detection region, a frame image currently collected by the video device is acquired, which is recorded as the first frame image. Then, based on the position correspondence relationship between the radar and the video device during the early fusion calibration, the position corresponding to the first position of the second target in the first frame image is found in the first frame image, which is recorded as the third position. Then, target detection can be performed on the corresponding region at the third position in the first frame image to obtain the detection result of whether a target exists at the third position. If a target exists at the third position in the first frame image, it indicates that the second target formed in the main lobe detection region is a real target without angle ambiguity, that is, the second target is a real target actually appearing in the main lobe detection region. In this case, the target does not need to be further processed, and its position and / or angle are clear, so the target can be directly tracked.

[0060] If a target does not exist at the third position in the first frame image, it indicates that the second target formed in the main lobe detection region is a real target caused by angle ambiguity, that is, an angle ambiguity target. The angle ambiguity target actually appears in the side lobe detection region, because the side lobe detection region is on both sides of the main lobe detection region. The position and / or angle of the target are not clear, so the target needs to be further processed.

[0061] In step 206, in the case that the second target in the main lobe detection area is an angle ambiguity target, a target position corresponding to the first target in the side lobe detection area is determined according to the first position, the moving direction of the first target in the horizontal axis at present, and the relative position relationship between the moving direction and the main lobe detection area; and the first direction detection distance corresponding to the side lobe detection area is less than the first direction detection distance corresponding to the main lobe detection area.

[0062] Continuing to refer to Figure 4 The horizontal axis refers to the direction of the arrow in the figure, which can also be referred to as the X axis. When detecting a target, the radar can use a frame accumulation strategy to filter out false targets. The frame accumulation strategy generally filters out false targets through accumulation in the time dimension. Therefore, there is a certain delay in the appearance of the first target in the side lobe detection area, which can exclude the influence of false alarms. At the same time, the frame accumulation strategy can obtain the position of the first target in each frame of data detected by the radar, and then the position of the first target in a plurality of consecutive frames before the current time can be used to calculate the moving speed of the first target at the current time and the moving direction of the first target at the current time. At the same time, the position of the main lobe detection area is determined, and then the relative position relationship between the first target and the main lobe detection area can be determined through the moving direction of the first target at the current time and the position of the main lobe detection area. The relative position relationship can represent that the moving direction of the first target is close to / towards the main lobe detection area or away from the main lobe detection area.

[0063] In the case that the second target in the main lobe detection area is an angle ambiguity target, after the moving direction of the first target in the horizontal axis at present and the relative position relationship between the moving direction and the main lobe detection area are determined, there is a certain mapping relationship between the position of the target in the main lobe detection area and the real position of the target. At this time, the real position of the first target in the side lobe detection area corresponding to the first position of the second target in the main lobe detection area at present can be calculated through the mapping relationship, which is denoted as target position.

[0064] In addition, the detection distance of the side lobe detection area in the first direction is generally less than the detection distance of the main lobe detection area in the first direction. The first direction can be the vertical direction. As described above, in the case that a target appears in the side lobe detection area, the actual position of the target in the side lobe detection area can be solved through the angle ambiguity principle, which can detect the target at a close distance in advance and improve the close detection capability of the radar.

[0065] In this embodiment, in a case that a first target is currently detected in a radar sidelobe detection area, a second target currently mapped in a radar main lobe detection area and a first position of the second target currently corresponding to the main lobe detection area are acquired, a first frame image currently collected by a video device is acquired, whether the second target mapped in the main lobe detection area is an angle ambiguity target is determined according to a position correspondence relationship between the video device and the radar, and in a case that the second target in the main lobe detection area is the angle ambiguity target, a target position corresponding to the first target in the sidelobe detection area is determined according to the first position, a moving direction of the first target currently on a horizontal axis and a relative position relationship between the moving direction and the main lobe detection area; wherein a field of view angle of the video device covers a field of view angle of the main lobe detection area, and a first direction detection distance of the sidelobe detection area is less than a first direction detection distance of the main lobe detection area. In this method, since the specific position of the target in the sidelobe detection area is determined based on the moving direction of the target and the relative position relationship between the target and the main lobe detection area when the target mapped in the main lobe detection area is determined to be an angle ambiguity target in a case that the target is detected in the sidelobe detection area of the radar, the target can be detected in the near distance range corresponding to the sidelobe detection area in advance, and the detection capability of the radar for the near distance target is improved without special processing of the front-stage antenna array.

[0066] The following embodiment describes an implementation of specifically calculating the real position of the target in the sidelobe detection area of the radar based on the angle and direction parameters of the target in the sidelobe detection area.

[0067] In one embodiment, the step 206 of determining the target position corresponding to the first target in the sidelobe detection area according to the first position, the moving direction of the first target currently on the horizontal axis and the relative position relationship between the moving direction and the main lobe detection area can include the following steps:

[0068] Step A1, determining the direction parameter corresponding to the first target in the sidelobe detection area according to the moving direction of the first target currently on the horizontal axis and the relative position relationship between the moving direction and the main lobe detection area; the direction parameter is used to represent that the first target is on the left side or the right side of the main lobe detection area.

[0069] The direction parameter corresponding to the first target in the sidelobe detection area at the current time can be determined by the moving direction of the first target at the current time and the relative position relationship between the moving direction and the main lobe detection area, and the direction parameter represents that the first target is on the left side or the right side of the main lobe detection area, i.e. the first target moves close to / towards the main lobe detection area or moves away from the main lobe detection area.

[0070] Step A2, determining the target position corresponding to the first target in the sidelobe detection area according to the first position of the second target in the main lobe detection area and the direction parameter.

[0071] Wherein, since the side lobe detection area is generally distributed on both sides of the main lobe detection area, when the target is detected in the side lobe detection area, it is unclear whether the target appears on the left side or the right side of the main lobe detection area due to the angle ambiguity, so that the real position of the target detected in the side lobe detection area cannot be calculated. Therefore, it is proposed here that the direction parameter of the first target can be determined to obtain whether it is on the left side or the right side of the main lobe detection area, and the mapping relationship between the side lobe detection area and the main lobe detection area can be obtained. The real position of the first target in the side lobe detection area can be obtained.

[0072] As an option, the process of determining the target position through the mapping relationship can include the following steps:

[0073] According to the first position of the second target in the main lobe detection area, the corresponding main lobe angle of the second target in the main lobe detection area is determined;

[0074] According to the main lobe angle, the direction parameter and the preset mapping relationship, the corresponding side lobe angle of the first target in the side lobe detection area is determined; wherein the mapping relationship includes the mapping relationship between the main lobe angle, the direction parameter and the side lobe angle;

[0075] According to the corresponding side lobe angle of the first target in the side lobe detection area, the corresponding target position of the first target in the side lobe detection area is determined.

[0076] Specifically, the angle and position of the target detected by the main lobe detection area of the radar have a certain conversion relationship, which can be converted into the angle of the second target in the main lobe detection area by the first position of the second target in the main lobe detection area, and the angle is recorded as the main lobe angle.

[0077] In addition, when the angle of the detected target is ambiguous, there is a certain mapping relationship between the real angle of the target and the angle of the target appearing in the main lobe detection area, and the expression corresponding to the mapping relationship can be expressed as:

[0078] ;

[0079] Wherein, represents the real angle of the target in the side lobe detection area, recorded as the side lobe angle, represents the angle of the target detected in the main lobe detection area, recorded as the main lobe angle, and T represents the ambiguity period, which is a known quantity, represents the direction parameter, which takes values of 0, ±1, ±2,..., considering that the three lobe energy of the radar is too low and the real target is not detected in the frame image of the video device, so the value of the direction parameter here is only ±1. The value is only ±1.

[0080] After the main lobe angle of the second target in the main lobe detection region and the direction parameter of the first target are determined, the direction parameter determined here is 1 or -1, and the main lobe angle and the direction parameter can be substituted into the expression corresponding to the mapping relationship to solve the side lobe angle of the first target in the side lobe detection region. Similarly, the angle and position of the target detected in the side lobe detection region of the radar have a certain conversion relationship, and the side lobe angle of the first target in the side lobe detection region can be converted into the target position of the first target in the side lobe detection region by combining the conversion relationship.

[0081] In this embodiment, the direction parameter of the first target on the left side or the right side of the main lobe detection region is determined through the moving direction of the first target and the relative position relationship between the moving direction and the main lobe detection region, and the real position of the target in the side lobe detection region can be determined by combining the position of the target in the main lobe detection region. In this way, the real position of the target in the side lobe detection region can be solved in advance, and the detection capability of the near target is improved. In addition, the real angle of the target detected by the side lobe is determined through the mapping relationship among the main lobe angle, the direction parameter, and the main side lobe angle parameter, and then the real position is determined. In this way, the real position of the target in the side lobe detection region can be quickly and accurately solved in advance, and the detection capability and immediacy of the near target are improved.

[0082] The following embodiments describe whether the target detected in advance in the near distance is further tracked.

[0083] In one embodiment, the above method further comprises the following steps:

[0084] Step B1, according to the moving direction of the first target in the horizontal axis and the relative position relationship between the moving direction and the main lobe detection region, determine the direction parameter of the first target in the side lobe detection region; the direction parameter is used to represent that the first target is on the left side or the right side of the main lobe detection region, and the left side or the right side of the first target in the main lobe detection region represents that the first target moves towards or away from the main lobe detection region.

[0085] Step B2, in the case where the first target moves towards the main lobe detection region according to the direction parameter, the first target is determined as a tracking target.

[0086] In the embodiment, since the post-stage processing is not performed at the position of the front-stage antenna array, etc., the angle ambiguous target cannot be actually decoupled without special design of the front-stage antenna array. Therefore, the risk priority principle is used in the embodiment. When the target is confirmed as a real target by its confidence, the target close to the direction of the main lobe detection area is reserved and the trajectory is accumulated for observation and tracking. Specifically, the moving direction of the first target is calculated according to the position of the first target in the multiple frames of continuous data detected by the radar. The direction parameter of the target detected in the side lobe detection area is determined according to the moving direction of the first target and the relative position relationship between the moving direction and the main lobe detection area. Then, the real position of the target detected in the side lobe detection area is calculated.

[0087] Meanwhile, after the direction parameter of the first target in the side lobe detection area is determined, it is determined whether the first target moves towards or away from the main lobe detection area according to the direction parameter. When it is determined that the first target moves towards the main lobe detection area, it is meaningful to continue tracking the first target. Therefore, the first target is determined as the target to be tracked in the subsequent process.

[0088] During the tracking of the first target, as an option, the method further includes the following steps:

[0089] When the first target enters the main lobe detection area at the subsequent time, a second frame image collected by the video device at the subsequent time is acquired, and target detection is performed on the second frame image to determine whether a real target appears in the second frame image.

[0090] It is determined whether a real target is detected in the main lobe detection area at the subsequent time.

[0091] If the real target appears in the second frame image and / or the real target is detected in the main lobe detection area at the subsequent time, a second tracking trajectory of the first target is determined according to the first tracking trajectory of the first target before the subsequent time and the second position of the real target in the main lobe detection area.

[0092] The first target continues to move at a subsequent moment in time after the current moment. When the first target enters the radar main lobe detection area from the radar side lobe detection area, a second frame image captured by the video device can be obtained, and target detection is performed on the second frame image to determine whether a real target appears in the second frame image. Meanwhile, when the first target enters the radar main lobe detection area from the radar side lobe detection area, the radar can also constantly determine whether a real target is detected in the main lobe detection area. When a real target is detected, the position of the detected real target is recorded as a second position. If at least one of the following conditions is met: a real target appears in the second frame image and a real target is detected in the main lobe detection area at the subsequent moment, it is determined that a real target appears in the main lobe detection area, and the real target is the first target. At this time, the second position of the real target in the main lobe detection area and the first tracking trajectory of the first target before entering the main lobe detection area can be spliced to complete the tracking trajectory of the first target, and a second tracking trajectory corresponding to the first target is obtained. The second tracking trajectory is the tracking trajectory of the first target in the left side lobe detection area and the tracking trajectory of the first target in the main lobe detection area. At this time, the first target can inherit its current attribute, i.e., trustworthiness / confidence, in the main lobe detection area, and there is no need to determine the real target again. It should be noted that the travel of the first target entering the main lobe detection area is within a certain distance, and the detection distance of the main lobe detection area is limited. Without the accumulation of the preceding stage, the first target cannot be detected under the accumulation strategy of filtering false alarms.

[0093] If a real target does not appear in the second frame image and a real target is not detected in the main lobe detection area at the subsequent moment, it is determined that no real target is captured in the main lobe detection area, which indicates that the first target is introduced in the right side lobe detection area of the main lobe detection area and is actually far away from the main lobe detection area. At this time, the first tracking trajectory of the first target accumulated in the early stage can be deleted / discarded, and the first target is no longer tracked.

[0094] In addition, when the first target moves to the right in the main lobe detection area, the tracking trajectory of the first target in the main lobe detection area and the tracking trajectory of the first target in the left side lobe detection area can be spliced in the above-mentioned manner to obtain the complete tracking trajectory of the first target in the left side lobe detection area and the main lobe detection area, i.e., the second tracking trajectory. As an option, when the first target leaves the main lobe detection area, the real position of the first target in the side lobe detection area after leaving the main lobe detection area can be determined according to the candidate position of the first target mapped in the main lobe detection area. Whether to associate the tracking trajectory of the first target is determined according to the motion parameters of the first target in the side lobe detection area after leaving the main lobe detection area. In the case of determining to associate the tracking trajectory of the first target, a third tracking trajectory corresponding to the first target is determined according to the real position of the first target and the second tracking trajectory.

[0095] In other words, when the first target leaves the main lobe detection area and enters the right side lobe detection area, the position mapped by the first target in the main lobe detection area can be used as a candidate position. The direction parameter of the first target at this time is determined to be positive 1 (because it entered the main lobe detection area from the left side lobe detection area, so the direction parameter is -1). At this time, the true position of the first target in the right side lobe detection area can be calculated by combining the above mapping relationship. Then, the motion parameters detected by the first target in the right side lobe detection area, including speed and direction of movement, can be used to determine whether it is associated with the first target detected in the main lobe detection area. For example, if the motion parameters are the same, it means that they are associated. In the case of association, the true position of the first target in the right side lobe detection area can be spliced ​​with the second tracking trajectory mentioned above to obtain the complete tracking trajectory of the first target from the left side lobe detection area to the main lobe detection area and then to the right side lobe detection area. In addition, when stitching the true position of the first target in the right side lobe detection area with the second tracking trajectory mentioned above, the true position of the first target in the right side lobe detection area can be continuously stitched with the previous tracking trajectory until the first target leaves the right side lobe detection area and the tracking and trajectory stitching are stopped.

[0096] For example, see Figure 5 The diagram shows the actual trajectory of the target from the left sidelobe to the main lobe and then to the right sidelobe. It can be seen that the actual trajectory of the first target is from A to B and then to C. However, the target trajectory that can actually be observed in the radar main lobe detection area is the trajectory of B three times. It can be seen that this embodiment actually expands the detection range and the immediacy of close-range targets, and can provide the complete path of the target.

[0097] Furthermore, although the above description uses the process of the target moving from the left sidelobe detection area to the right as an example, the target can also move from the right sidelobe detection area to the left. The processing logic for this process is the same as that for the process of the target moving from the left sidelobe detection area to the right, so it will not be repeated here.

[0098] In this embodiment, the direction of the target's movement and its relative position to the main lobe detection area are used to determine whether the target is moving towards the main lobe detection area. When the target is moving towards the main lobe detection area, it can be identified as a target for subsequent tracking, thus improving the accuracy of target tracking. Furthermore, when the target is determined to be in the main lobe detection area based on the video frame image and the detection results of the main lobe detection area, its trajectory in the main lobe detection area can be stitched together with its previous trajectory in the side lobe detection area to obtain its complete trajectory, providing the user with a true and complete target trajectory. Further, if the target leaves the main lobe detection area and enters the right side lobe detection area and is associated with a previous target, the target's trajectory in the right side lobe detection area can be stitched together with the previous trajectory, providing an even more complete target movement trajectory.

[0099] In summary, the technical solution of the present invention combines video equipment with the principle of radar angle ambiguity, which effectively expands the detection range and the immediacy of close-range targets. At the same time, it can improve the completeness of target tracking trajectory to a certain extent. Moreover, the technical solution of the present invention is a subsequent processing solution and does not require special array design for the front-end antenna.

[0100] The radar target detection device provided in the embodiments of the present invention is described below. The radar target detection device described below can be referred to in correspondence with the radar target detection method described above.

[0101] Figure 6 This is a schematic diagram of the radar target detection device provided in an embodiment of the present invention. See also: Figure 6 As shown, the device may include:

[0102] The acquisition module 610 is used to acquire the second target currently mapped in the radar main lobe detection area and the first position of the second target in the main lobe detection area when the first target is currently detected in the radar sidelobe detection area.

[0103] The fuzzy target determination module 620 is used to acquire the first frame image currently captured by the video device, and determine whether the second target mapped in the main lobe detection area is an angularly blurred target based on the first position and the positional correspondence between the video device and the radar; the field of view of the video device covers the field of view of the main lobe detection area.

[0104] The target position determination module 630 is configured to, in a case where the second target of the main lobe detection area is an angle ambiguous target, determine a target position of the first target in the side lobe detection area according to the first position, a moving direction of the first target on a horizontal axis, and a relative position relationship between the moving direction and the main lobe detection area; and the first direction detection distance corresponding to the side lobe detection area is smaller than the first direction detection distance corresponding to the main lobe detection area.

[0105] It should be noted that the above device provided by the embodiment of the present application can realize all the method steps realized by the method embodiment and achieve the same technical effects, and the same parts and beneficial effects of the method embodiment in the embodiment will not be described in detail.

[0106] Figure 7 An example of an electronic device physical structure diagram is shown in Figure 7 As shown, the electronic device can include a processor 710, a communications interface 720, a memory 730, and a communications bus 740, wherein the processor 710, the communications interface 720, and the memory 730 complete mutual communication through the communications bus 740. The processor 710 can invoke a logical instruction in the memory 730 to execute a radar target detection method, which includes: in a case where a first target is currently detected in a radar side lobe detection area, obtaining a second target currently mapped in a radar main lobe detection area and a first position currently corresponding to the second target in the main lobe detection area; obtaining a first frame image currently collected by a video device, and determining whether the second target mapped in the main lobe detection area is an angle ambiguous target according to the first position and a position corresponding relationship between the video device and the radar; a field of view angle of the video device covers a field of view angle of the main lobe detection area; in a case where the second target of the main lobe detection area is an angle ambiguous target, determining a target position of the first target in the side lobe detection area according to the first position, a moving direction of the first target on a horizontal axis, and a relative position relationship between the moving direction and the main lobe detection area; and the first direction detection distance corresponding to the side lobe detection area is smaller than the first direction detection distance corresponding to the main lobe detection area.

[0107] In addition, the logic instructions in the memory 730 described above can be implemented in the form of software functional units and sold or used as independent products, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0108] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a computer readable storage medium, and the computer program can be executed by a processor to enable a computer to execute the radar target detection method provided by the above-mentioned method. The method comprises: in the case that a first target is currently detected in a radar sidelobe detection area, acquiring a second target currently mapped in a radar main lobe detection area and a first position corresponding to the second target in the main lobe detection area; acquiring a first frame image currently collected by a video device, and determining whether the second target mapped in the main lobe detection area is an angle ambiguity target according to the first position and a position correspondence relationship between the video device and the radar; a field of view angle of the above-mentioned video device covers a field of view angle of the main lobe detection area; in the case that the second target in the main lobe detection area is an angle ambiguity target, determining a target position corresponding to the first target in a sidelobe detection area according to the first position, a moving direction of the first target in a horizontal axis and a relative position relationship between the moving direction and the main lobe detection area; and a first direction detection distance corresponding to the above-mentioned sidelobe detection area is less than a first direction detection distance corresponding to the main lobe detection area.

[0109] In yet another aspect, the present application also provides a computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the radar target detection method provided by any of the above methods, and the method comprises: in a case where a first target is currently detected in a radar sidelobe detection region, acquiring a second target currently mapped in a radar main lobe detection region and a first position of the second target currently corresponding to the main lobe detection region; acquiring a first frame image currently collected by a video device, and determining whether the second target mapped in the main lobe detection region is an angle ambiguity target according to the first position and a position correspondence relationship between the video device and the radar; a field of view angle of the above video device covers a field of view angle of the main lobe detection region; in a case where the second target of the main lobe detection region is an angle ambiguity target, determining a target position of the first target currently corresponding to a sidelobe detection region according to the first position, a moving direction of the first target currently on a horizontal axis and a relative position relationship between the moving direction and the main lobe detection region; and a first direction detection distance corresponding to the above sidelobe detection region is less than a first direction detection distance corresponding to the main lobe detection region.

[0110] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0111] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary general hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0112] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A radar target detection method, characterized in that, include: If a first target is detected in the radar sidelobe detection region, obtain the second target currently mapped in the radar main lobe detection region and the first position of the second target currently corresponding to the main lobe detection region. The first frame image currently captured by the video device is acquired, and based on the first position and the positional correspondence between the video device and the radar, it is determined whether the second target mapped in the main lobe detection area is an angle-blurred target; the field of view of the video device covers the field of view of the main lobe detection area. When the second target in the main lobe detection area is an angularly blurred target, the directional parameters of the first target in the side lobe detection area are determined based on the current moving direction of the first target on the horizontal axis and the relative positional relationship between the moving direction and the main lobe detection area. The orientation parameter is used to characterize whether the first target is to the left or right of the main lobe detection area; Based on the first position of the second target in the main lobe detection area, determine the main lobe angle corresponding to the second target in the main lobe detection area; Based on the main lobe angle, the direction parameter, and a preset mapping relationship, the side lobe angle corresponding to the first target in the side lobe detection region is determined; wherein, the mapping relationship includes the mapping relationship between the main lobe angle, the direction parameter, and the side lobe angle; the expression corresponding to the mapping relationship is: ,in, Indicates the sidelobe angle. The main lobe angle is represented by T, the blur period is represented by k, and the direction parameter is represented by k. Based on the sidelobe angle corresponding to the sidelobe detection area, the target position of the first target corresponding to the sidelobe detection area is determined; the first direction detection distance corresponding to the sidelobe detection area is less than the first direction detection distance corresponding to the main lobe detection area.

2. The radar target detection method according to claim 1, characterized in that, The method further includes: Based on the current direction of movement of the first target on the horizontal axis and the relative positional relationship between the direction of movement and the main lobe detection area, the direction parameter corresponding to the first target in the side lobe detection area is determined; the direction parameter is used to characterize whether the first target is to the left or right of the main lobe detection area, and the first target being to the left or right of the main lobe detection area characterizes whether the first target is moving toward or away from the main lobe detection area. If the first target is determined to be moving toward the main lobe detection area based on the direction parameters, the first target is determined to be the tracking target.

3. The radar target detection method according to claim 2, characterized in that, The method further includes: If the first target enters the main lobe detection area at a subsequent moment, the video device acquires a second frame image captured at the subsequent moment, and performs target detection on the second frame image to determine whether a real target appears in the second frame image; Determine whether the main lobe detection region detects a real target at the subsequent time point; If the real target appears in the second frame image and / or the main lobe detection region detects the real target at a subsequent time, then the second tracking trajectory corresponding to the first target is determined based on the first tracking trajectory of the first target before the subsequent time and the second position of the real target within the main lobe detection region.

4. The radar target detection method according to claim 3, characterized in that, The method further includes: When the first target leaves the main lobe detection area, the actual position of the first target in the side lobe detection area after leaving the main lobe detection area is determined based on the candidate position mapped by the first target in the main lobe detection area. Based on the motion parameters of the first target in the side lobe detection area after leaving the main lobe detection area, determine whether to associate the tracking trajectory of the first target; If the tracking trajectory of the first target is associated, a third tracking trajectory corresponding to the first target is determined based on the true location of the first target and the second tracking trajectory.

5. The radar target detection method according to claim 1, characterized in that, The step of determining whether the second target mapped in the main lobe detection region is an angularly blurred target based on the first position and the positional correspondence between the video device and the radar includes: Based on the positional correspondence between the video device and the radar, a third position corresponding to the first position is determined in the first frame image; Target detection is performed on the first frame image to determine whether the second target exists at the third location; If the second target is not present at the third position, the second target mapped in the main lobe detection region is determined to be an angle-blurred target.

6. A radar target detection device, characterized in that, include: The acquisition module is used to acquire the second target currently mapped in the radar main lobe detection area and the first position currently corresponding to the second target in the main lobe detection area when the first target is currently detected in the radar sidelobe detection area. The blurred target determination module is used to acquire the first frame image currently captured by the video device, and determine whether the second target mapped in the main lobe detection area is an angularly blurred target based on the first position and the positional correspondence between the video device and the radar; the field of view of the video device covers the field of view of the main lobe detection area. The target position determination module is used to determine the direction parameters of the first target in the side lobe detection area when the second target in the main lobe detection area is an angularly blurred target, based on the current moving direction of the first target on the horizontal axis and the relative positional relationship between the moving direction and the main lobe detection area. The direction parameter is used to characterize whether the first target is to the left or right of the main lobe detection area; based on the first position of the second target in the main lobe detection area, the main lobe angle corresponding to the second target in the main lobe detection area is determined; based on the main lobe angle, the direction parameter, and a preset mapping relationship, the side lobe angle corresponding to the first target in the side lobe detection area is determined; wherein, the mapping relationship includes the mapping relationship between the main lobe angle, the direction parameter, and the side lobe angle; based on the side lobe angle corresponding to the first target in the side lobe detection area, the target position corresponding to the first target in the side lobe detection area is determined; the first direction detection distance corresponding to the side lobe detection area is less than the first direction detection distance corresponding to the main lobe detection area; the expression corresponding to the mapping relationship is: ,in, Indicates the sidelobe angle. The main lobe angle is represented by T, the blur period is represented by k, and the direction parameter is represented by k.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the radar target detection method as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the radar target detection method as described in any one of claims 1 to 5.

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