Methods, apparatus, storage media, and electronic equipment for determining false detection points

Abstract

This application discloses a method, apparatus, storage medium, and electronic device for determining false detection points. The method includes: when the first echo energy difference between a first strongly reflective point in a first set of points and at least one first candidate point in the first set of points is greater than a second energy threshold, determining a second subset of points from the first set of points based on the velocity index difference between a first velocity index value of the first strongly reflective point and a second velocity index value of the at least one first candidate point; determining a subset of candidate points associated with the second strongly reflective point from the second subset of points; and determining false detection points based on the distance index difference between a first distance index value of the second strongly reflective point and a second distance index value of the at least one second candidate point in the subset of candidate points. This application solves the technical problem in the prior art where the inability to accurately determine false detection points leads to low efficiency in determining effective points.

Description

Technical Field

[0001] This application relates to the field of autonomous driving, and more specifically, to a method, apparatus, storage medium, and electronic device for determining false detection points. Background Technology

[0002] In the technological innovation of intelligent driving, millimeter-wave radar has gradually become a popular choice for automotive sensors due to its cost-effectiveness and robust performance in extreme environments. Automotive radar typically employs a multiple-input multiple-output (MIMO) system design architecture, significantly improving target detection capabilities and the accuracy of parameter estimation. Doppler multiple access (DDMA) waveforms are highly favored by automotive radar manufacturers due to their excellent orthogonality and low sidelobes in both the radial range and radial relative velocity dimensions.

[0003] For DDMA MIMO radar systems, a small frequency offset needs to be configured for each transmitting antenna to ensure the orthogonality of the transmitted waveforms between transmission channels, thereby enabling the identification of the corresponding transmission channel in subsequent signal processing. However, due to factors such as chip variations during manufacturing, PCB trace asymmetry, and environmental temperature changes, there is a phase deviation between the frequency offset configured for each transmitting antenna within the chip and the frequency offset designed for the system. This phase deviation can lead to false alarms. In other words, existing technologies suffer from the inability to accurately determine false alarm points, resulting in low efficiency in identifying valid alarm points. Summary of the Invention

[0004] This application provides a method, apparatus, storage medium, and electronic device for determining false detection points, so as to at least solve the technical problem in the related art that the false detection points cannot be accurately determined, resulting in low efficiency in determining valid points.

[0005] According to one aspect of the embodiments of this application, a method for determining false detection points is provided, comprising: determining a first set of points based on the echo signal of a target radar system, wherein the echo energy value of the point objects in the first set of points is greater than a first energy threshold; if the first echo energy difference between a first strong reflection point in the first set of points and at least one first candidate point in the first set of points is greater than a second energy threshold, determining a second subset of points from the first set of points based on the velocity index difference between a first velocity index value of the first strong reflection point and a second velocity index value of at least one first candidate point; if the second subset of points includes a second strong reflection point, determining a subset of candidate points associated with the second strong reflection point from the second subset of points, wherein the point distance between the second candidate point and the second strong reflection point in the subset of candidate points satisfies a target distance condition; and determining false detection points from at least one second candidate point based on the distance index difference between a first distance index value of the second strong reflection point and a second distance index value of at least one second candidate point in the subset of candidate points.

[0006] According to another aspect of the embodiments of this application, a device for determining false detection points is also provided, comprising: a first determining unit, which determines a first set of points based on the echo signal of a target radar system, wherein the echo energy value of the point objects in the first set of points is greater than a first energy threshold; a second determining unit, which, when the first echo energy difference between a first strong reflection point in the first set of points and at least one first candidate point in the first set of points is greater than a second energy threshold, determines a second subset of points from the first set of points based on the velocity index difference between a first velocity index value of the first strong reflection point and a second velocity index value of at least one first candidate point; a third determining unit, which, when the second subset of points includes a second strong reflection point, determines a subset of candidate points associated with the second strong reflection point from the second subset of points, wherein the point distance between the second candidate point in the subset of candidate points and the second strong reflection point satisfies a target distance condition; and a fourth determining unit, which determines a false detection point from at least one second candidate point based on the distance index difference between a first distance index value of the second strong reflection point and a second distance index value of at least one second candidate point in the subset of candidate points.

[0007] As an optional solution, the first determining unit further includes: a fifth determining module, used to determine the distance-velocity spectrum based on the echo signal; determine the trace objects in the distance-velocity spectrum whose echo energy values ​​are greater than the detection threshold as first reference traces; determine the echo energy parameter value that matches the first reference trace based on multiple echo energy values ​​collected from the first reference traces at multiple acquisition intervals; and determine the first reference trace whose echo energy parameter value is greater than the first energy threshold as a trace object in the first trace set.

[0008] As an optional approach, the fifth determining module is further configured to perform mean processing on multiple echo energy values ​​acquired based on multiple acquisition intervals to obtain an average echo energy value that matches the first reference point trace, and to determine the average echo energy value as the echo energy parameter value; and to perform extreme value processing on multiple echo energy values ​​acquired based on multiple acquisition intervals to obtain a minimum echo energy value that matches the first reference point trace, and to determine the minimum echo energy value as the echo energy parameter value.

[0009] As an optional approach, the fifth determining module is also used to obtain the waveform phase offset parameter value corresponding to each transmitting antenna; and to determine the acquisition interval based on the waveform phase offset parameter value and the first sample acquisition value.

[0010] As an optional solution, the first determining unit includes a first acquisition module, used to acquire the echo energy value of the trace object in the first trace set; if the echo energy value is greater than a third energy threshold, acquire the distance index value of the trace object; if the distance index value is less than the value collected by the second sample, determine the trace object as the first strong reflection trace.

[0011] As an optional approach, the second determining unit is further configured to determine a second subset of traces from the first set of traces when the velocity index difference between the first velocity index value and the second velocity index value satisfies the condition of an integer multiple of the phase offset difference.

[0012] As an optional solution, the third determining unit further includes a second acquisition module, used to acquire the echo energy value of the trace object in the second trace subset; acquire the distance index value of the trace object if the echo energy value is greater than the fourth energy threshold; and determine the trace object as the second strong reflection trace if the distance index value is less than the value collected by the third sample.

[0013] As an optional solution, the second acquisition module is further used to determine the sequence number of the second strong reflective point in the point information list, wherein the point information list is obtained by sorting the point objects in the second point subset according to the radial distance index value distribution; if the sequence number interval between at least one second candidate point and the second strong reflective point in the point information list is less than or equal to the sequence number interval threshold, the motion state of the second candidate point is determined.

[0014] As an optional scheme, the fourth determining unit further includes a state determining module, which is used to determine the state of at least one second candidate point when the first distance index value of the second strong reflection point and the second distance index value of at least one second candidate point in the candidate point subset satisfy the distance index difference condition, and the second echo energy difference between at least one second candidate point and the second strong reflection point is greater than a fifth energy threshold; and when at least one second candidate point is in motion, to determine the false detection point from at least one second candidate point.

[0015] As an optional solution, the aforementioned state determination module is also used to obtain the first velocity index of the second strong reflection point and the second velocity index of the current second candidate point, and calculate the velocity index difference between the first velocity index and the second velocity index; if the index difference satisfies the condition that the phase offset difference in the waveform parameters of the target radar system is an integer multiple of the current second candidate point, the current second candidate point is determined to be a false detection point.

[0016] According to another aspect of the embodiments of this application, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method for determining false detection points as described above.

[0017] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the above-described method for determining false detection points through the computer program.

[0018] Through the above-described embodiments of this application, a first set of target traces is initially selected based on the echo signals of the target radar system. When the first echo energy difference between a first strong reflection trace in the first set and at least one first candidate trace in the first set is greater than a second energy threshold, a second subset of target traces is determined from the first set during DDMA demodulation based on the velocity index difference between the first velocity index value of the first strong reflection trace and the second velocity index value of at least one first candidate trace, thus ensuring the number of valid target traces output by the DDMA demodulation module. Within the second subset of target traces... In the case of including a second strong reflective point, a subset of candidate points associated with the second strong reflective point is determined from the subset of second points; then, based on the distance index difference between the first distance index value of the second strong reflective point and the second distance index value of at least one second candidate point in the subset of candidate points, false detection points are determined from at least one second candidate point. This eliminates the need to traverse, calculate, and judge all target points that meet the specified radial distance condition, reducing computational resources and time consumption. This solves the technical problem in the prior art where false detection points cannot be accurately determined, resulting in low efficiency in determining effective points. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0020] Figure 1 This is a schematic diagram of an application environment for an optional method for determining false detection points according to an embodiment of this application;

[0021] Figure 2 This is a flowchart of an optional method for determining false detection points according to an embodiment of this application;

[0022] Figure 3 This is a flowchart of another optional method for determining false detection points according to an embodiment of this application;

[0023] Figure 4 This is an optional radial distance-radial relative velocity heatmap according to an embodiment of this application;

[0024] Figure 5 This is an optional dot filtering diagram according to an embodiment of this application;

[0025] Figure 6 This is another optional dot filtering diagram according to an embodiment of this application;

[0026] Figure 7 This is another optional dot filtering diagram according to an embodiment of this application;

[0027] Figure 8 This is another optional dot filtering diagram according to an embodiment of this application;

[0028] Figure 9 This is another optional dot filtering diagram according to an embodiment of this application;

[0029] Figure 10 This is a schematic diagram of a device for determining false detection dots according to an embodiment of this application;

[0030] Figure 11 This is a schematic diagram of the structure of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] According to one aspect of the embodiments of this application, a method for determining false detection points is provided. Optionally, the method for determining false detection points can be applied, but is not limited to, to applications such as... Figure 1 The hardware environment shown. Optionally, the method for determining false detection points provided in this application can be applied to a vehicle terminal. Figure 1A side view of a vehicle terminal 101 is shown, which can travel on a driving surface 113. The vehicle terminal 101 includes a memory 102 storing an onboard navigation system 103 and a digital road map 104, a spatial monitoring system 117, a vehicle controller 109, a GPS (Global Positioning System) sensor 110, an HMI (Human / Machine Interface) device 111, and also includes an autonomous controller 112 and a telematics controller 114.

[0034] In one embodiment, the space monitoring system 117 includes one or more space sensors and systems for monitoring a visible area 105 in front of the vehicle terminal 101. The space monitoring system 117 also includes a space monitoring controller 118. The space sensors for monitoring the visible area 105 include a lidar sensor 106, a radar sensor 107, a camera 108, etc. The space monitoring controller 118 can be used to generate data related to the visible area 105 based on data input from the space sensors. The space monitoring controller 118 can determine the linear range, relative speed, and trajectory of the vehicle terminal 101 based on the input from the space sensors, for example, determining the vehicle's current speed and its relative speed to a vehicle in front. The space sensors of the vehicle terminal space monitoring system 117 may include object positioning sensing devices, which may include range sensors that can be used to locate objects in front, such as vehicles in front.

[0035] Camera 108 is advantageously mounted and positioned on vehicle terminal 101 in a location that allows for the capture of images of a visible area 105, wherein at least a portion of the visible area 105 includes the area in front of vehicle terminal 101 and a portion of the travel surface 113 of the trajectory of vehicle terminal 101. The visible area 105 may also include the surrounding environment. Other cameras may also be employed, for example, including a second camera positioned on the rear or side portion of vehicle terminal 101 to monitor the rear of vehicle terminal 101 and one of the right or left sides of vehicle terminal 101.

[0036] The autonomous controller 112 is configured to implement autonomous driving or advanced driver assistance system (ADAS) vehicle terminal functionality. Such functionality may include an onboard vehicle terminal control system capable of providing a certain level of driving automation. Driving automation may include a series of dynamic driving and vehicle terminal operations. Driving automation may include a certain level of automated control or intervention involving individual vehicle terminal functions (e.g., steering, acceleration, and / or braking). For example, the aforementioned autonomous controller or the aforementioned radar sensor may be used to determine false detection points by performing the following steps:

[0037] S102, determine the first set of points based on the echo signal of the target radar system, wherein the echo energy value of the point objects in the first set of points is greater than the first energy threshold.

[0038] S104, if the first echo energy difference between the first strong reflection point trace in the first point trace set and at least one first candidate point trace in the first point trace set is greater than the second energy threshold, a second point trace subset is determined from the first point trace set based on the velocity index difference between the first velocity index value of the first strong reflection point trace and the second velocity index value of at least one first candidate point trace.

[0039] S106, if the second strong reflection point is included in the second point subset, a candidate point subset associated with the second strong reflection point is determined from the second point subset, wherein the point distance between the second candidate point and the second strong reflection point in the candidate point subset satisfies the target distance condition.

[0040] S108, based on the distance index difference between the first distance index value of the second strong reflective point trace and the second distance index value of at least one second candidate point trace in the candidate point trace subset, a false detection point trace is determined from at least one second candidate point trace.

[0041] HMI device 111 provides human-machine interaction for guiding the operation of infotainment systems, GPS (Global Positioning System) sensors 110, airborne navigation systems 103, and similar systems, and includes controllers. HMI device 111 monitors operator requests and provides the operator with status, service, and maintenance information about the vehicle terminal system. HMI device 111 communicates with and / or controls the operation of multiple operator interface devices. HMI device 111 may also communicate with one or more devices that monitor biometric data associated with the vehicle terminal operator. For simplicity, HMI device 111 is depicted as a single device, but in embodiments of the system described herein, it may be configured as multiple controllers and associated sensing devices.

[0042] Operator controls may be included in the passenger compartment of vehicle terminal 101, and by way of non-limiting example, may include a steering wheel, accelerator pedal, brake pedal, and operator input device, which is an element of HMI device 111. The operator controls enable a vehicle terminal operator to interact with and instruct the operation of vehicle terminal 101 to provide passenger transport.

[0043] The airborne navigation system 103 uses a digital road map 104 for the purpose of providing navigation support and information to the vehicle terminal operator. The autonomous controller 112 uses the digital road map 104 for the purpose of controlling the operation of the autonomous vehicle terminal or the functions of the ADAS vehicle terminal.

[0044] The vehicle terminal 101 may include a telematics controller 114, which includes a wireless telematics communication system capable of external communication (including communication with a communication network 115 with both wireless and wired communication capabilities). The wireless telematics communication system includes a non-airborne server 116 capable of short-range wireless communication with mobile terminals.

[0045] As an optional implementation method, such as Figure 2 As shown, the method for determining false detection points can be performed by an electronic device, and the specific steps include:

[0046] S202, determine a first set of traces based on the echo signal of the target radar system, wherein the echo energy value of the trace objects in the first set of traces is greater than a first energy threshold.

[0047] S204, if the first echo energy difference between the first strong reflection point trace in the first point trace set and at least one first candidate point trace in the first point trace set is greater than the second energy threshold, a second point trace subset is determined from the first point trace set based on the velocity index difference between the first velocity index value of the first strong reflection point trace and the second velocity index value of at least one first candidate point trace.

[0048] S206, if the second strong reflection point is included in the second point subset, a candidate point subset associated with the second strong reflection point is determined from the second point subset, wherein the point distance between the second candidate point and the second strong reflection point in the candidate point subset satisfies the target distance condition.

[0049] S208, based on the distance index difference between the first distance index value of the second strong reflective point trace and the second distance index value of at least one second candidate point trace in the candidate point trace subset, a false detection point trace is determined from at least one second candidate point trace.

[0050] In S202 of the above embodiment, the target radar system can be a radar system configured with a specific Doppler multiple access (DDMA) waveform. The system includes K transmitting antennas and L receiving antennas. Through radar signal processing, such as coherent processing and incoherent processing, target information is extracted from the echo signal to form a series of dot patterns. Each dot pattern contains the target's range index value, Doppler index value, and echo energy.

[0051] As an optional implementation, a DDMA MIMO radar system includes K transmitting antennas and L receiving antennas, with the phase offset steps for the K transmitting antennas being [PS_1, PS_2…PS_K]. A radial range-radial relative velocity heatmap is obtained by performing coherent and incoherent processing on the received radar signal. Further, an adaptive threshold detection algorithm or its variations are used to obtain M detected point traces. It should be noted that in this application, the average echo energy and minimum echo energy of each point in the M traces can be further determined to identify multiple point trace objects exceeding a preset threshold, thus obtaining the aforementioned first set of point traces, which is the potential target point trace set, including strongly reflective and non-strongly reflective point traces. No specific restrictions are placed on the method of obtaining the first set of point traces.

[0052] It is understandable that the echo energy value is the amplitude value corresponding to a given radial distance index value and radial relative velocity index value, which will not be elaborated here.

[0053] In step S204 above, if the first echo energy difference between the first strong reflection point in the first point set and at least one first candidate point in the first point set is greater than the second energy threshold, a second point set subset is determined from the first point set based on the velocity index difference between the first velocity index value of the first strong reflection point and the second velocity index value of at least one first candidate point.

[0054] The aforementioned first strong reflection point can be a point whose echo energy exceeds a preset threshold (P_set), or it can be determined by comparing the echo energy of points at the same position in multiple consecutive frames. If the energy remains stable and high in multiple frames, it can be identified as the first strong reflection point, and the strong reflection point is retained and output. No specific restrictions are placed on the determination of the strong reflection point here. The aforementioned first candidate point can be a point in the first point set that does not meet the strong reflection point judgment condition and needs to be further judged to see if it is a false detection point object.

[0055] Since the frequency offset of the waveforms of each transmitting antenna in the DDMA MIMO radar system is set based on a fixed phase step, and the phase deviation of the phase shifter is fixed with the fixed step size, it exhibits a periodic spurious phenomenon in the Doppler spectrum. Therefore, when the index value interval between the first candidate point trace and the identified first strong reflection point trace in the radial relative velocity exactly matches the periodic integer multiple relationship corresponding to the phase deviation of the phase shifter, it can be further determined whether the first candidate point trace is the false detection point trace.

[0056] Therefore, the velocity index difference between the first velocity index value of the first strong reflection point and the second velocity index value of at least one first candidate point can be determined, but is not limited to, by: judging whether the interval between the first velocity index value and the second velocity index value satisfies the condition of being an integer multiple of the target interval value.

[0057] For example, if the target interval for determining whether the aforementioned potential target points are false detection points is 16, then the aforementioned first candidate points that satisfy the condition of being an integer multiple of 16 are determined as point objects in the aforementioned second candidate points. That is, in this application, through the above steps, points in the first point set that do not satisfy the condition of "echo energy difference greater than a preset threshold and velocity index interval not satisfying an integer multiple of 16" are deleted to obtain the aforementioned second point set. It should be noted that the interval multiple condition is allowed to have a certain range of positive and negative deviations in practical applications.

[0058] In step S206 above, if the second strong reflection point is included in the second point subset, a candidate point subset associated with the second strong reflection point is determined from the second point subset, wherein the point distance between the second candidate point and the second strong reflection point in the candidate point subset satisfies the target distance condition.

[0059] When there is a deviation between the actual phase value configured by the phase shifter and the theoretically designed phase value, the echo energy of the detected point trace may "leak" to some other specific frequencies in the Doppler dimension. This phenomenon is more pronounced if strong reflection points exist in the scene, causing the point trace at the "leaking" energy location to pass the detection threshold and result in false detection. Therefore, this characteristic can be used to determine the correctness of the second candidate point trace. That is, when a second strong reflection point trace exists in the scene, and the Doppler frequency of the second strong reflection point trace is close to it and satisfies a specific mathematical relationship (e.g., the frequency difference between the two is an integer multiple of a preset frequency offset), the second candidate point trace may be caused by a phase shifter deviation. It is understandable that the judgment standard for the second strong reflection point trace is higher than that for the first strong reflection point trace; for example, the energy threshold corresponding to the second strong reflection point trace is greater than the energy threshold corresponding to the first strong reflection point trace.

[0060] In step S208 above, a false detection point is determined from at least one second candidate point based on the distance index difference between the first distance index value of the second strong reflection point and the second distance index value of at least one second candidate point in the candidate point subset.

[0061] Optionally, by determining whether the radial distance index value of the second candidate point is equal to or similar to the radial distance index value of the second strong reflective target point, a small number of points that are spatially similar to the second strong reflective point can be located without traversing all detection points. Further checks can be made on whether the difference in echo energy between the two exceeds a preset judgment threshold. In addition, the motion state of the second candidate point can be combined to further determine whether the second candidate point is a false detection point.

[0062] The present application will be fully described below with reference to a complete implementation method, such as the flowchart. Figure 3 As shown:

[0063] S302, obtain relevant information about the detected points; the DDMAMIMO radar system includes K transmitting antennas and L receiving antennas, with the phase offset steps of the K transmitting antennas being [PS_1, PS_2…PS_K]. A radial range-radial relative velocity heatmap is obtained by coherently and incoherently processing the radar received signal. M detected points are obtained using an adaptive threshold detection algorithm or its variations. For the m-th detected point, the relevant information includes the range index value, Doppler index value, and point amplitude, denoted as R_m, D_m, and P_m, respectively. The point list contains relevant information for the M detected points.

[0064] S304, DDMA demodulation and false detection suppression; specifically includes the following steps: obtaining Doppler code pattern; extracting echo energy based on Doppler code pattern; determining potential target traces; determining whether potential target traces are strong reflection points; determining whether potential target traces are false detection traces.

[0065] Obtain the Doppler code pattern: The Doppler code pattern is obtained based on the phase offset of the transmit antenna and the number of slow time samples J, that is, [C_1,C_2…C_K]=[PS_1,PS_2…PS_K]*J / 2pi.

[0066] Echo energy extraction based on Doppler code pattern: Traverse the list of points, and for each detected point, extract the corresponding echo energy from the radial distance-radial relative velocity heatmap according to the Doppler code pattern, under the condition of the same distance index value as the detected point, and calculate the average echo energy or the minimum value of the corresponding echo energy.

[0067] Potential target point determination: If the average echo energy in the previous step is greater than the set average echo energy threshold, or the minimum echo energy is greater than the set minimum echo energy threshold, then the point is determined to be a potential target point, i.e., the first point set.

[0068] Judgment on whether the potential target trace is a strong reflection trace: Set the first strong reflection trace threshold P_set0 and the radial distance index value threshold R_set0. If for the nth candidate judgment trace, P_n > P_set0 and R_n < R_set0, then it is determined that the nth potential target trace is a strong reflection trace. It should be noted that the strong reflection trace threshold P_set0 and the radial distance index value threshold R_set0 can be set according to system requirements. Each threshold parameter can be set as a single threshold (i.e., as described above) or multiple thresholds, and this application does not limit this.

[0069] Judgment on whether the potential target trace is a misdetected trace: If the difference between the echo energy of the strong reflection trace and the echo energy of the potential target trace (the trace in the first trace set except the first strong reflection trace, that is, the first candidate trace) is greater than the judgment threshold, and the interval between the radial relative velocity index value of the potential target trace and the radial relative velocity index value of the first strong reflection trace satisfies the relationship of an integer multiple of δ, it is determined that the potential target trace is a misdetected trace caused by the phase deviation of the phase shifter, and the trace information is deleted. That is, the misdetected trace caused by the phase deviation of the phase shifter is deleted in the DDMA demodulation module. If there are differences in the radial distance index values of the potential trace and the strong reflection trace, the potential trace information is retained to obtain the second trace subset.

[0070] S306, Output of target traces: Traces that meet DDMA demodulation and are not misdetected due to the phase deviation of the phase shifter are output as target traces, and G target traces are obtained. For the gth target trace, the target trace information includes the distance index value, Doppler index value, and target trace amplitude, which are respectively denoted as RT_g, DT_g, and PT_g.

[0071] S308, Judgment on the dynamic and static state of target traces. Specifically, for the output target traces, combined with their own trace characteristic parameters, such as relative velocity, angle and other information, the movement and static state of the target traces are judged. This application does not limit the specific target trace state judgment algorithm.

[0072] S310, Obtaining target trace related information: For the G target traces that have been obtained. For the gth target trace, the target trace related information includes the radial distance index value, radial relative velocity index value, target trace amplitude, and target state, which are respectively denoted as RT_g, DT_g, PT_g, and ST_g.

[0073] S312, Identification of Strong Reflection Target Traces: Set the second strong reflection target trace threshold P_set1 and the radial distance index value threshold R_set1. If for the g-th detected target trace PT_g > P_set1 and RT_g < R_set1, then determine that the g-th detected target trace is the second strong reflection target trace. It should be noted that the second strong reflection target trace threshold P_set1 and the radial distance index value threshold R_set1 can be set according to system requirements. Each threshold parameter can be set as a single threshold (i.e., as described above) or multiple thresholds, and this application does not limit this.

[0074] S314, Judgment of False Detection Target Traces; specifically, it includes the steps of: determining candidate target traces; obtaining potential false detection target traces; and judging whether the potential false detection target traces are false detection target traces.

[0075] Determining candidate target traces: If the g-th target trace is judged as a strong reflection target trace, then extract the target trace related information before and after g with i as the center in the target trace related information list, that is, it includes the target trace related information of g - i,..., g - 1, g + 1... g + i (that is, the information of the second candidate traces in the second candidate trace set associated with the second strong reflection trace). It should be noted that the selection of i can be set based on system design. The selected target traces are recorded as candidate target traces (second candidate traces).

[0076] Obtaining potential false detection target traces: Traverse the 2i candidate target traces in the previous step. If there is a target trace whose corresponding radial distance index value is equal to the radial distance index value of the second strong reflection target trace, and the difference between the echo energy of the second strong reflection target trace and the echo energy corresponding to this second candidate trace is greater than the judgment threshold, and the state of this second candidate trace is the moving state, then determine that this second candidate trace is a potential false detection target trace.

[0077] Judging whether the potential false detection target trace is a false detection target trace: If the interval between the radial relative velocity index value of the potential false detection target trace and the radial relative velocity index value of the second strong reflection target trace satisfies an integer multiple relationship of δ, determine that the potential false detection target trace is a false detection target trace caused by the phase deviation of the phase shifter, and delete the target trace information.

[0078] S316, Perform subsequent signal processing procedures. For example, it is the processing procedures such as determining obstacles in front of the vehicle and determining the speed of the vehicle in front.

[0079] Through the above-described embodiments of this application, a first set of target traces is initially selected based on the echo signals of the target radar system. When the first echo energy difference between a first strong reflection trace in the first set and at least one first candidate trace in the first set is greater than a second energy threshold, a second subset of target traces is determined from the first set during DDMA demodulation based on the velocity index difference between the first velocity index value of the first strong reflection trace and the second velocity index value of at least one first candidate trace, thus ensuring the number of valid target traces output by the DDMA demodulation module. Within the second subset of target traces... In the case of including a second strong reflective point, a subset of candidate points associated with the second strong reflective point is determined from the subset of second points; then, based on the distance index difference between the first distance index value of the second strong reflective point and the second distance index value of at least one second candidate point in the subset of candidate points, false detection points are determined from at least one second candidate point. This eliminates the need to traverse, calculate, and judge all target points that meet the specified radial distance condition, reducing computational resources and time consumption. This solves the technical problem in the prior art where false detection points cannot be accurately determined, resulting in low efficiency in determining effective points.

[0080] In one alternative implementation, determining the first set of points based on the echo signal from the target radar system includes:

[0081] S1, determine the distance-velocity spectrum based on the echo signal;

[0082] S2, the point objects whose echo energy value in the distance velocity spectrum is greater than the detection threshold are identified as the first reference point objects;

[0083] S3, determine the echo energy parameter value that matches the first reference point based on the multiple echo energy values ​​collected from the first reference point at multiple acquisition intervals;

[0084] S4, determine the first reference point with an echo energy parameter value greater than the first energy threshold as the point object in the first point set.

[0085] As an optional implementation, in step S1 above, a range-velocity spectrum is determined based on the echo signal. For example, a DDMAMIMO radar system includes K transmitting antennas and L receiving antennas, with the phase offset steps corresponding to the K transmitting antennas being [PS_1, PS_2…PS_K]. A radial range-radial relative velocity heatmap is obtained by performing coherent and incoherent processing on the radar received signal. For example, with K=4 transmitting antennas and L=1 receiving antenna, the phase offset steps corresponding to the K=4 transmitting antennas are [PS_1, PS_2, PS_3, PS_4] = [0, 0.6875pi, 1.2539pi, 1.6914pi]. A radial range-radial relative velocity heatmap is obtained by performing coherent and incoherent processing on the radar received signal. Figure 4 The radial distance-radial relative velocity thermodynamic RV diagram shown is (i.e., the distance-velocity spectrum diagram mentioned above).

[0086] Further in step S2 above, the points in the distance-velocity spectrum with echo energy values ​​greater than the detection threshold are identified as the first reference points. Specifically, an adaptive threshold detection algorithm or its variations are used to obtain M points to be detected (i.e., the aforementioned candidate points). For the m-th detected point, the relevant information includes the distance index value, the Doppler index value, and the target point amplitude, denoted as R_m, D_m, and P_m, respectively. The point list contains the relevant information of the M detected points. Taking a radial distance index value of 9 as an example, the Doppler dimension spectrum is as follows: Figure 5 The detected point marks are shown in the figure.

[0087] In step S3 above, the echo energy parameter value matching the first reference point is determined based on the multiple echo energy values ​​collected from the first reference point at multiple acquisition intervals.

[0088] Optionally, the above-mentioned acquisition interval can be determined based on the Doppler code pattern. The Doppler code pattern is obtained based on the phase offset of the transmitting antenna and the number of slow samples J = 512, that is, [C_1,C_2,C_3,C_4] = [PS_1,PS_2,PS_3,PS_4]*J / 2pi = [0,176,321,433]. Then, at the position of Doppler index (D_m+C_k), multiple echo energies are collected. These energy values ​​are obtained by following the path of the Doppler code pattern on the Doppler spectrum under the same distance index value. They contain echo energy information received from different receiving antennas. For example, the above-mentioned echo energy parameter value can be obtained by further processing such as weighted averaging of multiple echo energy values.

[0089] In step S4 above, the first reference point with an echo energy parameter value greater than the first energy threshold is determined as the point object in the first point set. For example, selecting the average echo energy value of the first reference point is only a general trend of the energy intensity of the first reference point, and further screening is needed to identify the true false detection points.

[0090] Through the above-described embodiments of this application, by analyzing the heat map in advance, the points (i.e., the first reference points) whose echo energy values ​​exceed a preset threshold are identified, thus initially filtering out noise and reducing false alarms caused by hardware equipment and environmental factors. Furthermore, by comprehensively calculating the echo energy of the first reference points collected at different intervals, the echo energy parameter values ​​are obtained, and those that meet the threshold conditions are selected as point objects in the first point set, thereby improving the authenticity of the points in the first point set.

[0091] In one optional implementation, an echo energy parameter value matching the first reference point is determined based on multiple echo energy values ​​acquired from the first reference point at multiple acquisition intervals, including at least one of the following:

[0092] Method 1: Average the multiple echo energy values ​​collected at multiple acquisition intervals to obtain the average echo energy value that matches the first reference point trace, and determine the average echo energy value as the echo energy parameter value.

[0093] Method 2: Perform extreme value processing on multiple echo energy values ​​acquired based on multiple acquisition intervals to obtain the minimum echo energy value that matches the first reference point trace, and determine the minimum echo energy value as the echo energy parameter value.

[0094] The following describes method one using an optional implementation method, for example:

[0095] The m=1th detected point (R_1=9, D_1=0, P_1=147dB);

[0096] The m=2nd detected point (R_2=9, D_2=64, P_2=149dB);

[0097] The m=3rd detected point (R_3=9, D_3=128, P_3=114dB);

[0098] The m=4th detected point (R_4=9, D_4=192, P_4=148dB);

[0099] The m=5th detected point (R_5=9, D_5=320, P_5=111dB);

[0100] The m=6th detected point (R_6=9, D_6=448, P_6=115dB);

[0101] If the Doppler code is obtained based on the phase offset of the transmitting antenna and the number of slow samples J = 512, then [C_1,C_2,C_3] = [PS_1,PS_2,PS_3] * J / 2pi = [0,64,192].

[0102] Echo energy extraction based on Doppler code pattern: Traverse the list of points, for each detected point (first reference point) that passes the detection threshold, extract the corresponding echo energy from the radial distance-radial relative velocity heatmap according to the Doppler code pattern, under the condition of the same distance index value as the detected point, and calculate the average echo energy, i.e. the above echo energy parameter value.

[0103] For example, the average echo energy extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=1th detected point is 148dB.

[0104] The average echo energy extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=2th detected point is 120dB.

[0105] The average echo energy extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=3rd detected point is 124dB.

[0106] The average echo energy extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=4th detected point is 117dB.

[0107] The average echo energy extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=5th detected point is 121dB.

[0108] The average echo energy extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=6th detected point is 126dB.

[0109] Assume the set average echo energy threshold is 122dB. If the average echo energy in the previous step is greater than the set average echo energy threshold, then the point is determined to be a potential target point (i.e., a point object in the first point set).

[0110] The average echo energy of the m=1th detected point is 148dB, which is greater than the set average echo energy threshold of 122dB, and is therefore determined to be a potential target point.

[0111] The average echo energy of the m=2nd detected point is 120dB, which is less than the set average echo energy threshold of 122dB, so it is determined to be a non-potential target point.

[0112] The average echo energy of the m=3rd detected point is 124dB, which is greater than the set average echo energy threshold of 122dB, and is therefore determined to be a potential target point.

[0113] The average echo energy of the m=4th detected point is 117dB, which is less than the set average echo energy threshold of 122dB, so it is determined to be a non-potential target point.

[0114] The average echo energy of the m=5th detected point is 121dB, which is less than the set average echo energy threshold of 122dB, so it is determined to be a non-potential target point.

[0115] The average echo energy of the m=6th detected point is 126dB, which is greater than the set average echo energy threshold of 122dB. It is determined to be a potential target point and the point objects determined to be potential points are included in the first point object set.

[0116] Method 2 is described using an optional implementation, for example, the m=1th detected point (R_1=9, D_1=0, P_1=147dB);

[0117] The m=2nd detected point (R_2=9, D_2=64, P_2=149dB);

[0118] The m=3rd detected point (R_3=9, D_3=128, P_3=114dB);

[0119] The m=4th detected point (R_4=9, D_4=192, P_4=148dB);

[0120] The m=5th detected point (R_5=9, D_5=320, P_5=111dB);

[0121] The m=6th detected point (R_6=9, D_6=448, P_6=115dB);

[0122] If the Doppler code is obtained based on the phase offset of the transmitting antenna and the number of slow samples J = 512, then [C_1,C_2,C_3] = [PS_1,PS_2,PS_3] * J / 2pi = [0,64,192].

[0123] Echo energy extraction based on Doppler code pattern: Traverse the list of points, for each detected point (first reference point) that passes the detection threshold, extract the corresponding echo energy from the radial distance-radial relative velocity heatmap according to the Doppler code pattern, under the condition of the same distance index value as the detected point, and calculate the minimum echo energy value.

[0124] For example, the minimum echo energy extracted from the radial distance-radial relative velocity heatmap code corresponding to the m=1st detected point is 147dB.

[0125] The minimum energy of the echo extracted from the radial distance-radial relative velocity thermal map pattern corresponding to the m=2th detected point is 98dB.

[0126] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=3rd detected point is 111dB.

[0127] The minimum energy of the echo extracted from the radial distance-radial relative velocity thermal map pattern corresponding to the m=4th detected point is 98dB.

[0128] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=5th detected point is 105dB.

[0129] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=6th detected point is 114dB.

[0130] Potential target point identification: The minimum echo energy threshold is set to 110dB. If the minimum echo energy in the previous step is greater than the set minimum echo energy threshold, then the point is determined to be a potential target point (i.e., a point object in the first point set).

[0131] The minimum echo energy of the m=1th detected point is 147dB, which is greater than the set minimum echo energy threshold of 110dB. It is determined to be a potential target point.

[0132] The minimum echo energy of the m=2nd detected point is 98dB, which is less than the set minimum echo energy threshold of 110dB. Therefore, it is determined to be a non-potential target point.

[0133] The minimum echo energy of the m=3rd detected point, 111dB, is greater than the set minimum echo energy threshold of 110dB, and is therefore identified as a potential target point.

[0134] The minimum echo energy of the m=4th detected point is 98dB, which is less than the set minimum echo energy threshold of 110dB, and is therefore determined to be a non-potential target point.

[0135] The minimum echo energy of the m=5th detected point is 105dB, which is less than the set minimum echo energy threshold of 110dB. Therefore, it is determined to be a non-potential target point.

[0136] The minimum echo energy of the m=6th detected point is 114dB, which is greater than the set minimum echo energy threshold of 110dB. It is determined to be a potential target point and the point objects determined to be potential points are included in the first point object set.

[0137] In one optional implementation, before determining the echo energy parameter value matching the first reference point trace based on multiple echo energy values ​​acquired from the first reference point trace at multiple acquisition intervals, the following steps are included:

[0138] S1, obtain the waveform phase offset parameter value corresponding to each transmitting antenna;

[0139] S2, determine the acquisition interval based on the waveform phase offset parameter value and the first sample acquisition value.

[0140] In step S1 above, the phase offset parameters matched with each transmitting antenna in the target radar system are obtained. For example, a DDMAMIMO radar system includes K=4 transmitting antennas and L=1 receiving antenna. The phase offset steps corresponding to K=4 transmitting antennas (i.e. the phase offset parameters matched with each transmitting antenna) are [PS_1,PS_2,PS_3,PS_4]=[0,0.6875pi,1.2539pi,1.6914pi].

[0141] Further in step S2 above, the first sample acquisition value is, for example, the number of slow samples J = 512, that is, the number of samples in the slow-time Doppler dimension. Here, no specific limit is placed on the value of the number of slow samples, which can be set according to the actual situation. Then, the acquisition interval can be corresponding to the calculated Doppler code [C_1,C_2,C_3,C_4] = [PS_1,PS_2,PS_3,PS_4] * J / 2pi = [0,176,321,433], where pi is synonymous with π. According to the Doppler code, for each initially identified first reference point object, a set of echo energy values ​​can be acquired along the path defined by the Doppler code on the Doppler spectrum to calculate the average echo energy or the minimum echo energy.

[0142] In one alternative implementation, after determining the first set of points based on the echo signal from the target radar system, the method further includes:

[0143] S1, obtain the echo energy value of the trace object in the first trace set;

[0144] S2, if the echo energy value is greater than the third energy threshold, obtain the distance index value of the point object;

[0145] S3, if the distance index value is less than the value collected by the second sample, determine the trace object as the first strong reflective trace.

[0146] It should be noted that highly reflective targets are often more prominent at close range because their reflected signals attenuate less during propagation. Therefore, the energy threshold and distance index threshold can be combined to determine whether a point is a highly reflective point.

[0147] In steps S1-S2 above, the echo energy value of the point trace can be obtained through the "distance-velocity" spectrum. The third energy threshold mentioned above can be a judgment threshold set through experimental data testing. If the energy value is greater than the third energy threshold, the next step of distance index judgment is performed. It should be noted that the system can set different energy thresholds according to different distance ranges, different target types, or different weather conditions. For example, the third energy threshold can be set to 120dB in the 0-30m range and 110dB in the 30-50m range. Similarly, multiple radial distance index thresholds can be dynamically adjusted and set, without specific limitations here.

[0148] Further in step S3 above, for traces whose echo energy values ​​are greater than the third energy threshold, their distance index values ​​are obtained. If the distance index value is less than the second sample acquisition value (e.g., the number of fast-time samples, i.e., the number of samples taken by the radar system in the distance dimension), then the aforementioned trace is identified as the first strong reflection trace. The aforementioned first candidate trace can be a trace object in the first trace set that does not simultaneously satisfy both the third energy threshold and the second sample acquisition value, and can be a trace that is physically close to the strong reflection point.

[0149] In one optional implementation, determining a second subset of dots from the first set of dots based on the velocity index difference between a first velocity index value of a first strongly reflective dot ...

[0150] S1, if the velocity index difference between the first velocity index value and the second velocity index value satisfies the condition of being an integer multiple of the phase offset difference, then determine the second subset of the first set of traces.

[0151] Because there is a fixed phase deviation between the actual frequency offset of the phase shifter and the theoretical design value, the relative position of the echo energy of the strong reflection point that "leaks" to the relevant Doppler index value is fixed. Therefore, the interval between the false detection point and the strong reflection point satisfies the relationship of an integer multiple determined by the phase difference and the code design.

[0152] That is, when the echo energy difference between the first strong reflection point and the first candidate trace is greater than a preset threshold, and the difference in the radial relative velocity index between the first strong reflection point and the first candidate trace satisfies the above integer multiple condition determined according to waveform design and phase difference, it indicates that the appearance of the first candidate trace is due to the energy leakage of the first strong reflection trace rather than a real target echo signal. At this time, the system will determine the first candidate trace as a misdetected trace, eliminate the misdetected point, and then obtain a second trace subset by deleting the first candidate trace that meets the misdetection condition in the first trace set, achieving the technical effect of improving the accuracy of the output result inside the DDMA demodulation.

[0153] In an optional implementation manner, after determining the first trace set according to the echo signal of the target radar system, it further includes:

[0154] S1. Obtain the echo energy value of the trace object in the second trace subset;

[0155] S2. Obtain the distance index value of the trace object when the echo energy value is greater than the fourth energy threshold;

[0156] S3. Determine the trace object as the second strong reflection trace when the distance index value is less than the third sample acquisition value.

[0157] In the above steps S1 - S2, as an optional implementation manner, set the second strong reflection target trace threshold, that is, the above fourth energy threshold is P_set, and the above third sample acquisition value can be the number of fast - time samplings = the radial distance index value threshold R_set. If P_n > P_set and R_n < R_set for the nth trace object in the second trace subset, then determine the nth detected trace as the second strong reflection target trace.

[0158] It should be noted that the second strong reflection target trace threshold P_set and the radial distance index value threshold R_set can be set according to system requirements, and each threshold parameter can be set as a single threshold (as described above) or multiple thresholds. For example, the system can set a higher P_set threshold within 0 to 100 unit distances to reduce the misdetection of near - range traces; and set a lower P_set threshold within the range of 101 to 256 unit distances to improve the detection rate of strong reflection traces at far ranges. This application does not limit this.

[0159] In an optional implementation manner, after determining the trace object as the second strong reflection trace when the distance index value is less than the third sample acquisition value, it includes:

[0160] S1, determine the sequence number of the second strong reflection point in the point information list, wherein the point information list is obtained by sorting the point objects in the second point subset according to the radial distance index value distribution;

[0161] S2, if the sequence interval between at least one second candidate point and the second strong reflection point in the point information list is less than or equal to the sequence interval threshold, determine the motion state of the second candidate point.

[0162] Steps S1-S2 will be described using a complete implementation method, assuming that after DDMA demodulation, the above-mentioned list of trace information is obtained by distributing radial distance index values:

[0163] The first point (RT_1 = 9, DT_1 = 0, PT_1 = 147dB, ST_1 = stationary);

[0164] The second point (RT_2=9, DT_2=128, PT_2=114dB, ST_2=motion)...

[0165] The nth point (RT_3 = 9, DT_3 = 448, PT_3 = 115dB, ST_3 = motion)...

[0166] The xth point (RT_4 = 17, DT_4 = 0, PT_4 = 130dB, ST_4 = stationary);

[0167] Among them, the nth mark is determined to be the second strong reflective mark. Relevant information can be extracted from the i marks before and after n, including information from marks ni, ..., n-1, n+1, ..., n+i (i.e., mark information of mark objects in the candidate mark subset). This yields a subset of candidate marks whose index interval with the index n of the second strong reflective mark is less than or equal to i.

[0168] Further determine the motion state of the second candidate point in the candidate point subset. For example, if the energy difference between the second candidate point and the second strong reflective point is greater than a preset threshold, the absolute value of the distance index difference between the second candidate point and the second strong reflective point is less than 1, and the second candidate point is in motion, then the second candidate point is determined to be a false detection point.

[0169] Through the above-described embodiments described in this application, it is not necessary to traverse the entire dot set again. Based on the selected second strong reflective dot, a second candidate dot that meets the sequence number interval condition can be determined. Furthermore, it is possible to determine whether the second candidate dot is a false dot, thereby improving the accuracy and recognition efficiency of dot detection.

[0170] In one optional implementation, determining false detection traces from at least one second candidate trace based on the distance index difference between the first distance index value of the second strongly reflective trace and the second distance index value of at least one second candidate trace in the subset of candidate traces includes:

[0171] S1, if the first distance index value of the second strong reflection point trace and the second distance index value of at least one second candidate point trace in the candidate point trace subset satisfy the distance index difference condition, and the second echo energy difference between at least one second candidate point trace and the second strong reflection point trace is greater than the fifth energy threshold, determine the point trace state of at least one second candidate point trace;

[0172] S2, when at least one second candidate point is in motion, determine the false detection point from at least one second candidate point.

[0173] As an optional implementation, in step S1 above, by calculating the distance index difference between the second strong reflective point and the second candidate point, candidate points that are spatially close to the second strong reflective point are determined. This is because falsely detected points often appear in the vicinity of strong reflective points, especially at the same or similar radial distances. Performing subsequent analysis only on the second candidate points within the subset of candidate points that are radially close to the second strong reflective point can improve the accuracy of the detection results, reduce the amount of data that needs to be processed, thereby reducing the consumption of computational resources and improving the efficiency of point detection. The difference threshold in the aforementioned distance index difference condition can be determined based on historical experimental data.

[0174] For second candidate traces whose distance index difference from the second strong reflection trace is less than the first difference threshold, the difference between the echo energy value of the second candidate trace and the echo energy value of the second strong reflection trace is further calculated to obtain the echo energy difference. The aforementioned first difference threshold can be set according to the system's performance requirements. This identifies second candidate traces whose energy is significantly lower than that of the second strong reflection trace.

[0175] Since false detection points caused by phase shifter phase deviation will have different Doppler frequencies, i.e. different radial relative velocity values, in step S2 above, the algorithm can further filter out false detection points by checking the state of the second candidate point.

[0176] The embodiments described in this application integrate distance relationships, energy difference analysis, and dot state checks to determine whether a dot is a false dot. This improves the accuracy of false dot identification and further reduces false detections by filtering out genuine false dot data from potential false dot data.

[0177] In one alternative implementation, after determining the false detection point from the at least one second candidate point while at least one second candidate point is in motion, the process includes:

[0178] S1, obtain the first velocity index of the second strong reflection point and the second velocity index of the current second candidate point, and calculate the velocity index difference between the first velocity index and the second velocity index;

[0179] S2, if the index difference satisfies the condition that the phase offset difference in the waveform parameters of the target radar system is an integer multiple, then the current second candidate point is determined to be a false detection point.

[0180] Because there is a fixed phase deviation between the actual frequency offset of the phase shifter and the theoretical design value, the relative position of the echo energy of the strong reflection point that "leaks" to the relevant Doppler index value is fixed. Therefore, the interval between the false detection point and the strong reflection point satisfies the relationship of an integer multiple determined by the phase difference and the code design.

[0181] In other words, if the radial relative velocity index difference between the second strong reflection point and the current second candidate point satisfies the aforementioned integer multiple condition for waveform design and phase difference matching, then the appearance of the current second candidate point is due to energy leakage from the second strong reflection point, rather than a true target echo signal. In this case, the system will determine the current candidate point as a false detection point and remove it.

[0182] The embodiments described in this application utilize the inherent regularity of the effect of phase shifter phase deviation on signal characteristics. Specifically, the Doppler spectrum of the radar signal changes when phase deviation exists, and this can be determined by detecting whether the interval between the radar signal and the strong reflective target is an integer multiple of the target's distance. This enables rapid localization of potential false detection points, avoids redundant traversal and complex calculations of all points, reduces the computational complexity and time consumption of signal processing, and improves the overall efficiency and performance of the system.

[0183] The present application is described below with reference to a complete implementation method:

[0184] First, obtain relevant information about the detected point: The DDMAMIMO radar system includes K=4 transmitting antennas and L=1 receiving antenna, with the phase offset steps corresponding to the K=4 transmitting antennas being [PS_1,PS_2,PS_3,PS_4]=[0,0.6875pi,1.2539pi,1.6914pi]. A radial range-radial relative velocity heatmap is obtained by coherently and incoherently processing the radar received signal, as shown below. Figure 4As shown. An adaptive threshold detection algorithm or its variations are used to obtain M detected point traces. For the m-th detected point trace, the relevant information includes the distance index value, Doppler index value, and target point trace amplitude, denoted as R_m, D_m, and P_m, respectively. The trace list contains relevant information for M = 20 detected point traces:

[0185] The m=1th detected point (R_1=9, D_1=0, P_1=147.5dB);

[0186] The m=2nd detected point (R_2=9, D_2=16, P_2=100.2dB);

[0187] The m=3rd detected point (R_3=9, D_3=32, P_3=111.6dB);

[0188] The m=4th detected point (R_4=9, D_4=64, P_4=104.7dB);

[0189] The m=5th detected point (R_5=9, D_5=112, P_5=101.7dB);

[0190] The m=6th detected point (R_6=9, D_6=128, P_6=103.8dB);

[0191] The m=7th detected point (R_7=9, D_1=176, P_1=148.7dB);

[0192] The m=8th detected point (R_8=9, D_2=192, P_2=101.2dB);

[0193] The m=9th detected point (R_9=9, D_3=208, P_3=111.8dB);

[0194] The m=10th detected point (R_10=9, D_4=320, P_4=148.4dB);

[0195] The m=11th detected point (R_11=9, D_5=336, P_5=112dB);

[0196] The m=12th detected point (R_12=9, D_6=352, P_6=112.1dB);

[0197] The m=13th detected point (R_13=9, D_3=368, P_3=99.9dB);

[0198] The m=14th detected point (R_14=9, D_4=432, P_4=147.8dB);

[0199] The m=15th detected point (R_15=9, D_5=448, P_5=101.1dB);

[0200] The m=16th detected point (R_16=9, D_6=496, P_6=99.5dB);

[0201] The m=17th detected point (R_17=17, D_6=0, P_6=129.6dB);

[0202] The m=18th detected point (R_18=17, D_6=176, P_6=130.3dB);

[0203] The m=19th detected point (R_19=17, D_6=320, P_6=129.9dB);

[0204] The m=20th detected point (R_19=17, D_6=432, P_6=129.5dB);

[0205] Taking a radial distance index value of 9 as an example, the Doppler dimension spectrum is as follows: Figure 5 The detected point markers are shown in the table below, which contains the following list of information related to the corresponding detected point markers:

[0206] The m=1th detected point (R_1=9, D_1=0, P_1=147.5dB);

[0207] The m=2nd detected point (R_2=9, D_2=16, P_2=100.2dB);

[0208] The m=3rd detected point (R_3=9, D_3=33, P_3=111.6dB);

[0209] The m=4th detected point (R_4=9, D_4=65, P_4=104.7dB);

[0210] The m=5th detected point (R_5=9, D_5=113, P_5=101.7dB);

[0211] The m=6th detected point (R_6=9, D_6=128, P_6=103.8dB);

[0212] The m=7th detected point (R_7=9, D_1=177, P_1=148.7dB);

[0213] The m=8th detected point (R_8=9, D_2=193, P_2=101.2dB);

[0214] The m=9th detected point (R_9=9, D_3=209, P_3=111.8dB);

[0215] The m=10th detected point (R_10=9, D_4=321, P_4=148.4dB);

[0216] The m=11th detected point (R_11=9, D_5=337, P_5=112dB);

[0217] The m=12th detected point (R_12=9, D_6=353, P_6=112.1dB);

[0218] The m=13th detected point (R_13=9, D_3=369, P_3=99.9dB);

[0219] The m=14th detected point (R_14=9, D_4=433, P_4=147.8dB);

[0220] The m=15th detected point (R_15=9, D_5=449, P_5=101.1dB);

[0221] The m=16th detected point (R_16=9, D_6=497, P_6=99.5dB);

[0222] Further DDMA demodulation and false detection suppression process; specifically including the following steps: obtaining Doppler code pattern; extracting echo energy based on Doppler code pattern; determining potential target traces; determining whether potential target traces are strong reflection points; determining whether potential target traces are false detection traces.

[0223] Obtaining the Doppler code pattern: Based on the phase offset of the transmit antenna and the number of slow samples J = 512, the Doppler code pattern is obtained, namely [C_1,C_2,C_3,C_4] = [PS_1,PS_2,PS_3,PS_4] * J / 2pi = [0,176,321,433].

[0224] Echo energy extraction based on Doppler code pattern: Traverse the list of points, and for each detected point, extract the corresponding echo energy from the radial distance-radial relative velocity heatmap according to the Doppler code pattern, under the condition of the same distance index value as the detected point, and calculate the minimum echo energy value.

[0225] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=1st detected point is 141.8dB.

[0226] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=2th detected point is 95.1dB.

[0227] The minimum echo energy extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=3rd detected point is 91.6dB.

[0228] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=4th detected point is 87.4dB.

[0229] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=5th detected point is 83.7dB.

[0230] The minimum echo energy extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=6th detected point is 77.3dB.

[0231] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=7th detected point is 85.4dB.

[0232] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=8th detected point is 96.5dB.

[0233] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=9th detected point is 92.1dB.

[0234] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=10th detected point is 93.6dB.

[0235] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=11th detected point is 77.9dB.

[0236] The minimum echo energy extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=12th detected point is 76.3dB.

[0237] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=13th detected point is 80.5dB.

[0238] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=14th detected point is 89.9dB.

[0239] The minimum echo energy extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=15th detected point is 90.8dB.

[0240] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=16th detected point is 74.9dB.

[0241] The minimum extractable echo energy for the radial distance-radial relative velocity heatmap pattern corresponding to the m=17th detected point is 119.5dB.

[0242] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=18th detected point is 73.9dB.

[0243] The minimum energy of the echo extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=19th detected point is 79.3dB.

[0244] The minimum echo energy extracted from the radial distance-radial relative velocity heatmap pattern corresponding to the m=20th detected point is 78.1dB.

[0245] Potential target point identification: The minimum echo energy threshold is set to 94dB. If the minimum echo energy in the previous step is greater than the set minimum echo energy threshold, then the point is determined to be a potential target point.

[0246] The minimum echo energy of the m=1th detected point is 141.8dB, which is greater than the set minimum echo energy threshold of 94dB, and is therefore determined to be a potential target point.

[0247] The minimum echo energy of the m=2th detected point is 95.1dB, which is greater than the set minimum echo energy threshold of 94dB, and is therefore identified as a potential target point.

[0248] The minimum echo energy of the m=3rd detected point is 91.6dB, which is less than the set minimum echo energy threshold of 94dB, so it is determined to be a non-potential target point.

[0249] The minimum echo energy of the m=4th detected point is 87.4dB, which is less than the set minimum echo energy threshold of 94dB, so it is determined to be a non-potential target point.

[0250] The minimum echo energy of the m=5th detected point is 83.7dB, which is less than the set minimum echo energy threshold of 94dB, so it is determined to be a non-potential target point.

[0251] The minimum echo energy of the m=6th detected point is 77.3dB, which is less than the set minimum echo energy threshold of 94dB, so it is determined to be a non-potential target point.

[0252] The minimum echo energy of the m=7th detected point is 85.4dB, which is less than the set minimum echo energy threshold of 94dB, so it is determined to be a non-potential target point.

[0253] The minimum echo energy of the m=8th detected point is 96.5dB, which is greater than the set minimum echo energy threshold of 94dB, and is therefore identified as a potential target point.

[0254] The minimum echo energy of the m=9th detected point is 92.1dB, which is less than the set minimum echo energy threshold of 94dB, so it is determined to be a non-potential target point.

[0255] The minimum echo energy of the m=10th detected point is 93.6dB, which is less than the set minimum echo energy threshold of 94dB, so it is determined to be a non-potential target point.

[0256] The minimum echo energy of the m=11th detected point is 77.9dB, which is less than the set minimum echo energy threshold of 94dB, so it is determined to be a non-potential target point.

[0257] The minimum echo energy of the m=12th detected point is 76.3dB, which is less than the set minimum echo energy threshold of 94dB, so it is determined to be a non-potential target point.

[0258] The minimum echo energy of the m=13th detected point is 80.5dB, which is less than the set minimum echo energy threshold of 94dB, so it is determined to be a non-potential target point.

[0259] The minimum echo energy of the m=14th detected point is 89.9dB, which is less than the set minimum echo energy threshold of 94dB, so it is determined to be a non-potential target point.

[0260] The minimum echo energy of the m=15th detected point is 90.8dB, which is less than the set minimum echo energy threshold of 94dB, so it is determined to be a non-potential target point.

[0261] The minimum echo energy of the m=16th detected point is 74.9dB, which is less than the set minimum echo energy threshold of 94dB, so it is determined to be a non-potential target point.

[0262] The minimum echo energy of the m=17th detected point is 119.5dB, which is greater than the set minimum echo energy threshold of 94dB, and is therefore identified as a potential target point.

[0263] The minimum echo energy corresponding to the m = 18th detected trace is 73.9 dB, which is less than the set minimum echo energy threshold of 94 dB, and it is determined as a non-potential target trace.

[0264] The minimum echo energy corresponding to the m = 19th detected trace is 79.3 dB, which is less than the set minimum echo energy threshold of 94 dB, and it is determined as a non-potential target trace.

[0265] The minimum echo energy corresponding to the m = 20th detected trace is 78.1 dB, which is less than the set minimum echo energy threshold of 94 dB, and it is determined as a non-potential target trace.

[0266] In summary, among the 20 detected traces, N = 4 are judged as potential target traces. The list of potential target traces is as follows, denoted as RP_n, DP_n, and PP_n respectively:

[0267] The n = 1st potential target trace (RP_1 = 9, DP_1 = 0, PP_1 = 147.5 dB), corresponding to m = 1;

[0268] The n = 2nd potential target trace (RP_2 = 9, DP_2 = 16, PP_2 = 100.2 dB), corresponding to m = 2;

[0269] The n = 3rd potential target trace (RP_3 = 9, DP_3 = 192, PP_1 = 101.2 dB), corresponding to m = 8;

[0270] The n = 4th potential target trace (RP_4 = 17, DP_3 = 0, PP_1 = 119.5 dB), corresponding to m = 17;

[0271] Taking the radial distance index value of 9 as an example, the potential target traces are as Figure 6 shown by the markings of the potential target traces in

[0272] Judgment on whether the potential target trace is a strong reflection point: Set the strong reflection point trace threshold P_set0 = 130 dB. The radial distance index value threshold R_set0 = the number of fast time samples = 256.

[0273] The n = 1st potential target trace satisfies PP_1 > P_set0 and RP_1 < R_set0, and it is determined that the 1st potential target trace is a strong reflection point trace.

[0274] The n = 2nd potential target trace satisfies the condition RP_2 < R_set0 but does not satisfy the condition PP_2 > P_set0, and it is determined that the 2nd potential target trace is a non-strong reflection point trace.

[0275] The n = 3rd potential target trace satisfies the condition RP_3 < R_set0 but does not satisfy the condition PP_3 > P_set0, and it is determined that the 3rd potential target trace is a non-strong reflection trace.

[0276] The n = 4th potential target trace satisfies the condition RP_3 < R_set0 but does not satisfy the condition PP_3 > P_se0t, and it is determined that the 4th potential target trace is a non-strong reflection trace.

[0277] Judgment on whether the potential target trace is a misdetected trace: Set the judgment threshold to 47 dB and the interval δ = 16. For the 1st potential target trace, since it is a strong reflection trace itself, it does not meet the misdetected trace judgment condition, so this potential target trace is retained.

[0278] For the 2nd potential target trace, there is a strong reflection trace (i.e., the n = 1st potential target trace is a strong reflection trace) and the difference between the echo energy of the strong reflection trace and the echo energy of the potential target trace is 47.3 dB, which is greater than the judgment threshold of 47 dB, meeting the misdetected trace judgment condition, so this potential target trace is deleted.

[0279] For the 3rd potential target trace, there is a strong reflection trace (i.e., the n = 1st potential target trace is a strong reflection trace) and the difference between the echo energy of the strong reflection trace and the echo energy of the potential target trace is 46.3 dB, which is less than the judgment threshold of 47 dB, so it does not meet the misdetected trace judgment condition, and this potential target trace is retained.

[0280] For the 4th potential target trace, since there is no strong emission trace with the same distance index value as this trace, this potential target trace is retained.

[0281] Taking the radial distance index value of 9 as an example, the misdetected traces determined internally by DDMA demodulation are as Figure 7 shown by the markings of the misdetected traces determined internally by DDMA demodulation.

[0282] Output of target traces: Traces that meet DDMA demodulation and are not misdetected due to the phase deviation of the phase shifter are output as target traces. G = 3 target traces are obtained, denoted as RT_g, DT_g, and PT_g respectively. The output target trace list is:

[0283] The g = 1st potential target trace (RT_1 = 9, DT_1 = 0, PT_1 = 147.5 dB).

[0284] The g = 2nd potential target trace (RT_2 = 9, DT_2 = 192, PT_2 = 101.2 dB).

[0285] The g = 3rd potential target trace (RT_3 = 17, DT_3 = 0, PT_3 = 119.5 dB).

[0286] For the output target trace, combine its own trace characteristic parameters, such as relative speed, angle and other information to judge the target state.

[0287] Obtain information related to the target trace: If the information related to the obtained trace is as follows:

[0288] The g = 1st potential target trace (RT_1 = 9, DT_1 = 0, PT_1 = 147.5 dB, ST_1 = stationary).

[0289] The g = 2nd potential target trace (RT_2 = 9, DT_2 = 192, PT_2 = 101.2 dB, ST_2 = moving).

[0290] The g = 3rd potential target trace (RT_3 = 17, DT_3 = 0, PT_3 = 119.5 dB, ST_2 = stationary).

[0291] Identification of strong reflection target traces: Set the strong reflection trace threshold P_set1 = 140 dB. The radial distance index value threshold R_set1 = the number of fast time samples = 256.

[0292] The g = 1st target trace satisfies PT_1 > P_set1 and RT_1 < R_set1, and it is determined that the 1st target trace is a strong reflection target trace.

[0293] The g = 2nd target trace satisfies the condition RT_2 < R_set1 but does not satisfy the condition PT_2 > P_set1, and it is determined that the 2nd target trace is a non-strong reflection target trace.

[0294] The g = 3rd target trace satisfies the condition RT_3 < R_set1 but does not satisfy the condition PT_3 > P_set1, and it is determined that the 3rd target trace is a non-strong reflection target trace.

[0295] Judgment of misdetected target traces: Specifically, it includes the steps of: determining candidate target traces; obtaining potential misdetected target traces; and judging whether the potential misdetected target traces are misdetected target traces.

[0296] Determine candidate target traces: Set the number of extracted traces i = 2. Since the total number of targets G = 3 = i + 1, and the strong reflection target trace is the g = 1st target trace (it should be noted that in actual operation, a large number of traces will be generated, and the number of extracted traces needs to be set to obtain only a small number of traces for judgment. In this example, the number of traces is small, so all the traces near the second strong reflection point are taken as an example for extraction), so the candidate target trace list is: the g = 1 + 1 = 2nd target trace (RT_2 = 9, DT_2 = 192, PT_2 = 101.2 dB, ST_2 = moving);

[0297] The g=1+2=3rd target point (RT_3=17, DT_3=0, PT_3=119.5dB, ST_2=stationary);

[0298] Obtain potential false positive target points: Set the judgment threshold to 25dB.

[0299] Among the above candidate target traces, only the radial distance index value corresponding to the g=2nd target trace is equal to the radial distance index value of the strong reflection target trace, and the difference between the echo energy of the strong reflection target trace and the echo energy corresponding to the candidate target trace is greater than the judgment threshold. At the same time, the candidate target is in motion. Therefore, the candidate target trace is judged as a potential false detection target trace (RT_2=9, DT_2=192, PT_2=101.2dB, ST_2=motion).

[0300] Determine whether a potential false detection target point is a false detection target point: interval δ = 16.

[0301] The aforementioned potential false detection target traces satisfy the criterion that the interval between their radial relative velocity index values ​​and those of strongly reflective target traces is an integer multiple of δ = 16. Therefore, these traces are determined to be false detections and are deleted. Figure 8 The markings for externally determined false detection points in the DDMA demodulation are shown.

[0302] Target point output, such as Figure 9 The final output shows the marker of the target point, and then proceeds with subsequent signal processing.

[0303] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0304] According to another aspect of the embodiments of this application, a device for determining false detection points is also provided for implementing the above-described method for determining false detection points. For example... Figure 10 As shown, the device includes:

[0305] The first determining unit 1002 determines a first set of points based on the echo signal of the target radar system, wherein the echo energy value of the point objects in the first set of points is greater than a first energy threshold.

[0306] The second determining unit 1004 determines a second subset of points from the first set of points when the first echo energy difference between the first strong reflection point in the first set of points and at least one first candidate point in the first set of points is greater than a second energy threshold.

[0307] The third determining unit 1006, when the second subset of traces includes the second strong reflection trace, determines a subset of candidate traces associated with the second strong reflection trace from the second subset of traces, wherein the trace distance between the second candidate trace and the second strong reflection trace in the candidate trace subset satisfies the target distance condition.

[0308] The fourth determining unit 1008 determines the false detection point from at least one second candidate point based on the distance index difference between the first distance index value of the second strong reflection point and the second distance index value of at least one second candidate point in the candidate point subset.

[0309] Optionally, the first determining unit further includes: a fifth determining module, configured to determine a distance-velocity spectrum based on the echo signal; determine the trace objects in the distance-velocity spectrum whose echo energy values ​​are greater than a detection threshold as first reference traces; determine the echo energy parameter values ​​that match the first reference traces based on multiple echo energy values ​​collected from the first reference traces at multiple acquisition intervals; and determine the first reference trace whose echo energy parameter values ​​are greater than a first energy threshold as a trace object in the first trace set.

[0310] Optionally, the fifth determining module is further configured to perform mean processing on multiple echo energy values ​​acquired based on multiple acquisition intervals to obtain an average echo energy value that matches the first reference point trace, and determine the average echo energy value as the echo energy parameter value; and to perform extreme value processing on multiple echo energy values ​​acquired based on multiple acquisition intervals to obtain a minimum echo energy value that matches the first reference point trace, and determine the minimum echo energy value as the echo energy parameter value.

[0311] Optionally, the fifth determining module is further configured to acquire waveform phase offset parameter values ​​corresponding to each transmitting antenna; and determine the acquisition interval based on the waveform phase offset parameter values ​​and the first sample acquisition values.

[0312] Optionally, the first determining unit further includes a first acquiring module, used to acquire the echo energy value of the trace object in the first trace set; if the echo energy value is greater than a third energy threshold, acquire the distance index value of the trace object; if the distance index value is less than the second sample acquisition value, determine the trace object as the first strong reflection trace.

[0313] Optionally, the second determining unit is further configured to determine a second subset of points from the first set of points when the velocity index difference between the first velocity index value and the second velocity index value satisfies the condition of an integer multiple of the phase offset difference.

[0314] Optionally, the third determining unit further includes a second acquisition module, used to acquire the echo energy value of the trace object in the second trace subset; acquire the distance index value of the trace object if the echo energy value is greater than the fourth energy threshold; and determine the trace object as the second strong reflection trace if the distance index value is less than the third sample acquisition value.

[0315] Optionally, the third determining unit 1006 further includes a second acquisition module, used to acquire the echo energy value of the trace object in the second trace subset; acquire the distance index value of the trace object when the echo energy value is greater than the fourth energy threshold; and determine the trace object as the second strong reflection trace when the distance index value is less than the third sample acquisition value.

[0316] Optionally, the third acquisition module is further configured to determine the sequence number of the second strong reflective point in the point information list, wherein the point information list is obtained by sorting the point objects in the second point subset according to the radial distance index value distribution; and if the sequence number interval between at least one second candidate point and the second strong reflective point in the point information list is less than or equal to the sequence number interval threshold, the motion state of the second candidate point is determined.

[0317] Optionally, the fourth determining unit 1008 further includes a state determining module, configured to determine the state of at least one second candidate point when the first distance index value of the second strong reflection point and the second distance index value of at least one second candidate point in the candidate point subset satisfy the distance index difference condition, and the second echo energy difference between at least one second candidate point and the second strong reflection point is greater than a fifth energy threshold; and to determine the false detection point from at least one second candidate point when at least one second candidate point is in motion.

[0318] Optionally, the aforementioned state determination module is further configured to obtain the first velocity index of the second strong reflection point and the second velocity index of the current second candidate point, and calculate the velocity index difference between the first velocity index and the second velocity index; if the index difference satisfies the condition that the phase offset difference in the waveform parameters of the target radar system is an integer multiple of the current second candidate point, the current second candidate point is determined to be a false detection point.

[0319] For specific implementation examples, please refer to the examples shown in the above method for determining false detection points; these will not be repeated here.

[0320] The memory 1102 can be used to store software programs and modules, such as the program instructions / modules corresponding to the method and apparatus for determining false detection points in this embodiment of the invention. The processor 1104 executes various functional applications and data processing by running the software programs and modules stored in the memory 1102, thereby realizing the aforementioned method for determining false detection points. The memory 1102 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1102 may further include memory remotely located relative to the processor 1104, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Specifically, the memory 1102 may be used, but is not limited to, for storing file information such as target files. As an example, such as Figure 11 As shown, the memory 1102 may include, but is not limited to, the first determining unit 1002, the second determining unit 1004, the third determining unit 1006, and the fourth determining unit 1008 in the aforementioned false detection point determination device. Furthermore, it may include, but is not limited to, other module units in the aforementioned false detection point determination device, which will not be elaborated upon in this example.

[0321] Optionally, the transmission device 1106 described above is used to receive or send data via a network. Specific examples of the network described above may include wired networks and wireless networks. In one example, the transmission device 1106 includes a Network Interface Controller (NIC), which can be connected to other network devices and a router via a network cable to communicate with the Internet or a local area network. In another example, the transmission device 1106 is a radio frequency (RF) module, used for wireless communication with the Internet.

[0322] In addition, the above-mentioned electronic device also includes a display 1108 and a connection bus 1110 for connecting the various module components in the above-mentioned electronic device.

[0323] According to one aspect of this application, a computer program product is provided, comprising a computer program / instructions containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit, it performs various functions provided in embodiments of this application.

[0324] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0325] It should be noted that the computer system of the electronic device is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0326] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit, it performs various functions defined in the system of this application.

[0327] According to one aspect of this application, a computer-readable storage medium is provided, wherein a processor of a computer device reads computer instructions from the computer-readable storage medium, and executes the computer instructions, causing the computer device to perform the methods provided in the various alternative implementations described above.

[0328] Optionally, in this embodiment, the computer-readable storage medium described above may be configured to store a computer program for performing the following steps:

[0329] S1, determine the first set of points based on the echo signal of the target radar system, wherein the echo energy value of the point objects in the first set of points is greater than the first energy threshold;

[0330] S2, if the first echo energy difference between the first strong reflection point trace in the first point trace set and at least one first candidate point trace in the first point trace set is greater than the second energy threshold, a second point trace subset is determined from the first point trace set based on the velocity index difference between the first velocity index value of the first strong reflection point trace and the second velocity index value of at least one first candidate point trace.

[0331] S3, if the second strong reflection point is included in the second point subset, determine the candidate point subset associated with the second strong reflection point from the second point subset, wherein the point distance between the second candidate point and the second strong reflection point in the candidate point subset satisfies the target distance condition.

[0332] S4, based on the distance index difference between the first distance index value of the second strong reflective point trace and the second distance index value of at least one second candidate point trace in the candidate point trace subset, determine the false detection point trace from at least one second candidate point trace.

[0333] Optionally, in this embodiment, those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware of an electronic device. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0334] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0335] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods of the various embodiments of this application.

[0336] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0337] In the several embodiments provided in this application, it should be understood that the disclosed user equipment can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of units or modules may be electrical or other forms.

[0338] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0339] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0340] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for determining false detection points, characterized in that, include: A first set of traces is determined based on the echo signal of the target radar system, wherein the echo energy value of the trace objects in the first set of traces is greater than a first energy threshold. If the first echo energy difference between the first strong reflection point in the first set of points and at least one first candidate point in the first set of points is greater than the second energy threshold, a second subset of points is determined from the first set of points based on the velocity index difference between the first velocity index value of the first strong reflection point and the second velocity index value of at least one first candidate point. The first candidate point is a point in the first set of points that does not meet the strong reflection point judgment condition and needs to be judged as a false detection point. If the second strongly reflective point trace is included in the second subset of point traces, a subset of candidate point traces associated with the second strongly reflective point trace is determined from the second subset of point traces, wherein the point trace distance between the second candidate point trace in the subset of candidate point traces and the second strongly reflective point trace satisfies the target distance condition. False detection points are determined from at least one second candidate point based on the distance index difference between the first distance index value of the second strong reflective point and the second distance index value of at least one second candidate point in the subset of candidate points.

2. The method according to claim 1, characterized in that, The step of determining the first set of points based on the echo signal from the target radar system includes: Determine the distance-velocity spectrum based on the echo signal; The trace objects whose echo energy values ​​in the distance-velocity spectrum are greater than the detection threshold are identified as the first reference traces; Based on the multiple echo energy values ​​collected from the first reference point at multiple acquisition intervals, an echo energy parameter value matching the first reference point is determined. The first reference point whose echo energy parameter value is greater than the first energy threshold is determined as the point object in the first point set.

3. The method according to claim 2, characterized in that, The step of determining the echo energy parameter value matching the first reference point trace based on multiple echo energy values ​​acquired at multiple acquisition intervals includes at least one of the following: The average echo energy values ​​acquired based on the multiple acquisition intervals are averaged to obtain an average echo energy value that matches the first reference point trace, and the average echo energy value is determined as the echo energy parameter value. The multiple echo energy values ​​acquired based on the multiple acquisition intervals are subjected to extreme value processing to obtain the minimum echo energy value that matches the first reference point trace, and the minimum echo energy value is determined as the echo energy parameter value.

4. The method according to claim 2, characterized in that, Before determining the echo energy parameter value matching the first reference point trace based on the multiple echo energy values ​​acquired at multiple acquisition intervals, the process includes: Obtain the waveform phase offset parameter value corresponding to each transmitting antenna; The acquisition interval is determined based on the waveform phase offset parameter value and the first sample acquisition value.

5. The method according to claim 1, characterized in that, After determining the first set of points based on the echo signal from the target radar system, the method further includes: Obtain the echo energy value of the trace object in the first trace set; If the echo energy value is greater than the third energy threshold, obtain the distance index value of the point object; If the distance index value is less than the value collected by the second sample, the point object is determined to be the first strong reflective point.

6. The method according to claim 5, characterized in that, The step of determining a second subset of dots from the first set of dots based on the velocity index difference between the first velocity index value of the first strongly reflective dot and the second velocity index value of at least one of the first candidate dots includes: If the speed index difference between the first speed index value and the second speed index value satisfies the condition of being an integer multiple of the phase offset difference, the second subset of the point traces is determined from the first set of point traces.

7. The method according to claim 1, characterized in that, Before determining the candidate subset of traces associated with the second strongly reflective trace from the second subset of traces, when the second subset of traces includes the following: Obtain the echo energy value of the trace object in the second trace subset; If the echo energy value is greater than the fourth energy threshold, obtain the distance index value of the trace object; If the distance index value is less than the value collected by the third sample, the point object is determined to be the second strong reflective point.

8. The method according to claim 7, characterized in that, After determining that the trace object is the second strong reflective trace when the distance index value is less than the value collected by the third sample, the process includes: Determine the sequence number of the second strong reflective dot in the dot information list, wherein the dot information list is obtained by sorting the dot objects in the second dot subset according to the radial distance index value distribution; If the sequence number interval between at least one of the second candidate dots and the second strong reflective dots in the dot information list is less than or equal to the sequence number interval threshold, the motion state of the second candidate dot is determined.

9. The method according to claim 1, characterized in that, The step of determining false detection traces from at least one second candidate trace based on the distance index difference between the first distance index value of the second strongly reflective trace and the second distance index value of at least one second candidate trace in the subset of candidate traces includes: If the first distance index value of the second strong reflection point and the second distance index value of at least one second candidate point in the candidate point subset satisfy the distance index difference condition, and the second echo energy difference between at least one second candidate point and the second strong reflection point is greater than the fifth energy threshold, the point state of at least one second candidate point is determined. When at least one of the second candidate points is in motion, the false detection point is determined from at least one of the second candidate points.

10. The method according to claim 9, characterized in that, After determining the false detection point from at least one second candidate point when at least one second candidate point is in motion, the process includes: Obtain the first velocity index of the second strong reflection point and the second velocity index of the current second candidate point, and calculate the velocity index difference between the first velocity index and the second velocity index; If the index difference satisfies the condition that the phase offset difference in the waveform parameters of the target radar system is an integer multiple, the current second candidate point is determined to be the false detection point.

11. A device for determining false detection points, characterized in that, include: The first determining unit determines a first set of traces based on the echo signal of the target radar system, wherein the echo energy value of the trace objects in the first set of traces is greater than a first energy threshold. The second determining unit determines a second subset of traces from the first trace set when the first echo energy difference between the first strong reflection trace in the first trace set and at least one first candidate trace in the first trace set is greater than a second energy threshold. This subset is determined based on the velocity index difference between the first velocity index value of the first strong reflection trace and the second velocity index value of at least one first candidate trace. The first candidate trace is a trace in the first trace set that does not meet the strong reflection point judgment condition and needs to be judged as a false detection trace object. The third determining unit, when the second subset of traces includes the second strongly reflective trace, determines a subset of candidate traces associated with the second strongly reflective trace from the second subset of traces, wherein the trace distance between the second candidate trace and the second strongly reflective trace in the subset of candidate traces satisfies the target distance condition. The fourth determining unit determines the false detection point from at least one second candidate point based on the distance index difference between the first distance index value of the second strong reflection point and the second distance index value of at least one second candidate point in the subset of candidate point points.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program is executed by an electronic device to perform the method described in any one of claims 1 to 10.

13. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method described in any one of claims 1 to 10 through the computer program.

14. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method described in any one of claims 1 to 10.

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