False detection trace point determination method and device, storage medium and electronic equipment

Abstract

The invention discloses a false detection trace point determination method and device, a storage medium and electronic equipment. The method comprises the following steps: determining a trace point set according to an echo signal of a target radar system; under the condition that the trace point set comprises the strong reflection trace points, determining candidate trace point subsets associated with the strong reflection trace points from the trace point set; under the condition that the first distance index value of the strong reflection plot and the second distance index value of at least one candidate plot in the candidate plot subset meet an index difference value condition and the echo energy difference value between the at least one candidate plot and the strong reflection plot meet an energy threshold value condition, determining the plot state of the at least one candidate plot; and under the condition that the at least one candidate trace point is in the motion state, determining a false detection trace point from the at least one candidate trace point. According to the method and the device, the technical problem of low determination efficiency of the error detection trace point in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving, and more specifically, to a method, device, storage medium, and electronic device for determining false positive traces. Background Art

[0002] Millimeter-wave radar, as a key environmental perception sensor in intelligent transportation systems and autonomous vehicles, has a crucial impact on system decision-making and safety. In a multiple-input, multiple-output (MIMO) radar architecture, the use of Doppler Dimensional Multiple Access (DDMA) waveforms can improve radar target detection and parameter estimation accuracy. However, in practical deployments, DDMA MIMO radar systems can encounter phase shifter deviations caused by factors such as hardware manufacturing tolerances, ambient temperature variations, and component non-ideal matching.

[0003] To address the false alarm problem caused by phase shifter phase offset, the existing technology, for each detected target trace, traverses all traces with the same distance index value to extract the Doppler spectrum associated with that trace. The corresponding amplitude values ​​are then extracted at fixed intervals. All amplitude values ​​are then accumulated and summed to obtain a judgment threshold, thereby filtering out falsely detected traces. This means that the existing technology suffers from the low efficiency of determining falsely detected traces caused by phase shifter phase offset. Summary of the Invention

[0004] The embodiments of the present application provide a method, device, storage medium, and electronic device for determining false positive traces, so as to at least solve the technical problem of low efficiency in determining false positive traces in the related art.

[0005] According to one aspect of an embodiment of the present application, a method for determining false positive points is provided, comprising: determining a point trace set based on an echo signal of a target radar system, wherein the point trace set includes a plurality of point trace objects; in a case where the point trace set includes a strongly reflected point trace, determining a candidate point trace subset associated with the strongly reflected point trace from the point trace set, wherein the point trace distance between the candidate point traces in the candidate point trace subset and the strongly reflected point trace meets a target distance condition; in a case where a first distance index value of the strongly reflected point trace and a second distance index value of at least one candidate point trace in the candidate point trace subset meet an index difference condition, and an echo energy difference between at least one candidate point trace and the strongly reflected point trace meets an energy threshold condition, determining the point trace state of at least one candidate point trace; in a case where at least one candidate point trace is in motion, determining the false positive point trace from the at least one candidate point trace.

[0006] According to another aspect of an embodiment of the present application, a device for determining false positive points is also provided, including: a first determination unit, determining a point trace set based on the echo signal of the target radar system, wherein the point trace set includes multiple point trace objects; a second determination unit, determining a candidate point trace subset associated with the strong reflection point trace from the point trace set when the point trace set includes a strong reflection point trace, wherein the point trace distance between the candidate point traces in the candidate point trace subset and the strong reflection point trace meets the target distance condition; a third determination unit, determining the point trace state of at least one candidate point trace when the first distance index value of the strong reflection point trace and the second distance index value of at least one candidate point trace in the candidate point trace subset meet the index difference condition, and the echo energy difference between at least one candidate point trace and the strong reflection point trace meets the energy threshold condition; a fourth determination unit, determining the false positive point trace from at least one candidate point trace when at least one candidate point trace is in a moving state.

[0007] As an optional solution, the above-mentioned third determination unit also includes: a state determination module, used to determine the difference between the first distance index value of the strong reflection point and the second distance index value of at least one candidate point to obtain the distance index difference; when the absolute value of the distance index difference is less than the first difference threshold, determine the difference between the echo energy value of the strong reflection point and the echo energy value of the candidate point to obtain the echo energy difference; when the echo energy difference is greater than the first energy threshold, determine the point state of the candidate point.

[0008] As an optional solution, the above-mentioned state determination module includes: a first acquisition module, used to obtain a first velocity index value of a strong reflection point track and a second velocity index value of a current candidate point track, and calculate a velocity index difference between the first velocity index value and the second velocity index value; when the velocity index difference meets a target interval condition, the current candidate point track is determined as a false detection point track, wherein the target interval condition is determined according to the waveform parameters of the target radar system.

[0009] As an optional solution, the above-mentioned first acquisition module is also used to determine that the current candidate point trace is a false detection point trace when the speed index difference between the first speed index value and the second speed index value meets the condition of an integer multiple of the phase offset difference in the waveform parameters of the target radar system.

[0010] As an optional scheme, the above-mentioned second determination unit is also used to determine the serial number of the strong reflection point trace in the point trace information list, wherein the point trace information list is obtained by sorting the point trace objects in the point trace set according to the radial distance index value distribution; when the serial number interval between at least one reference point trace and the strong reflection point trace in the point trace information list is less than or equal to the serial number interval threshold, at least one reference point trace is determined as a candidate point trace.

[0011] As an optional solution, the above-mentioned second determination unit also includes a second acquisition module, which is used to obtain the echo energy value of the point object in the point set; obtain the distance index value of the point object when the echo energy value is greater than the second energy threshold; and determine that the point object is a strong reflection point when the distance index value is less than the target sample acquisition value.

[0012] According to another aspect of an embodiment of the present application, a computer program product or computer program is provided, comprising 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 above-described method for determining false positive traces.

[0013] According to another aspect of an embodiment of the present 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 method for determining false detection traces through the computer program.

[0014] Through the above-mentioned implementation mode of the present application, a point trace set is determined according to the echo signal of the target radar system; when the point trace set includes a strong reflection point trace, a candidate point trace subset associated with the strong reflection point trace is determined from the point trace set, wherein the point trace distance between the candidate point traces in the candidate point trace subset and the strong reflection point trace meets the target distance condition, and the area potentially affected by the phase deviation of the phase shifter is quickly located, avoiding a comprehensive analysis of the entire point trace set; further, when the first distance index value of the strong reflection point trace and the second distance index value of at least one candidate point trace in the candidate point trace subset meet the index difference condition, and the echo energy difference between at least one candidate point trace and the strong reflection point trace meets the energy threshold condition, the point trace state of at least one candidate point trace is determined; it is achieved that when at least one candidate point trace is in a moving state, a false detection point trace is determined from at least one candidate point trace, thereby solving the technical problem of low efficiency in determining false detection point traces in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 is a schematic diagram of an application environment of an optional method for determining false detection traces according to an embodiment of the present application;

[0017] Figure 2 is a flow chart of an optional method for determining false detection traces according to an embodiment of the present application;

[0018] Figure 3 1 is a schematic diagram of an optional radial distance index value-radial relative speed index value according to an embodiment of the present application;

[0019] Figure 4 is an optional schematic diagram of point trace screening according to an embodiment of the present application;

[0020] Figure 5 is another optional schematic diagram of point trace screening according to an embodiment of the present application;

[0021] Figure 6 is another optional schematic diagram of point trace screening according to an embodiment of the present application;

[0022] Figure 7 is a flowchart of another optional method for determining false detection traces according to an embodiment of the present application;

[0023] Figure 8 is a flowchart of another optional method for determining false detection traces according to an embodiment of the present application;

[0024] Figure 9 is a schematic diagram of a device for determining a false detection point trace according to an embodiment of the present application;

[0025] Figure 10 It is a schematic structural diagram of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] According to one aspect of the embodiment of the present application, a method for determining a false positive point trace is provided. Optionally, the method for determining a false positive point trace can be applied to, but is not limited to, Figure 1 Optionally, the method for determining false detection traces provided by the present application can be applied to a vehicle terminal. Figure 1 The figure shows a side view of a vehicle terminal 101, which can travel on a travel surface 113. The vehicle terminal 101 includes an onboard navigation system 103, a memory 102 storing a digitized 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, an autonomous controller 112, and a telematics controller 114.

[0029] In one embodiment, the spatial monitoring system 117 includes one or more spatial sensors and systems for monitoring the visible area 105 in front of the vehicle terminal 101. The spatial monitoring system 117 also includes a spatial monitoring controller 118. The spatial sensors used to monitor the visible area 105 include a lidar sensor 106, a radar sensor 107, a camera 108, and the like. The spatial monitoring controller 118 can be configured to generate data related to the visible area 105 based on data input from the spatial sensors. The spatial monitoring controller 118 can determine the linear range, relative speed, and trajectory of the vehicle terminal 101 based on the input from the spatial sensors. For example, the spatial monitoring controller 118 can determine the current speed of the vehicle and its relative speed relative to the preceding vehicle. The spatial sensors of the vehicle terminal spatial monitoring system 117 can include object location sensing devices, which can include range sensors. The range sensors can be used to locate preceding objects, such as those in front of the vehicle.

[0030] The camera 108 is advantageously mounted and positioned on the vehicle terminal 101 in a position that allows it to capture images of the visible area 105, wherein at least a portion of the visible area 105 includes a portion of the travel surface 113 in front of the vehicle terminal 101 and including the trajectory of the vehicle terminal 101. The visible area 105 may also include the surrounding environment. Other cameras may also be used, for example, including a second camera disposed on the rear or side portion of the vehicle terminal 101 to monitor the rear of the vehicle terminal 101 and one of the right or left sides of the vehicle terminal 101.

[0031] The autonomous controller 112 is configured to implement autonomous driving or advanced driver assistance system (ADAS) vehicle terminal functionality. Such functionality may include a vehicle terminal onboard control system capable of providing a certain level of driving automation. Driving automation may include a range of dynamic driving and vehicle terminal operations. Driving automation may include a certain level of automatic control or intervention involving a single vehicle terminal function (e.g., steering, acceleration, and / or braking). For example, the autonomous controller and the radar sensor may be used to determine a false positive trace by performing the following steps:

[0032] S102, determining a point trace set according to the echo signal of the target radar system, wherein the point trace set includes a plurality of point trace objects;

[0033] S104, when the point trace set includes a strong reflection point trace, determining a candidate point trace subset associated with the strong reflection point trace from the point trace set, wherein the point trace distance between the candidate point traces in the candidate point trace subset and the strong reflection point trace meets the target distance condition;

[0034] S106, determining the state of at least one candidate point track when the first distance index value of the strong reflection point track and the second distance index value of at least one candidate point track in the candidate point track subset meet an index difference condition, and the echo energy difference between the at least one candidate point track and the strong reflection point track meets an energy threshold condition;

[0035] S108 : When at least one candidate point track is in motion, determine a falsely detected point track from the at least one candidate point track.

[0036] The HMI device 111 provides human-machine interaction for the purpose of guiding the operation of the infotainment system, GPS (Global Positioning System) sensor 110, onboard navigation system 103 and the like, and includes a controller. The HMI device 111 monitors operator requests and provides the operator with status, service and maintenance information of the vehicle terminal system. The HMI device 111 communicates with multiple operator interface devices and / or controls the operation of multiple operator interface devices. The HMI device 111 can also communicate with one or more devices that monitor biometric data associated with the vehicle terminal operator. For simplicity of description, the HMI device 111 is depicted as a single device, but in the embodiments of the system described herein, it can be configured as multiple controllers and associated sensing devices.

[0037] Operator controls may be included in the passenger compartment of the vehicle terminal 101 and may include, by way of non-limiting example, a steering wheel, an accelerator pedal, a brake pedal, and an operator input device, which is an element of the HMI device 111. The operator controls enable a vehicle terminal operator to interact with the operating vehicle terminal 101 and direct the operation of the vehicle terminal 101 to provide passenger transportation.

[0038] The onboard navigation system 103 uses the digitized road map 104 for the purpose of providing navigation support and information to the vehicle terminal operator. The autonomous controller 112 uses the digitized road map 104 for the purpose of controlling the autonomous vehicle terminal operation or ADAS vehicle terminal functions.

[0039] The vehicle terminal 101 may include a telematics controller 114, which includes a wireless telematics communication system capable of communicating outside the vehicle terminal (including communicating with a communication network 115 having both wireless and wired communication capabilities). The wireless telematics communication system includes an off-board server 116 capable of short-range wireless communication with the mobile terminal.

[0040] As an optional implementation, Figure 2 As shown, the method for determining the false detection trace can be performed by an electronic device, and the specific steps include:

[0041] S202, determining a point trace set according to the echo signal of the target radar system, wherein the point trace set includes a plurality of point trace objects;

[0042] S204, when the point trace set includes a strong reflection point trace, determining a candidate point trace subset associated with the strong reflection point trace from the point trace set, wherein the point trace distance between the candidate point traces in the candidate point trace subset and the strong reflection point trace meets the target distance condition;

[0043] S206, determining the state of at least one candidate point track when the first distance index value of the strong reflection point track and the second distance index value of at least one candidate point track in the candidate point track subset meet an index difference condition, and the echo energy difference between the at least one candidate point track and the strong reflection point track meets an energy threshold condition;

[0044] S208 : When at least one candidate point track is in motion, determine a falsely detected point track from the at least one candidate point track.

[0045] In S202 of the above embodiment, the target radar system may be a radar system configured with a specific Doppler Dimensional 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 traces. Each trace contains the target's range index, Doppler index, and echo energy, as well as the target's state (e.g., stationary or moving).

[0046] As an optional implementation, for example, a DDMA MIMO 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-to-radial relative velocity heat map is obtained by coherently and incoherently processing the radar received signals. M detected traces are obtained using an adaptive threshold detection algorithm or a variation thereof. After DDMA demodulation of these M detected traces, N target traces are obtained. Thus, the trace set includes N target trace objects.

[0047] In the above-mentioned step S204, the above-mentioned strong reflection point trace can be a point trace whose echo energy exceeds a preset threshold value (P_set), or a point trace whose echo energy is compared with the echo energy of the point trace at the same position in multiple consecutive frames. If the energy remains stable and high in multiple frames, it can be determined as a strong reflection point trace. No specific restrictions are made here on the determination of strong reflection point traces.

[0048] When there's a deviation between the actual phase value configured for the phase shifter and the theoretically designed phase value, the echo energy of the detected trace can "leak" to other specific frequencies in the Doppler dimension. This phenomenon is even more pronounced when there are strong reflection points in the scene, causing traces at the "leaked" energy locations to pass through the detection threshold and cause false detections. Therefore, this characteristic can be used to determine the correctness of candidate traces. Specifically, when there's a strong reflection trace in the scene, and it's located close to the strong reflection point, and its Doppler frequency satisfies a specific mathematical relationship with that of the strong reflection trace (for example, the frequency difference between the two is an integer multiple of a preset frequency offset), the candidate trace is likely caused by a phase shifter phase deviation.

[0049] In DDMA MIMO radar systems, the waveforms configured for each transmitting antenna have frequency offsets to ensure orthogonality between the transmitted waveforms. Phase deviations (such as phase shifter phase deviation) cause additional echo energy to appear at specific Doppler frequency locations relative to the actual target. Even if there are no actual moving targets at these locations, the system will mistakenly identify them as moving points.

[0050] It can be understood that the echo energy value is an amplitude value corresponding to a given radial distance index value and a radial relative velocity index value, which will not be elaborated here.

[0051] Through the above steps S206-S208, when the first distance index value of the strong reflection point track and the second distance index value of at least one candidate point track in the candidate point track subset meet the index difference condition, and the echo energy difference between at least one candidate point track and the strong reflection point track meets the energy threshold condition, the point track state of at least one candidate point track is determined; when at least one candidate point track is in a moving state, the false detection point track is determined from the at least one candidate point track.

[0052] That is, by judging whether the radial distance index value of the point track is equal to or close to the radial distance index value of the strong reflection target point track (that is, it satisfies the above-mentioned index difference condition), a small number of point tracks that are close to the strong reflection point track in spatial position are located, without traversing all detection points, and further checking whether the echo energy difference between the two exceeds the preset judgment threshold. When the threshold is exceeded, the status information of the candidate point track is obtained. When the status information indicates that the above-mentioned candidate point track is in a moving state, it is determined to be a (potential) false detection point track. The real false detection point track can be further screened out from the potential false detection point track, and the real false detection point track can be further screened out according to whether the speed index interval between the potential false detection point track and the strong reflection point track satisfies the integer multiple condition.

[0053] Through the above-mentioned implementation mode of the present application, a point trace set is determined according to the echo signal of the target radar system; when the point trace set includes a strong reflection point trace, a candidate point trace subset associated with the strong reflection point trace is determined from the point trace set, wherein the point trace distance between the candidate point traces in the candidate point trace subset and the strong reflection point trace meets the target distance condition, and the area potentially affected by the phase deviation of the phase shifter is quickly located, avoiding a comprehensive analysis of the entire point trace set; further, when the first distance index value of the strong reflection point trace and the second distance index value of at least one candidate point trace in the candidate point trace subset meet the index difference condition, and the echo energy difference between at least one candidate point trace and the strong reflection point trace meets the energy threshold condition, the point trace state of at least one candidate point trace is determined; it is achieved that when at least one candidate point trace is in a moving state, a false detection point trace is determined from at least one candidate point trace, thereby solving the technical problem of low efficiency in determining false detection point traces in the related art.

[0054] In an optional embodiment, when a first distance index value of a strong reflection point track and a second distance index value of at least one candidate point track in the candidate point track subset satisfy an index difference condition, and an echo energy difference between the at least one candidate point track and the strong reflection point track satisfies an energy threshold condition, determining the point state of the at least one candidate point track includes:

[0055] S1, determining a difference between a first distance index value of a strong reflection point and a second distance index value of at least one candidate point to obtain a distance index difference;

[0056] S2, when the absolute value of the distance index difference is less than the first difference threshold, determining the difference between the echo energy value of the strong reflection point trace and the echo energy value of the candidate point trace to obtain the echo energy difference;

[0057] S3: When the echo energy difference is greater than the first energy threshold, determine the point status of the candidate point.

[0058] As an optional implementation, in step S1, by calculating the distance index difference between the strong reflection point and the candidate point, candidate points that are spatially closer to the strong reflection point are identified. Because false positive points often appear in the vicinity of the strong reflection point, particularly at the same or similar radial distance, subsequent analysis of only candidate points that are close in radial distance to the strong reflection point can significantly reduce the amount of data required, thereby reducing computing resource consumption and improving processing speed. The distance index difference can be determined based on historical experimental data.

[0059] Furthermore, in step S2, for candidate traces whose distance index difference from the strong reflection trace is determined to be less than a first difference threshold, the difference between their echo energy values ​​and the echo energy value of the strong reflection trace is further calculated to obtain an echo energy difference. This identifies traces whose energy is significantly lower than that of the strong reflection trace. The first difference threshold can be set based on system performance requirements.

[0060] Since the false detection traces caused by the phase deviation of the phase shifter have different Doppler frequencies, that is, different radial relative velocity values, in the above step S3, by checking the status of the candidate traces, the algorithm can further screen out potential false detection traces and false detection traces.

[0061] Through the above-mentioned implementation method described in this application, the distance relationship, energy difference analysis and trace status check are integrated to determine whether a trace is a false detection trace. This improves the accuracy of potential false detection trace identification and reduces false detection.

[0062] In an optional embodiment, when at least one candidate point track is in motion, determining a falsely detected point track from at least one candidate point track further includes:

[0063] S1, obtaining a first velocity index value of a strong reflection point and a second velocity index value of a current candidate point, and calculating a velocity index difference between the first velocity index value and the second velocity index value;

[0064] S2: If the velocity index difference satisfies the target interval condition, the current candidate point trace is determined as a false detection point trace, wherein the target interval condition is determined according to the waveform parameters of the target radar system.

[0065] Because the frequency offset of each transmitting antenna waveform in a DDMA MIMO radar system is set based on a fixed phase step, and the phase deviation of the phase shifter is fixed with a fixed step size, resulting in periodic spurious phenomena on the Doppler spectrum, the current candidate point trace can be further determined as the false detection point trace when the index value interval of the radial relative velocity between the current candidate point trace and the identified strong reflection point trace exactly matches the periodic integer multiple relationship corresponding to the phase shifter phase deviation.

[0066] The following is a complete implementation method to illustrate the above process of determining the false detection point trace:

[0067] Obtain the detected point traces: For example, the DDMA MIMO radar system includes K = 3 transmitting antennas and L = 1 receiving antenna. The phase offset steps corresponding to the K = 3 transmitting antennas are [PS_1, PS_2, PS_3] = [0, 0.25pi, 0.75pi]. The radial range-radial relative velocity heat map is obtained by coherently and incoherently processing the radar received signal, such as Figure 3 The radial distance index value-radial relative velocity index value diagram is shown. Using the adaptive threshold detection algorithm or its variant, M detected traces are obtained. For the mth detected trace, the detected trace-related information includes the range index value, Doppler index value, and target trace amplitude, denoted as R_m, D_m, and P_m, respectively. The trace list contains the relevant information of M = 9 detected traces:

[0068] The m=1th detected point trace (R_1=9, D_1=0, P_1=147dB);

[0069] The m=2th detected trace (R_2=9, D_2=64, P_2=149dB);

[0070] The m=3rd detected point trace (R_3=9, D_3=128, P_3=114dB);

[0071] The m=4th detected trace (R_4=9, D_4=192, P_4=148dB);

[0072] The m=5th detected point trace (R_5=9, D_5=320, P_5=111dB);

[0073] The m=6th detected trace (R_6=9, D_6=448, P_6=115dB);

[0074] The m=7th detected trace (R_6=17, D_6=0, P_6=130dB);

[0075] The m=8th detected trace (R_6=17, D_6=64, P_6=130dB);

[0076] The m=9th detected trace (R_6=17, D_6=192, P_6=130dB);

[0077] Obtaining target point trace related information: For example, for the above 9 detected points, after completing DDMA demodulation, N=4 target point traces (i.e., the above first point trace set) are obtained. Taking the radial distance index value of 9 as an example, Figure 4There are 3 marked points corresponding to the target traces after DDMA demodulation. For the nth trace, the trace-related information includes the radial distance index value, the radial relative velocity index value, the trace amplitude, and the trace status, denoted as RT_n, DT_n, PT_n, and ST_n respectively. The list of target trace-related information is as follows (hereinafter, to avoid confusion with the final output target traces and for ease of expression, the "target trace" is simply referred to as "trace"):

[0078] The n = 1st trace (RT_1 = 9, DT_1 = 0, PT_1 = 147 dB, ST_1 = stationary), corresponding to m = 1;

[0079] The n = 2nd trace (RT_2 = 9, DT_2 = 128, PT_2 = 114 dB, ST_2 = moving), corresponding to m = 3;

[0080] The n = 3rd trace (RT_3 = 9, DT_3 = 448, PT_3 = 115 dB, ST_3 = moving), corresponding to m = 6;

[0081] The n = 4th trace (RT_4 = 17, DT_4 = 0, PT_4 = 130 dB, ST_4 = stationary), corresponding to m = 8;

[0082] Recognition of strongly reflecting target traces: For example, set the threshold of strongly reflecting traces P_set = 140 dB. The threshold of the radial distance index value R_set = the number of fast-time samples = 256.

[0083] The n = 1st trace satisfies PT_1 > P_set and RT_1 < R_set, and it is determined that the 1st trace is a strongly reflecting trace.

[0084] The n = 2nd trace satisfies the condition RT_2 < R_set but does not satisfy the condition PT_2 > P_set, and it is determined that the 2nd trace is a non-strongly reflecting trace.

[0085] The n = 3rd trace satisfies the condition RT_3 < R_set but does not satisfy the condition PT_3 > P_set, and it is determined that the 3rd trace is a non-strongly reflecting trace.

[0086] The n = 4th trace satisfies the condition RT4 < R_set but does not satisfy the condition PT_4 > P_set, and it is determined that the 4th trace is a non-strongly reflecting trace. s

[0087] Furthermore, the judgment of misdetected target traces includes: determining candidate traces, obtaining potential misdetected traces, and judging whether the potential misdetected traces are misdetected traces.

[0088] Specifically, determine the candidate traces: set the number of extracted traces i=3, the total number N=4 in the example, and the strong reflection trace is the n=1th trace (it should be noted that a large number of traces will be generated in actual operation, and it is necessary to set the number of extracted traces to obtain only a small number of traces for judgment. The number of traces in this example is small, so all traces near the strong reflection point are extracted as an example). Therefore, the candidate trace subset is:

[0089] The n=1+1=2 traces (RT_2=9, DT_2=128, PT_2=114dB, ST_2=motion), corresponding to m=3;

[0090] The n=1+2=3 traces (RT_3=9, DT_3=448, PT_3=115dB, ST_3=motion), corresponding to m=6;

[0091] The n=1+3=4th trace (RT_4=17, DT_4=0, PT_4=130dB, ST_4=stationary), corresponding to m=8;

[0092] Obtain potential false detection traces: for example, set the decision threshold to 25dB.

[0093] Among the candidate points, only the radial distance index values ​​corresponding to the n=2nd and n=3rd points are equal to the radial distance index value of the strong reflection point, and the difference between the echo energy of the strong reflection point and the echo energy corresponding to the candidate point is greater than the judgment threshold. At the same time, the candidate point is in motion, so it is judged as a potential false detection point. The list of potential false detection points is as follows:

[0094] The first potential falsely detected target trace is the n=2th target trace (RT_2=9, DT_2=128, PT_2=114dB, ST_2=motion), corresponding to m=3.

[0095] The second potential falsely detected target trace is the n=3th target trace (RT_3=9, DT_3=448, PT_3=115dB, ST_3=motion), corresponding to m=6.

[0096] Determine whether a potential false detection trace is a false detection trace: for example, the interval δ=64.

[0097] The first potential false detection point meets the judgment condition that the interval between the radial relative velocity index value of the strong reflection point meets the integer multiple of δ=64, so the point is determined to be a false detection point and is deleted.

[0098] The second potential false detection trace satisfies the judgment condition that the interval between the radial relative velocity index value of the strong reflection trace and the second potential false detection trace is an integer multiple of δ=64, so the trace is determined to be a false detection trace and is deleted. Figure 5The marks corresponding to the misdetected target points are shown.

[0099] The final output trace is as follows Figure 6 The subsequent signal processing flow is shown as the mark corresponding to the final output target point trace.

[0100] In an optional implementation, when the velocity index difference satisfies the target interval condition, determining the current candidate point trace as a false detection point trace includes:

[0101] When the speed index difference between the first speed index value and the second speed index value satisfies a condition of an integer multiple of a phase offset difference in a waveform parameter of the target radar system, the current candidate point trace is determined to be a false detection point trace.

[0102] Since there is a fixed phase deviation between the actual frequency offset of the phase shifter configuration and the theoretical design value, the echo energy of the strong reflection point "leaks" to the relative position of the related Doppler index value at a fixed position. Therefore, the interval between the false detection point and the strong reflection point satisfies the integer multiple relationship determined by the phase difference and code pattern design.

[0103] In other words, if the radial relative velocity index difference between the strong reflection point and the current candidate point meets the aforementioned integer multiple conditions that match the waveform design and phase difference, it means that the candidate point appears due to energy leakage from the strong reflection point, rather than a true target echo signal. In this case, the system will determine that the current candidate point is a false detection point and remove it.

[0104] The above-described embodiments described in this application utilize the inherent regularity of the effect of phase shifter phase deviation on signal characteristics. Specifically, in the presence of phase deviation, the Doppler spectrum of the radar signal changes. This can be determined by detecting whether the interval between the radar signal and the strongly reflecting target is an integer multiple of the interval. This allows for rapid location of possible false positives, 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.

[0105] In an optional embodiment, when the point trace set includes a strong reflection point trace, determining a candidate point trace subset associated with the strong reflection point trace from the point trace set further includes:

[0106] S1, determining the sequence number of the strong reflection point in the point information list, wherein the point information list is obtained by sorting the point objects in the point set according to the radial distance index value distribution;

[0107] S2: When the sequence number interval between at least one reference point trace and the strong reflection point trace in the point trace information list is less than or equal to a sequence number interval threshold, determine at least one reference point trace as a candidate point trace.

[0108] Describe steps S1 - S2 in a complete implementation manner. Assume that after DDMA demodulation, the above list of trace information is obtained according to the distribution of radial distance index values:

[0109] The 1st trace (RT_1 = 9, DT_1 = 0, PT_1 = 147 dB, ST_1 = stationary);

[0110] The 2nd trace (RT_2 = 9, DT_2 = 128, PT_2 = 114 dB, ST_2 = moving)...

[0111] The nth trace (RT_3 = 9, DT_3 = 448, PT_3 = 115 dB, ST_3 = moving)...

[0112] The xth trace (RT_4 = 17, DT_4 = 0, PT_4 = 130 dB, ST_4 = stationary);

[0113] Among them, the nth trace is determined to be a strong reflection trace. Taking n as the center, the relevant information of the i traces before and after it (i.e., the above candidate traces) can be extracted, that is, including the relevant information of the traces numbered n - i,..., n - 1, n + 1,..., n + i. Furthermore, the serial number interval between the serial number of the obtained candidate trace and the serial number n of the strong reflection trace is less than or equal to i.

[0114] Through the above implementation manner recorded in this application, without traversing the entire trace set again, based on the selected strong reflection trace, further judgment can be made on the candidate traces that meet the serial number interval condition, improving the processing efficiency.

[0115] In an optional implementation manner, when the trace set includes strong reflection traces, before determining the subset of candidate traces associated with the strong reflection traces from the trace set, it further includes:

[0116] S1, obtain the echo energy value of the trace object in the trace set;

[0117] S2, obtain the distance index value of the trace object when the echo energy value is greater than the second energy threshold;

[0118] S3, determine the trace object as a strong reflection trace when the distance index value is less than the target sample acquisition value.

[0119] As an optional implementation manner, set the strong reflection target trace threshold, that is, the above second energy threshold is P_set, and the above target sample acquisition value can be the number of fast - time samplings = the radial distance index value threshold R_set. If for the nth detected target trace P_n > P_set and R_n < R_set, then determine the nth detected target trace as a strong reflection target trace.

[0120] It should be noted that the strong reflection target point threshold P_set and the radial distance index value threshold R_set can be set according to the system requirements, and each threshold parameter can be set as a single threshold (i.e., as described above) or multiple thresholds. For example, the system can set a relatively high P_set threshold within 0 to 100 unit distances, representing a threshold with a high energy threshold at close range to reduce the false detection of strong reflection point traces at close range; and set a relatively low P_set threshold within the range of 101 to 256 unit distances, representing a threshold with a low energy threshold at far range to improve the detection rate of strong reflection point traces at far range. This application does not limit this.

[0121] The following will give a complete description of this application in a complete implementation manner, such as the process Figure 7 [[ID=;7]]shown:

[0122] S702, Obtain the detected point traces: The DDMA MIMO radar system includes K transmitting antennas and L receiving antennas, and the phase shift steps corresponding to the K transmitting antennas are [PS_1, PS_2,..., PS_K]. By performing coherent and non-coherent processing on the radar received signal, a radial distance - radial relative velocity heat map is obtained. Through the adaptive threshold detection algorithm or its variant, M detected point traces are obtained.

[0123] S704, Obtain the point trace related information: For the M detected point traces, after completing the DDMA demodulation, N target point traces (i.e., the point trace objects in the first point trace set) are obtained. For the nth target point trace, the target point trace related information includes the radial distance index value, the radial relative velocity index value, the target point trace amplitude, and the target state, which are respectively denoted as RT_n, DT_n, PT_n, and ST_n.

[0124] S706, Identify the strong reflection target point traces: Set the strong reflection target point threshold P_set and the radial distance index value threshold R_set. If for the nth detected target point trace P_n > P_set and R_n < R_set, then it is determined that the nth detected target point trace is a strong reflection target point trace. It should be noted that the strong reflection target point threshold P_set and the radial distance index value threshold R_set can be set according to the system requirements, and each threshold parameter can be set as a single threshold (i.e., as described above) or multiple thresholds. This application does not limit this.

[0125] S708, Judge and suppress the false detected target point traces, the specific process is as shown in the process Figure 8 shown:

[0126] S802, determine candidate target points: If the nth target point is determined to be a strongly reflective target point, extract the relevant information of the i target points before and after n from the target point information list (i.e., the candidate point subset mentioned above), i.e., information about points n, ..., n-1, n+1, ..., n+i. It should be noted that the selection of i can be set based on system design. The selected points are recorded as candidate points.

[0127] S804, obtaining potential falsely detected target points: traverse the 2i candidate points in the previous step. If there is a target point whose radial distance index value is equal to or close to the radial distance index value of the strong reflection target point, and the difference between the echo energy of the strong reflection target point and the echo energy corresponding to the candidate point is greater than the judgment threshold, and the candidate point is in motion, then the candidate point is determined to be a potential falsely detected target point.

[0128] S806, determine whether the potential falsely detected target point is a falsely detected target point: if the interval between the radial relative velocity index value of the potential falsely detected target point and the radial relative velocity index value of the strong reflection target point satisfies the relationship of an integer multiple of δ, determine that the potential falsely detected target point is a falsely detected target point caused by the phase deviation of the phase shifter, and delete the target point information.

[0129] S710, performing subsequent signal processing flow.

[0130] The method acts on the target traces output by the DDMA demodulation rather than the detected traces, realizing confirmation only for potential false detection targets. It eliminates the need to traverse all target traces that meet the specified radial distance conditions and perform the cumulative summation operation judgment process for each target trace, thus reducing computing resources and time consumption.

[0131] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0132] According to another aspect of the embodiment of the present application, there is also provided a device for determining false positive traces for implementing the above-mentioned method for determining false positive traces. Figure 9 As shown, the device includes:

[0133] A first determining unit 902 determines a point trace set according to an echo signal of a target radar system, wherein the point trace set includes a plurality of point trace objects;

[0134] The second determining unit 904 determines, when the point trace set includes a strong reflection point trace, a candidate point trace subset associated with the strong reflection point trace from the point trace set, wherein a point trace distance between the candidate point traces in the candidate point trace subset and the strong reflection point trace satisfies a target distance condition;

[0135] The third determining unit 906 determines the state of at least one candidate point track if the first distance index value of the strong reflection point track and the second distance index value of at least one candidate point track in the candidate point track subset meet an index difference condition, and the echo energy difference between the at least one candidate point track and the strong reflection point track meets an energy threshold condition;

[0136] The fourth determining unit 908 determines a falsely detected point trace from the at least one candidate point trace when the at least one candidate point trace is in motion.

[0137] Optionally, the above-mentioned third determination unit 906 also includes: a state determination module, used to determine the difference between the first distance index value of the strong reflection point and the second distance index value of at least one candidate point to obtain the distance index difference; when the absolute value of the distance index difference is less than the first difference threshold, determine the difference between the echo energy value of the strong reflection point and the echo energy value of the candidate point to obtain the echo energy difference; when the echo energy difference is greater than the first energy threshold, determine the point state of the candidate point.

[0138] Optionally, the above-mentioned state determination module includes: a first acquisition module, used to obtain the first velocity index value of the strong reflection point and the second velocity index value of the current candidate point, and calculate the velocity index difference between the first velocity index value and the second velocity index value; when the velocity index difference meets the target interval condition, the current candidate point is determined as a false detection point, wherein the target interval condition is determined according to the waveform parameters of the target radar system.

[0139] Optionally, the above-mentioned first acquisition module is also used to determine that the current candidate point trace is a false detection point trace when the speed index difference between the first speed index value and the second speed index value meets the condition of an integer multiple of the phase offset difference in the waveform parameters of the target radar system.

[0140] Optionally, the above-mentioned second determination unit 904 is also used to determine the serial number of the strong reflection point trace in the point trace information list, wherein the point trace information list is obtained by sorting the point trace objects in the point trace set according to the radial distance index value distribution; when the serial number interval between at least one reference point trace and the strong reflection point trace in the point trace information list is less than or equal to the serial number interval threshold, at least one reference point trace is determined as a candidate point trace.

[0141] Optionally, the above-mentioned second determination unit 904 also includes a second acquisition module, which is used to obtain the echo energy value of the point object in the point set; obtain the distance index value of the point object when the echo energy value is greater than the second energy threshold; and determine that the point object is a strong reflection point when the distance index value is less than the target sample acquisition value.

[0142] For a specific embodiment, reference may be made to the example shown in the above method for determining the false detection trace, which will not be described in detail in this example.

[0143] Among them, the memory 1002 can be used to store software programs and modules, such as the program instructions / modules corresponding to the method and device for determining the false positive traces in the embodiment of the present invention. The processor 1004 executes various functional applications and data processing by running the software programs and modules stored in the memory 1002, that is, realizing the above-mentioned method for determining the false positive traces. The memory 1002 may include a high-speed random access memory, and may also include a 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 1002 may further include a memory remotely located relative to the processor 1004, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned networks include but are not limited to the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Among them, the memory 1002 can be used specifically but not limited to store file information such as target files. As an example, such as Figure 10 As shown, the memory 1002 may include, but is not limited to, the first determining unit 902, the second determining unit 904, the third determining unit 906, and the fourth determining unit 908 in the device for determining false detection traces. Furthermore, the memory 1002 may also include, but is not limited to, other module units in the device for determining false detection traces, which will not be described in detail in this example.

[0144] Optionally, the transmission device 1006 is configured to receive or send data via a network. Specific examples of the network may include a wired network and a wireless network. In one embodiment, the transmission device 1006 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 one embodiment, the transmission device 1006 is a radio frequency (RF) module, which is configured to communicate with the Internet wirelessly.

[0145] In addition, the electronic device further includes: a display 1008 and a connection bus 1010 for connecting various module components in the electronic device.

[0146] According to one aspect of the present application, a computer program product is provided, comprising a computer program / instructions containing program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication component and / or installed from a removable medium. When the computer program is executed by a central processing unit, the various functions provided in the embodiments of the present application are performed.

[0147] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0148] It should be noted that the computer system of the electronic device is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0149] In particular, according to an embodiment of the present application, the processes described in the various method flow charts can be implemented as computer software programs. For example, an embodiment of the present application includes a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for executing the methods shown in the flow charts. In such an embodiment, the computer program can be downloaded and installed from a network via a communication portion, and / or installed from a removable medium. When the computer program is executed by a central processing unit, the various functions defined in the system of the present application are performed.

[0150] According to one aspect of the present application, a computer-readable storage medium is provided, and a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the various optional implementations described above.

[0151] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0152] S1, determining a point trace set according to an echo signal of a target radar system, wherein the point trace set includes a plurality of point trace objects;

[0153] S2, when the point trace set includes a strong reflection point trace, determining a candidate point trace subset associated with the strong reflection point trace from the point trace set, wherein the point trace distance between the candidate point traces in the candidate point trace subset and the strong reflection point trace meets the target distance condition;

[0154] S3, determining the state of at least one candidate point track when the first distance index value of the strong reflection point track and the second distance index value of at least one candidate point track in the candidate point track subset meet an index difference condition, and the echo energy difference between the at least one candidate point track and the strong reflection point track meets an energy threshold condition;

[0155] S4: when at least one candidate point track is in motion, determine a falsely detected point track from the at least one candidate point track.

[0156] Optionally, in this embodiment, a person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing hardware related to the electronic device through a program, and the program may be stored in a computer-readable storage medium, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0157] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0158] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above-mentioned computer-readable storage medium. Based on this understanding, the technical solution of the present application, 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, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which can be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods of each embodiment of the present application.

[0159] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0160] In the several embodiments provided in this application, it should be understood that the disclosed user equipment can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, and can be electrical or other forms.

[0161] The units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0162] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0163] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for determining false positive traces, characterized in that: include: Determining a point trace set according to an echo signal of a target radar system, wherein the point trace set includes a plurality of point trace objects; In a case where the point trace set includes a strong reflection point trace, determining a candidate point trace subset associated with the strong reflection point trace from the point trace set, wherein a point trace distance between the candidate point traces in the candidate point trace subset and the strong reflection point trace satisfies a target distance condition; Determine the point state of at least one candidate point in the candidate point subset when the first distance index value of the strong reflection point and the second distance index value of at least one candidate point in the candidate point subset meet an index difference condition, and the echo energy difference between at least one candidate point and the strong reflection point meets an energy threshold condition; In a case where at least one of the candidate point traces is in motion, a falsely detected point trace is determined from the at least one candidate point trace.

2. The method according to claim 1, characterized in that The determining of the point state of at least one candidate point in the candidate point subset, when the first distance index value of the strong reflection point and the second distance index value of at least one candidate point in the candidate point subset meet an index difference condition, and the echo energy difference between at least one candidate point and the strong reflection point meets an energy threshold condition, includes: Determine a difference between the first distance index value of the strong reflection point trace and the second distance index value of at least one of the candidate point traces to obtain a distance index difference; When the absolute value of the distance index difference is less than a first difference threshold, determining the difference between the echo energy value of the strong reflection point trace and the echo energy value of the candidate point trace to obtain the echo energy difference; When the echo energy difference is greater than a first energy threshold, the point track state of the candidate point track is determined.

3. The method according to claim 2, characterized in that The method of determining a false detection point trace from at least one candidate point trace when at least one candidate point trace is in motion further includes: Obtaining a first velocity index value of the strong reflection point and a second velocity index value of the current candidate point, and calculating a velocity index difference between the first velocity index value and the second velocity index value; In a case where the velocity index difference satisfies a target interval condition, the current candidate point trace is determined as a false detection point trace, wherein the target interval condition is determined according to waveform parameters of the target radar system.

4. The method according to claim 3, characterized in that When the speed index difference satisfies a target interval condition, determining the current candidate point trace as a false detection point trace includes: When the speed index difference between the first speed index value and the second speed index value satisfies a condition of an integer multiple of a phase offset difference in a waveform parameter of the target radar system, the current candidate point trace is determined to be the false detection point trace.

5. The method according to claim 1, wherein In the case where the point trace set includes a strong reflection point trace, determining a candidate point trace subset associated with the strong reflection point trace from the point trace set further includes: Determining a sequence number of the strong reflection point in a point information list, wherein the point information list is obtained by sorting the point objects in the point set according to a radial distance index value distribution; In the case where the sequence number interval between at least one reference point trace in the point trace information list and the strong reflection point trace is less than or equal to a sequence number interval threshold, at least one of the reference point traces is determined as the candidate point trace.

6. The method according to claim 5, characterized in that In the case where the point trace set includes a strong reflection point trace, before determining the candidate point trace subset associated with the strong reflection point trace from the point trace set, the method further includes: Obtaining the echo energy value of the point trace object in the point trace set; When the echo energy value is greater than a second energy threshold, obtaining a distance index value of the point trace object; When the distance index value is less than the target sample acquisition value, the point trace object is determined to be the strong reflection point trace.

7. A device for determining false detection traces, characterized in that: include: A first determining unit is configured to determine a point trace set according to an echo signal of a target radar system, wherein the point trace set includes a plurality of point trace objects; A second determining unit is configured to determine, when the point trace set includes a strong reflection point trace, a candidate point trace subset associated with the strong reflection point trace from the point trace set, wherein a point trace distance between the candidate point traces in the candidate point trace subset and the strong reflection point trace satisfies a target distance condition; A third determining unit is configured to determine a track state of at least one candidate track if the first distance index value of the strong reflection track and the second distance index value of at least one candidate track in the candidate track subset meet an index difference condition, and an echo energy difference between at least one candidate track and the strong reflection track meets an energy threshold condition; The fourth determining unit determines a falsely detected point trace from at least one of the candidate point traces when at least one of the candidate point traces is in motion.

8. 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 according to any one of claims 1 to 6.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 6 through the computer program.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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