Millimeter wave radar bumper false target suppression method, device, equipment and storage medium

Abstract

The application discloses a millimeter wave radar bumper false target suppression method, device, equipment and storage medium, the method comprises the following steps: acquiring a radar echo signal, and generating an RD graph based on the radar echo signal; according to the radar frequency hopping characteristic and the bumper false target feature, the candidate false target area is determined in the RD graph; based on the candidate false target area, an energy storage array is constructed, and the energy storage array is initialized; the energy storage array is updated in real time, and the inter-frame consistency checking mechanism is used to check the energy and angle consistency of the points in the candidate false target area based on the energy storage array, and the checking result is obtained; the points meeting the energy consistency checking and the angle consistency checking in the checking result are marked as false target points, and the false target points are suppressed. Compared with the prior art, the application improves the accuracy of distinguishing the bumper false target from the real target, thereby reducing the difficulty of suppressing the bumper false target.

Description

Technical Field

[0001] This invention relates to the field of radar signal processing technology, and in particular to a method, apparatus, device, and storage medium for suppressing false targets in millimeter-wave radar bumpers. Background Technology

[0002] Millimeter-wave radar, due to its all-weather, all-day operation, has become one of the core sensors in Advanced Driver Assistance Systems (ADAS) and autonomous vehicles. In a typical installation, the radar is positioned behind the front bumper, detecting obstacles by emitting and receiving electromagnetic waves. However, after penetrating the bumper and undergoing multiple reflections on the surfaces of metal structures such as anti-collision beams and cavities, the electromagnetic waves create weak but relatively fixed "bumper false target" dots. These dots exhibit similar detection characteristics to real targets on the range-Doppler (RD) map, making them easily identified as valid targets by a constant false alarm rate (CFAR) detector. Consequently, they are mixed into the subsequent tracking queue, causing false alarms or false braking, and reducing system reliability.

[0003] Existing suppression methods mainly focus on two paths: hardware and algorithms. On the hardware side, applying radar-absorbing materials locally to the inside of the bumper, optimizing the curved surface design, or improving the sidelobe indicators of the radar's radio frequency front-end can reduce the energy of false targets in the prototype stage. However, after the vehicle enters mass production, changes in bumper thickness, paint dielectric constant, radar installation tolerances, and environmental temperature and humidity can all cause the energy of false targets to drift. Hardware solutions cannot guarantee consistent performance throughout the entire lifecycle and increase material and process costs. On the algorithm side, early solutions used the obvious characteristics of false targets—"close distance, near-zero velocity, and weak energy"—to set thresholds and filter single-frame RD maps. With the widespread adoption of waveform frequency hopping technology, the Doppler index of false targets within the same distance cell will systematically shift with the frequency hopping parameters (frequency step Δf, pulse repetition period Tc, center frequency fc), causing the fixed threshold to fail. Simultaneously, the velocity characteristics of real stationary targets (such as guardrails and road signs) overlap with those of false targets in low-speed scenarios, further reducing the accuracy of differentiation. In addition, due to production line tolerances, different radar units have energy differences, and fixed thresholds are prone to over- or under-deletion, making it difficult to meet the needs of large-scale vehicle installation.

[0004] Therefore, there is an urgent need for a millimeter-wave radar method to suppress false targets on bumpers, which can improve the accuracy of distinguishing false targets from real targets on bumpers, thereby reducing the difficulty of suppressing false targets on bumpers. Summary of the Invention

[0005] The main objective of this invention is to provide a method, apparatus, device, and storage medium for suppressing false targets on a millimeter-wave radar bumper, aiming to solve the technical problem that the existing technology has a low accuracy in distinguishing between false and real targets on bumpers, which makes it difficult to suppress false targets on bumpers.

[0006] To achieve the above objectives, the present invention provides a method for suppressing false targets on a millimeter-wave radar bumper, the method comprising the following steps: Acquire radar echo signals and generate an RD map based on the radar echo signals; Based on the radar frequency hopping characteristics and the features of the bumper false target, candidate false target regions are determined in the RD map; An energy storage array is constructed based on the candidate false target regions, and the energy storage array is initialized. The energy storage array is updated in real time, and the energy and angle consistency of the points in the candidate false target area are checked based on the energy storage array using the inter-frame consistency check mechanism to obtain the check result; Points in the verification results that satisfy both energy consistency verification and angle consistency verification are marked as false target points, and suppression operations are performed on the false target points.

[0007] Optionally, the step of determining candidate false target regions in the RD map based on radar frequency hopping characteristics and bumper false target features includes: The maximum distance threshold is determined based on the multiple reflection paths of the bumper. The Doppler offset is determined based on the velocity calculation formula of the millimeter-wave radar frequency hopping signal, and the Doppler threshold is set with the Doppler offset as the center. The set of cells in the RD graph that satisfy the maximum distance threshold and the Doppler threshold are selected as candidate false target regions.

[0008] Optionally, after the step of selecting the set of cells in the RD graph that satisfy the maximum distance threshold and the Doppler threshold as candidate false target regions, the method further includes: The vehicle's speed and a preset speed threshold are obtained, and the vehicle's speed is compared with the preset speed threshold to obtain a speed comparison result; When the speed comparison result indicates that the vehicle's speed is greater than the preset speed threshold, the steps of constructing an energy storage array based on the candidate false target region and initializing the energy storage array are executed.

[0009] Optionally, the step of constructing an energy storage array based on the candidate false target regions and initializing the energy storage array includes: Determine the upper and lower energy thresholds for false target points based on production line information and historical project experience values. An energy storage array is constructed based on the distance cell distribution of the candidate false target regions; The energy value corresponding to each distance unit in the energy storage array is initialized and assigned according to the energy upper limit threshold.

[0010] Optionally, the step of updating the energy storage array in real time includes: Extract the energy information of each unit point within the candidate false target region in the current frame, and update the energy storage array based on the energy information; Count the number of first units in the energy storage array whose energy is greater than the lower energy threshold and the number of second units that pass the constant false alarm rate (CFAR) detection. When the number of the first unit and the number of the second unit are greater than the first proportional threshold and the second proportional threshold, respectively, the inter-frame existence count is increased, and the angle information of the current frame is written into the energy storage array.

[0011] Optionally, the step of using the inter-frame consistency check mechanism to perform energy and angle consistency checks on points within the candidate false target region based on the energy storage array and obtaining the check result includes: Extract the target energy value and target angle information of points within the candidate false target region that have passed constant false alarm rate detection in the current frame; The target energy value is compared with the historical average energy value in the energy storage array to obtain the energy difference result; The target angle information is compared with the angle information of the corresponding distance unit in the energy storage array to obtain the angle difference result. The energy difference result and the angle difference result are compared with the energy threshold and the angle threshold, respectively, and the verification result is determined based on the comparison result.

[0012] Optionally, the step of marking points in the verification results that satisfy both energy consistency verification and angle consistency verification as false target points, and performing suppression operations on the false target points, includes: Obtain the inter-frame presence count and determine the ratio of the inter-frame presence count to the maximum frame count value; When the ratio is greater than a preset ratio threshold, the points in the verification results that satisfy both energy consistency verification and angle consistency verification are marked as false target points, and the false target points are suppressed.

[0013] Furthermore, to achieve the above objectives, the present invention also proposes a millimeter-wave radar bumper false target suppression device, the device comprising: A signal processing model is used to acquire radar echo signals and generate RD maps based on the radar echo signals; The region determination module is used to determine candidate false target regions in the RD map based on radar frequency hopping characteristics and bumper false target features. An array construction module is used to construct an energy storage array based on the candidate false target regions and to initialize the energy storage array; The array update module is used to update the energy storage array in real time and use the inter-frame consistency verification mechanism to perform energy and angle consistency verification on the points in the candidate false target area based on the energy storage array to obtain the verification result. The target suppression module is used to mark points in the verification results that satisfy energy consistency verification and angle consistency verification as false target points, and to perform suppression operations on the false target points.

[0014] Furthermore, to achieve the above objectives, the present invention also proposes a millimeter-wave radar bumper false target suppression device, the device comprising: a memory, a processor, and a millimeter-wave radar bumper false target suppression program stored in the memory and executable on the processor, the millimeter-wave radar bumper false target suppression program being configured to implement the steps of the millimeter-wave radar bumper false target suppression method as described above.

[0015] Furthermore, to achieve the above objectives, the present invention also proposes a storage medium storing a millimeter-wave radar bumper false target suppression program, wherein when the millimeter-wave radar bumper false target suppression program is executed by a processor, it implements the steps of the millimeter-wave radar bumper false target suppression method described above.

[0016] This invention discloses a method for acquiring radar echo signals and generating an RD map based on the radar echo signals; determining candidate false target regions in the RD map according to radar frequency hopping characteristics and bumper false target features; constructing and initializing an energy storage array based on the candidate false target regions; updating the energy storage array in real time; and using an inter-frame consistency check mechanism to perform energy and angle consistency checks on points within the candidate false target regions based on the energy storage array to obtain check results; marking points that satisfy both energy and angle consistency checks in the check results as false target points, and performing suppression operations on these false target points. Because this invention determines candidate false target regions in the RD map based on radar frequency hopping characteristics and bumper false target features, and uses an inter-frame consistency check mechanism to perform energy and angle consistency checks on points within the candidate false target regions based on the energy storage array, compared to existing technologies, this invention improves the accuracy of distinguishing between false bumper targets and real targets, thereby reducing the difficulty of suppressing false bumper targets. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the first embodiment of the millimeter-wave radar bumper false target suppression method of the present invention; Figure 2 A schematic diagram comparing a false target on a bumper and a stationary target on the road surface using a linear frequency modulated radar. Figure 3 A schematic diagram comparing a false target on a bumper and a stationary target on the road surface for a frequency-hopping radar. Figure 4 This is a flowchart illustrating the second embodiment of the millimeter-wave radar bumper false target suppression method of the present invention; Figure 5 This is a flowchart illustrating the third embodiment of the millimeter-wave radar bumper false target suppression method of the present invention; Figure 6 This is a structural block diagram of the first embodiment of the millimeter-wave radar bumper false target suppression device of the present invention; Figure 7 This is a schematic diagram of the structure of a millimeter-wave radar bumper false target suppression device in the hardware operating environment involved in the embodiments of the present invention.

[0018] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0020] This invention provides a method for suppressing false targets on a millimeter-wave radar bumper, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the millimeter-wave radar bumper false target suppression method of the present invention.

[0021] In this embodiment, the millimeter-wave radar bumper false target suppression method includes steps S10~S50: Step S10: Acquire radar echo signals and generate an RD map based on the radar echo signals.

[0022] It should be noted that the execution subject in this embodiment can be a signal processing unit integrated into an onboard millimeter-wave radar that has data processing, network communication, and program execution functions, and is used in the scenario of suppressing false targets on bumpers.

[0023] It should be understood that radar echo signal refers to the high-frequency analog signal captured by the receiving antenna after the linear frequency modulated continuous wave (FMCW) or frequency hopping pulse emitted by millimeter-wave radar is reflected by the target. This signal carries target range and velocity information and is manifested as a chirp sequence superimposed with target time delay and Doppler frequency shift.

[0024] It should be explained that the RD map, namely the range-Doppler map, is a two-dimensional matrix. The horizontal axis (range dimension) maps time delay to range cells through the beat frequency of the chirp, and the vertical axis (Doppler dimension) maps velocity to Doppler cells through the phase change between chirps. The modulus value of each matrix element represents the reflected energy intensity of the corresponding range-velocity cell.

[0025] In specific implementation, Fourier transform can be performed on the radar echo signal in the range dimension and the Doppler dimension, and incoherent superposition processing is performed on the multi-channel data, so as to obtain the RD map corresponding to the radar echo signal.

[0026] Step S20: determining a candidate false target region in the RD map according to the frequency hopping characteristic of the radar and the characteristic of the bumper false target.

[0027] It should be noted that for the non-frequency-hopping signal of the radar, the velocity calculation formula is: speed=Vres*DopIdx. When speed (the velocity of the target relative to the radar) approaches 0, the corresponding Doppler cell (DopIdx) also approaches 0 (as shown in Figure 2 , where the horizontal axis represents range and the vertical axis represents the velocity of the target relative to the radar), while for the frequency-hopping signal of the radar, the velocity calculation formula is: speed≈Vres*DopIdx-deltaf*R / (fc*Tc). It can be seen from the formula that the Doppler cell of frequency hopping is affected by the range cell where the target is located (as shown in Figure 3 , where the horizontal axis represents range cell and the vertical axis represents Doppler cell).

[0028] The Doppler cell of the frequency-hopping signal can be derived from the above formula: DopIdx≈deltaf*N / B* -2*N*speed / ( *PRF). Therefore, the points determined as bumper false targets need to satisfy condition 1 on the RD map: the range cell <rdxMax and condition 2: |DopIdx-deltaf*N / B* |< .

[0029] Wherein, rdxMax is the maximum range threshold where the bumper false target may exist. Vres is the velocity resolution, deltaf is the frequency step between adjacent pulses, R= *Rres (range cell * range resolution), fc is the radar center frequency, Tc is the pulse repetition period, N is the number of pulses, B is the signal bandwidth of each pulse, is the wavelength of the transmitted signal, PRF is the pulse repetition frequency, is an integer approaching 0.

[0030] It can be understood that rdxMax can be determined based on historical experience, and can be adjusted correspondingly according to the speed measurement accuracy.

[0031] It should be understood that the false target features of the bumper may include generation mechanism, spatial features, velocity features, energy features and inter-frame features, etc.

[0032] It should be noted that the generation mechanism of bumper false targets is that after electromagnetic waves penetrate the bumper, they are reflected multiple times inside the anti-collision beam or cavity, forming false detection points. Therefore, bumper false targets have the spatial feature of being close to the radar and the velocity feature of being stationary relative to the radar, that is, the range unit of the bumper false target <rdxMax, and the speed relative to the radar approaches 0.

[0033] In addition, since bumper false targets are generally false targets formed by radar side lobes or back lobes irradiating the interior of the vehicle body, the energy feature of bumper false targets is that the energy of bumper false targets is slightly weaker than that of real targets at the same distance. The inter-frame feature of bumper false targets is that the position and energy are highly consistent between frames, lacking the motion randomness of real targets.

[0034] Since bumper false targets are generally false targets formed by radar side lobes or back lobes irradiating the interior of the vehicle body, the energy of such detection points is slightly weaker than that of some real targets. Therefore, condition 3 can be set: energy peakVal<peakThrMax is used to screen bumper false targets and determine candidate false target areas. Wherein, peakThrMax represents the maximum energy of bumper false targets, which can be set according to historical experience and dynamically adjusted according to production line information, reducing the influence of energy differences between different radars.

[0035] In specific implementation, the maximum range threshold can be determined based on the multiple reflection path of the bumper; the Doppler offset is determined according to the velocity calculation formula of the frequency-hopping signal of the millimeter-wave radar, and the Doppler threshold is set centered on the Doppler offset; the set of units in the RD map that satisfy the maximum range threshold and the Doppler threshold is used as the candidate false target area.

[0036] It should be understood that the range threshold is <rdxMax, the Doppler offset is DopIdx-deltaf*N / B* , the Doppler threshold is an interval, that is |DopIdx-deltaf*N / B* |< A cell set in the RD diagram that satisfies the maximum range threshold and the Doppler threshold is used as a candidate false target area, that is, the cell set that satisfies Condition 1 and Condition 2 is used as a candidate false target area. In order to improve the accuracy of the candidate false target area, Condition 3 is set: energy peakVal<peakThrMax, to screen out bumper false targets and further determine the candidate false target area.

[0037] Step S30: Construct an energy storage array based on the candidate false target area, and initialize the energy storage array.

[0038] It should be noted that the energy storage array Dt is a one-dimensional table in one-to-one correspondence with range cells, which is used to accumulate and update the energy statistics of candidate false target areas between frames, and provide historical reference for subsequent consistency check.

[0039] It should be noted that the upper energy threshold and lower energy threshold of false target points can be determined based on production line information and empirical values of historical projects; an energy storage array is constructed based on the range cell distribution of the candidate false target area; the energy value corresponding to each range cell in the energy storage array is initialized and assigned according to the upper energy threshold.

[0040] It should be understood that the production line information may refer to consistency calibration data collected when the radar goes off the mass production line, and these data are used to give initial values of upper and lower energy limits that can cover individual differences of radars, ensuring that the same threshold script can be applied to all mass-produced vehicles.

[0041] Further, the empirical values of historical projects may refer to big data statistical results collected from real roads by previously mass-produced vehicle models. The empirical values of historical projects can also be used to correct production line information and further improve rationality.

[0042] It should be explained that the range cell distribution of the candidate false target area may refer to the occurrence range and density of the candidate false target area in the range dimension. Based on this distribution, the energy storage array needs to be divided by range cells Establish cell by cell, and assign differentiated initial energy thresholds to different range cells to match the objective law that the energy of bumper false targets attenuates with distance.

[0043] In specific implementation, since the bumper false target is reflected multiple times inside the vehicle body back to the radar, its energy is slightly weaker than that of real strong target points in the same range segment. Here, the upper energy threshold peakThrMax and the lower energy threshold peakThrMin of the bumper false target point energy can be determined in combination with production line information and historical project experience. Initialize Dt .peak=peakThrMax, where rdxMax), where rdxMax represents the maximum distance cell.

[0044] Step S40: Update the energy storage array in real time, and use the inter-frame consistency check mechanism to perform energy and angle consistency checks on the points in the candidate false target area based on the energy storage array to obtain the check results.

[0045] It should be understood that real-time updating of the energy storage array can be achieved by extracting the energy value peakVal that satisfies conditions 1 and 2 in the current frame RD graph while the vehicle is in motion and storing it in the energy storage array Dt, i.e., Dt[ ].peak=peakVal[ , ], where the variation of each Doppler unit DopIdx with distance must satisfy condition 2: |DopIdx - deltaf*N / B* |< . This represents the Doppler cell corresponding to each distance cell of the false target point on the bumper. In short, it stores the energy value of the location of the false target on the bumper within the candidate false target region on the current frame's RD map into the energy storage array Dt.

[0046] It should be noted that the energy information of each unit point in the candidate false target area in the current frame can be extracted, and the energy storage array can be updated based on the energy information; the number of first units with energy greater than the lower energy threshold and the number of second units that pass the constant false alarm detection can be counted in the energy storage array; when the number of first units and the number of second units are greater than the first proportional threshold and the second proportional threshold respectively, the angle information of the current frame is written into the energy storage array.

[0047] In a specific line of sight, the statistics of Dt[ The number of cells with energy greater than peakThrMIn in peak (n0, i.e., the number of the first cell) and the number of cells passing the constant false alarm rate (CFAR) test (n1, i.e., the number of the second cell) are considered equal if n0 > 0. *rdxMax (i.e., the first proportional threshold) and n1> *rdxMax (i.e., the second proportional threshold). Wherein, The value range is (0,1) and peakThrMIn can be selected based on the minimum historical energy value of false targets on bumpers. This represents the first frame captured by radar in the scenario of vehicle movement.

[0048] Understandably, writing the angle information of the current frame into the energy storage array can improve the accuracy of distinguishing between false and real targets on the bumper. The angle information can include azimuth information and its corresponding main-sidelobe ratio (the energy difference between the first and second peaks of the beammap). It should be noted that the same range Doppler cell may correspond to more than one angle, requiring multiple angles to be stored in the energy storage array. Dt[ ]. = [ ], Dt[ ]. = [ ], here [ ]、 [ The numbers represent the azimuth information and main lobe-side lobe ratio information corresponding to the distance of the false target on the bumper to the Doppler unit.

[0049] If the frame n0> *rdxMax, n1> *rdxMax, then it is considered that the first False target points for the bumper also exist on the RD map of the frame. Calculate the first... The mean value of peakVal at each distance unit in the previous frame and the frame is stored in the energy array Dt, i.e., Dt[ ].peak=[peakVal( )+peakVal( )] / 2, and update Dt with its corresponding multiple azimuth angles and main lobe-side lobe ratio information. In this context, i>0 represents any frame starting from frame 2 in the vehicle motion scene.

[0050] It should be understood that the inter-frame consistency check mechanism can refer to a set of rules that, across multiple consecutive frames, use historical statistical information from the same range cell (or range-Doppler cell) to determine the temporal consistency of energy, angle, and main-sidelobe ratio of candidate points in the current frame. Its core idea is that false targets on bumpers are generated by the fixed structure of the vehicle body, and their position, energy, and angular characteristics are highly stable across frames, while real targets exhibit significant inter-frame variations in these parameters due to relative motion or scattering fluctuations.

[0051] It should be noted that the step of using the inter-frame consistency check mechanism to perform energy and angle consistency checks on points within the candidate false target region based on the energy storage array to obtain the check result includes: extracting the target energy value and target angle information of points within the candidate false target region that have passed constant false alarm detection in the current frame; and setting the target energy value (peakVal[ , ]) and the historical average energy in the energy storage array (Dt[ The energy difference results are obtained by comparing the differences between -1]); the target angle information ( [ ]and [ ]) and the angle information (Dt[) of the corresponding distance unit in the energy storage array. ]. and Dt[ ]. The energy difference result and the angle difference result are compared with the energy threshold (C) and the angle threshold (C), respectively. and The results are compared and the verification result is determined based on the comparison.

[0052] It should be understood that the energy threshold (C) and the angle threshold (C) are different. and (This can be adjusted based on actual test values.) and These are the comparison thresholds for inter-frame azimuth angle and main lobe-side lobe ratio, respectively.

[0053] It should be understood that the verification result is a binary (or confidence) judgment flag used to indicate whether the detected point in the current frame meets the inter-frame consistency criterion: if the energy difference result ≤ energy threshold C and the angle difference result ≤ angle threshold (ε and σ), the verification result is consistent (True), indicating that the point has typical inter-frame stability characteristics of a false target and can proceed to the subsequent marking process. If either threshold is exceeded, the verification result is inconsistent (False), indicating that the point has large inter-frame fluctuations and is judged as either a real target or noise, and is not marked as a false target.

[0054] Step S50: Mark the points in the verification results that satisfy the energy consistency verification and angle consistency verification as false target points, and perform suppression operations on the false target points.

[0055] In the specific implementation, if the first The peakVal value on the RD map corresponding to the distance between the false target and the frame bumper is shown. , ] <Dt[ -1]+C, and the first The azimuth angle and main-side lobe ratio of the false target on the frame bumper are approximately the same as the stored values. [ ]-Dt[ ]. |< , | [ ]-Dt[ ]. |< If these points are considered to satisfy the energy consistency check and angle consistency check, they are marked as false target points, and a suppression operation is performed on the false target points.

[0056] This embodiment discloses the acquisition of radar echo signals and the generation of an RD map based on the radar echo signals; the determination of candidate false target regions in the RD map according to radar frequency hopping characteristics and bumper false target features; the construction and initialization of an energy storage array based on the candidate false target regions; the real-time updating of the energy storage array; and the use of an inter-frame consistency check mechanism to perform energy and angle consistency checks on points within the candidate false target regions based on the energy storage array to obtain check results; the marking of points that satisfy both energy and angle consistency checks in the check results as false target points, and the suppression of these false target points. Because this embodiment determines candidate false target regions in the RD map based on radar frequency hopping characteristics and bumper false target features, and uses an inter-frame consistency check mechanism to perform energy and angle consistency checks on points within the candidate false target regions based on the energy storage array, compared to existing technologies, this embodiment improves the accuracy of distinguishing between bumper false targets and real targets, thereby reducing the difficulty of suppressing bumper false targets.

[0057] refer to Figure 4 , Figure 4 This is a flowchart illustrating the second embodiment of the millimeter-wave radar bumper false target suppression method of the present invention.

[0058] Based on the first embodiment described above, in this embodiment, after step S20, steps S101 to S102 are further included: Step S101: Obtain the vehicle's speed and a preset speed threshold, and compare the vehicle's speed with the preset speed threshold to obtain a speed comparison result.

[0059] Step S102: When the speed comparison result indicates that the vehicle's speed is greater than the preset speed threshold, the step of constructing an energy storage array based on the candidate false target region and initializing the energy storage array is executed.

[0060] It should be noted that when the vehicle is stationary, the false targets on the bumper can easily blend in with real stationary targets on the road and become indistinguishable. Therefore, for easier filtering, the application scenario is set to a scenario where the vehicle is in motion, i.e., egospeed> Among them, egospeed represents the vehicle's speed information. To preset the speed threshold, according to Figure 2 The simulation results can be used in this implementation The value can be set to 5, or it can be set based on historical experience and dynamically adjusted according to production line information to reduce the impact of energy differences between different radars.

[0061] In a specific implementation, when the speed comparison result indicates that the vehicle's speed is greater than the preset speed threshold, i.e., egospeed> The steps of constructing an energy storage array based on the candidate false target region and initializing the energy storage array are performed.

[0062] When the speed comparison result indicates that the vehicle's speed is less than the preset speed threshold, i.e., egospeed < Both real stationary targets and false bumper targets exhibit zero-speed characteristics on the RD map, making them indistinguishable by speed. Therefore, by forcibly skipping this scene through a preset speed threshold, we can avoid mistakenly initializing real targets such as roadside guardrails and stationary vehicles as false bumper target statistical samples, significantly reducing the false deletion rate and preventing missed detections of forward targets due to mistaken deletion of stationary targets. This meets the safety redundancy requirements of ADAS systems for functions such as emergency braking. The energy storage array is accumulated only when the vehicle is in motion, ensuring that all samples entering the database are false bumper targets formed by multiple reflections inside the vehicle body. This makes the benchmark for subsequent inter-frame consistency checks cleaner and improves detection accuracy.

[0063] This embodiment discloses acquiring the vehicle's movement speed and a preset speed threshold, comparing the vehicle's movement speed with the preset speed threshold to obtain a speed comparison result; when the speed comparison result indicates that the vehicle's movement speed is greater than the preset speed threshold, the step of constructing an energy storage array based on the candidate false target region and initializing the energy storage array is executed. Because this invention constructs an energy storage array based on the candidate false target region when the vehicle's movement speed is greater than the preset speed threshold, it achieves energy storage array accumulation only during vehicle movement, ensuring that all input samples are false bumper targets formed by multiple reflections inside the vehicle body. This makes the benchmark for subsequent inter-frame consistency verification purer and improves detection accuracy.

[0064] refer to Figure 5 , Figure 5 This is a flowchart illustrating the third embodiment of the millimeter-wave radar bumper false target suppression method of the present invention.

[0065] Based on the above embodiments, in this embodiment, step S40 further includes steps S401 to S403: Step S401: extracting energy information of each unit point in the candidate false target area in the current frame, and updating the energy storage array based on the energy information.

[0066] Step S402: counting a first number of units whose energy in the energy storage array is greater than the lower energy threshold and a second number of units that pass constant false alarm detection.

[0067] Step S403: when the first number of units and the second number of units are respectively greater than a first proportional threshold and a second proportional threshold, incrementing an inter-frame existence count, and writing angle information of the current frame into the energy storage array.

[0068] It should be noted that the inter-frame existence count (cnt) is an integer variable used to record the cumulative number of times that the candidate false target area is determined as a suspected false target in consecutive multiple frames.

[0069] It can be understood that when the first number of units and the second number of units are respectively greater than the first proportional threshold and the second proportional threshold, incrementing the inter-frame existence count reduces the probability of false alarm for real targets.

[0070] In specific implementation, count Dt .peak, the number n0 of units with energy greater than peakThrMIn and the number n1 of units passing constant false alarm detection (CFAR), if n0> *rdxMax and n1> *rdxMax, then increment the inter-frame existence count cnt of the inter-frame bumper false target by 1.

[0071] If for the -th frame, n0> *rdxMax, n1> *rdxMax and cnt<Fmax, it is considered that there is also a bumper false target point on the RD map of the -th frame, and increment the inter-frame existence count cnt of the inter-frame bumper false target by 1; if for the -th frame, n0< *rdxMax or n1< *rdxMax, decrement cnt by 1 if cnt>0, otherwise set cnt=0. Wherein, Fmax is the maximum frame count value, which can be set according to the number of frames required for track confirmation.

[0072] Correspondingly, if for the -th frame, the RD map characteristics satisfy n0> *rdxMax and n1> *rdxMax, and the current cnt> *Fmax, it is considered that the The frame contains a false target for the bumper. Also, if the first... The peakVal value on the RD map corresponding to the distance between the false target and the frame bumper is shown. , ] <Dt[ -1]+C, and the first The azimuth angle and main-side lobe ratio of the false target on the frame bumper are approximately the same as the stored values. [ ]-Dt[ ]. |< , | [ ]-Dt[ ]. |< These points are considered suppressable bumper false targets and are marked for special processing by the tracking system. The suppression of bumper false targets does not distinguish between the vehicle's motion state, but the update of the energy storage array Dt only occurs when the vehicle is moving. The value range of is (0,1). *Fmax is generally taken as an integer less than or equal to Fmax.

[0073] Accordingly, the step of marking the points in the verification results that satisfy the energy consistency verification and angle consistency verification as false target points and performing suppression operations on the false target points includes: obtaining the inter-frame presence count and determining the ratio of the inter-frame presence count to the maximum frame count value; when the ratio is greater than a preset ratio threshold, marking the points in the verification results that satisfy the energy consistency verification and angle consistency verification as false target points and performing suppression operations on the false target points.

[0074] This embodiment discloses the extraction of energy information from each unit point within the candidate false target region in the current frame, and updating the energy storage array based on the energy information; counting the number of first units with energy greater than the lower energy threshold and the number of second units passing constant false alarm rate (CFAR) detection in the energy storage array; when the number of first units and the number of second units are greater than a first proportional threshold and a second proportional threshold, respectively, the inter-frame presence count is increased, and the angle information of the current frame is written into the energy storage array. Because this embodiment increases the inter-frame presence count, it ensures the reliability of subsequent false target points.

[0075] Furthermore, this embodiment of the invention also proposes a storage medium storing a millimeter-wave radar bumper false target suppression program, which, when executed by a processor, implements the steps of the millimeter-wave radar bumper false target suppression method described above.

[0076] Reference Figure 6 , Figure 6 This is a structural block diagram of the first embodiment of the millimeter-wave radar bumper false target suppression device of the present invention.

[0077] like Figure 6 As shown, the millimeter-wave radar bumper false target suppression device proposed in this embodiment of the invention includes: a signal processing model 601, a region determination module 602, an array construction module 603, an array update module 604, and a target suppression module 605.

[0078] The signal processing model 601 is used to acquire radar echo signals and generate RD diagrams based on the radar echo signals.

[0079] The region determination module 602 is used to determine candidate false target regions in the RD map based on radar frequency hopping characteristics and bumper false target features.

[0080] The array construction module 603 is used to construct an energy storage array based on the candidate false target region and initialize the energy storage array.

[0081] The array update module 604 is used to update the energy storage array in real time and use the inter-frame consistency verification mechanism to perform energy and angle consistency verification on the points in the candidate false target area based on the energy storage array to obtain the verification result.

[0082] The target suppression module 605 is used to mark points in the verification results that satisfy energy consistency verification and angle consistency verification as false target points, and to perform suppression operations on the false target points.

[0083] The region determination module 602 is also used to determine the maximum distance threshold based on the multiple reflection paths of the bumper; determine the Doppler offset according to the velocity calculation formula of the millimeter-wave radar frequency hopping signal, and set the Doppler threshold with the Doppler offset as the center; and take the set of cells in the RD map that satisfy the maximum distance threshold and the Doppler threshold as candidate false target regions.

[0084] The array construction module 603 is further configured to determine the upper and lower energy thresholds of false target points based on production line information and historical project experience values; construct an energy storage array based on the distance unit distribution of the candidate false target area; and initialize the energy value corresponding to each distance unit in the energy storage array according to the upper energy threshold.

[0085] This device embodiment discloses acquiring radar echo signals and generating an RD map based on the radar echo signals; determining candidate false target regions in the RD map according to radar frequency hopping characteristics and bumper false target features; constructing and initializing an energy storage array based on the candidate false target regions; updating the energy storage array in real time; and using an inter-frame consistency check mechanism to perform energy and angle consistency checks on points within the candidate false target regions based on the energy storage array to obtain check results; marking points that satisfy both energy and angle consistency checks in the check results as false target points, and performing suppression operations on the false target points. Because this device embodiment determines candidate false target regions in the RD map based on radar frequency hopping characteristics and bumper false target features, and uses an inter-frame consistency check mechanism to perform energy and angle consistency checks on points within the candidate false target regions based on the energy storage array, compared to existing technologies, this device embodiment improves the accuracy of distinguishing between bumper false targets and real targets, thereby reducing the difficulty of suppressing bumper false targets.

[0086] Based on the first embodiment of the millimeter-wave radar bumper false target suppression device of the present invention, a second embodiment of the millimeter-wave radar bumper false target suppression device of the present invention is proposed.

[0087] In this embodiment, the region determination module 602 is further configured to acquire the vehicle's speed and a preset speed threshold, and compare the vehicle's speed with the preset speed threshold to obtain a speed comparison result; when the speed comparison result indicates that the vehicle's speed is greater than the preset speed threshold, the step of constructing an energy storage array based on the candidate false target region and initializing the energy storage array is executed.

[0088] Other embodiments or specific implementations of the millimeter-wave radar bumper false target suppression device of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0089] This application provides a millimeter-wave radar bumper false target suppression device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the millimeter-wave radar bumper false target suppression method in the first embodiment described above.

[0090] The following is for reference. Figure 7 This document illustrates a structural schematic diagram of a millimeter-wave radar bumper false target suppression device suitable for implementing embodiments of this application. The millimeter-wave radar bumper false target suppression device in this application embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7 The millimeter-wave radar bumper false target suppression device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0091] like Figure 7As shown, the millimeter-wave radar bumper false target suppression device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory 1002 or a program loaded from a storage device 1003 into a random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the millimeter-wave radar bumper false target suppression device. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. The communication device 1009 allows the millimeter-wave radar bumper decoy suppression device to communicate wirelessly or wiredly with other devices to exchange data. While the figure shows millimeter-wave radar bumper decoy suppression devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0092] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in 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 device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0093] The millimeter-wave radar bumper false target suppression device provided in this application employs the millimeter-wave radar bumper false target suppression method described in the above embodiments. This solves the technical problem of low accuracy in distinguishing between false and real bumper targets in existing technologies, leading to significant difficulty in suppressing false bumper targets. Compared to existing technologies, the beneficial effects of the millimeter-wave radar bumper false target suppression device provided in this application are the same as those of the millimeter-wave radar bumper false target suppression method provided in the above embodiments. Furthermore, other technical features of this millimeter-wave radar bumper false target suppression device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0094] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0095] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0096] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0097] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0098] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0099] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for suppressing false targets on a millimeter-wave radar bumper, characterized in that, The method includes: Acquire radar echo signals and generate an RD map based on the radar echo signals; Based on the radar frequency hopping characteristics and the features of the bumper false target, candidate false target regions are determined in the RD map; An energy storage array is constructed based on the candidate false target regions, and the energy storage array is initialized. The energy storage array is updated in real time, and the energy and angle consistency of the points in the candidate false target area are checked based on the energy storage array using the inter-frame consistency check mechanism to obtain the check result; Points in the verification results that satisfy both energy consistency verification and angle consistency verification are marked as false target points, and suppression operations are performed on the false target points; The step of constructing an energy storage array based on the candidate false target regions and initializing the energy storage array includes: Determine the upper and lower energy thresholds for false target points based on production line information and historical project experience values. An energy storage array is constructed based on the distance cell distribution of the candidate false target regions; The energy value corresponding to each distance unit in the energy storage array is initialized and assigned according to the energy upper limit threshold.

2. The millimeter-wave radar bumper false target suppression method as described in claim 1, characterized in that, The step of determining candidate false target regions in the RD map based on radar frequency hopping characteristics and bumper false target features includes: The maximum distance threshold is determined based on the multiple reflection paths of the bumper. The Doppler offset is determined based on the velocity calculation formula of the millimeter-wave radar frequency hopping signal, and the Doppler threshold is set with the Doppler offset as the center. The set of cells in the RD graph that satisfy the maximum distance threshold and the Doppler threshold are selected as candidate false target regions.

3. The millimeter-wave radar bumper false target suppression method as described in claim 2, characterized in that, After the step of selecting the set of cells in the RD graph that satisfy the maximum distance threshold and the Doppler threshold as candidate false target regions, the method further includes: The vehicle's speed and a preset speed threshold are obtained, and the vehicle's speed is compared with the preset speed threshold to obtain a speed comparison result; When the speed comparison result indicates that the vehicle's speed is greater than the preset speed threshold, the steps of constructing an energy storage array based on the candidate false target region and initializing the energy storage array are executed.

4. The millimeter-wave radar bumper false target suppression method as described in claim 1, characterized in that, The step of updating the energy storage array in real time includes: Extract the energy information of each unit point within the candidate false target region in the current frame, and update the energy storage array based on the energy information; Count the number of first units in the energy storage array whose energy is greater than the lower energy threshold and the number of second units that pass the constant false alarm rate (CFAR) detection. When the number of the first unit and the number of the second unit are greater than the first proportional threshold and the second proportional threshold, respectively, the inter-frame existence count is increased, and the angle information of the current frame is written into the energy storage array.

5. The millimeter-wave radar bumper false target suppression method as described in claim 4, characterized in that, The step of using the inter-frame consistency verification mechanism to perform energy and angle consistency verification on points within the candidate false target region based on the energy storage array and obtaining the verification result includes: Extract the target energy value and target angle information of points within the candidate false target region that have passed constant false alarm rate detection in the current frame; The target energy value is compared with the historical average energy value in the energy storage array to obtain the energy difference result; The target angle information is compared with the angle information of the corresponding distance unit in the energy storage array to obtain the angle difference result. The energy difference result and the angle difference result are compared with the energy threshold and the angle threshold, respectively, and the verification result is determined based on the comparison result.

6. The millimeter-wave radar bumper false target suppression method as described in claim 5, characterized in that, The step of marking points in the verification results that satisfy both energy consistency verification and angle consistency verification as false target points, and performing suppression operations on the false target points, includes: Obtain the inter-frame presence count and determine the ratio of the inter-frame presence count to the maximum frame count value; When the ratio is greater than a preset ratio threshold, the points in the verification results that satisfy both energy consistency verification and angle consistency verification are marked as false target points, and the false target points are suppressed.

7. A millimeter-wave radar bumper false target suppression device, characterized in that, The device includes: A signal processing model is used to acquire radar echo signals and generate RD maps based on the radar echo signals; The region determination module is used to determine candidate false target regions in the RD map based on radar frequency hopping characteristics and bumper false target features. An array construction module is used to construct an energy storage array based on the candidate false target regions and to initialize the energy storage array; The array update module is used to update the energy storage array in real time and use the inter-frame consistency verification mechanism to perform energy and angle consistency verification on the points in the candidate false target area based on the energy storage array to obtain the verification result. The target suppression module is used to mark points in the verification results that satisfy energy consistency verification and angle consistency verification as false target points, and to perform suppression operations on the false target points; The array construction module is also used to determine the upper and lower energy thresholds of false target points based on production line information and historical project experience values; construct an energy storage array based on the distance unit distribution of the candidate false target area; and initialize the energy value corresponding to each distance unit in the energy storage array according to the upper energy threshold.

8. A millimeter-wave radar bumper false target suppression device, characterized in that, The device includes: a memory, a processor, and a millimeter-wave radar bumper false target suppression program stored in the memory and executable on the processor, the millimeter-wave radar bumper false target suppression program being configured to implement the steps of the millimeter-wave radar bumper false target suppression method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores a millimeter-wave radar bumper false target suppression program, which, when executed by a processor, implements the steps of the millimeter-wave radar bumper false target suppression method as described in any one of claims 1 to 6.

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