Target visibility discrimination method in multi-target scene and related equipment

Abstract

The invention provides a target visibility discrimination method in a multi-target scene and related equipment, and the method comprises the steps: detecting the target information of a plurality of targets, and for each target, determining the theoretical full view angle of the target based on the angular point coordinate information of the target; by taking the position of the sensor as an origin coordinate, determining whether the target meets a potential shielded condition or not according to the spatial center point coordinate of the target and the spatial center point coordinates of other targets; other targets indicate other targets except the target; for the target meeting the potential sheltered condition, calculating the difference value between the maximum azimuth angle of the target and the minimum azimuth angle of other targets to obtain a sheltering angle; and determining the visibility level of the target under the potential shielded condition according to the theoretical full field angle and the shielding angle of the target. Therefore, accurate identification and calculation can be carried out based on the target information of multiple targets, the visibility level of each target is obtained, and the calculation result is objective and accurate.

Description

Technical Field

[0001] This invention relates to the field of radar, and in particular to a target visibility discrimination method and related equipment in multi-target scenarios. Background Technology

[0002] In fields such as robot navigation and intelligent assisted driving, radar is an indispensable sensor. Radar senses target information in the surrounding environment by emitting electromagnetic waves through its antenna, thereby obtaining measurement information such as radial distance, radial Doppler velocity, azimuth angle, and elevation angle of surrounding targets. When radar senses the surrounding environment, it inevitably encounters various interference factors, such as obstacle occlusion and multiple target trajectory intersections. Taking intelligent assisted driving as an example, in real-world road scenarios with multiple targets and complex environments, many targets exist within the sensor's detection range, and the number of measurement data is uncertain. Therefore, visibility discrimination is required for each target during target detection and tracking. Traditional target occlusion discrimination strategies are based on image processing, relying solely on grayscale values ​​or detection value intensity for discrimination, which cannot guarantee accuracy and results in inaccurate judgments. Summary of the Invention

[0003] In view of the above problems, the present invention provides a target visibility discrimination method and related equipment in a multi-target scenario to overcome or at least partially solve the above problems.

[0004] The first aspect of this application provides a method for determining target visibility in a multi-target scenario, including:

[0005] Target information of multiple targets is detected by sensors, wherein the target information includes the coordinates of the spatial center point and the coordinates of the corner points;

[0006] For each target, the theoretical full-field perspective is determined based on the target's corner coordinates; the theoretical full-field perspective is the difference between the target's maximum and minimum azimuth angles.

[0007] Using the sensor's location as the origin coordinate, and based on the spatial center coordinates of the target and other targets, it is determined whether the target meets the potential occlusion condition; the other targets refer to targets other than the target itself.

[0008] For a target that meets the potential occlusion conditions, calculate the difference between the maximum azimuth angle of the target and the minimum azimuth angle of other targets to obtain the occlusion angle;

[0009] The visibility level of the target under the potential occlusion condition is determined based on the target's theoretical full field of view and the occlusion angle.

[0010] Optionally, determining the theoretical full-field view of each target based on its corner coordinates includes:

[0011] For each target, the azimuth angles of each corner point of the target are calculated based on the corner coordinate information of the target. Here, one target corresponds to the corner coordinate information of multiple corner points, and one corner coordinate information corresponds to one azimuth angle.

[0012] Determine the maximum and minimum azimuth angles from all azimuth angles of the target;

[0013] The theoretical full field of view of the target is obtained by calculating the first angle difference between the maximum and minimum azimuth angles.

[0014] Optionally, determining whether the target meets the potential occlusion condition based on the spatial center point coordinates of the target and the spatial center point coordinates of other targets includes:

[0015] Based on the coordinates of the target's spatial center point, the distance to the target's center point and the center point azimuth angle are calculated.

[0016] Based on the spatial center point coordinates of other targets, the center point distance and center point azimuth of other targets are calculated;

[0017] Based on the center point distance and center point azimuth of the target, iterate through the center point distance and center point azimuth of other targets at the same time.

[0018] If the distance difference between the center point of the target and the center point of the first target is greater than 0 and the absolute value of the second angle difference between the center point azimuth of the target and the center point azimuth of the first target is less than a preset absolute value threshold, then it is determined that the potential occlusion condition is met between the target and the first target.

[0019] If the distance difference between the center point of the target and the center point of the first target is not greater than 0, or the absolute value of the second angle difference between the azimuth angle of the center point of the target and the azimuth angle of the center point of the first target is not less than a preset absolute value threshold, then it is determined that the potential occlusion condition is not met between the target and the first target.

[0020] Optionally, the detection of target information of multiple targets by sensors includes:

[0021] Target information of multiple targets in a two-dimensional plane at the same time is detected by sensors.

[0022] Optionally, after determining whether the target meets the potential occlusion condition based on the spatial center point coordinates of the target and other targets, using the sensor's location as the origin coordinate, the method further includes:

[0023] For targets that do not meet the potential occlusion conditions, the visibility level of the target is determined to be 100%.

[0024] A second aspect of this application provides a target visibility discrimination device in a multi-target scene, comprising:

[0025] The detection unit is used to detect target information of multiple targets through sensors, wherein the target information includes spatial center point coordinates and corner point coordinates.

[0026] The first determining unit is used to determine the theoretical full-field perspective of each target based on the corner coordinate information of the target; the theoretical full-field perspective is the difference between the maximum azimuth angle and the minimum azimuth angle of the target.

[0027] The second determining unit is used to determine whether the target meets the potential occlusion condition based on the spatial center point coordinates of the target and other targets, with the sensor's location as the origin coordinate; the other targets refer to targets other than the target itself.

[0028] The calculation unit is used to calculate the difference between the maximum azimuth angle of the target and the minimum azimuth angle of other targets for a target that meets the potential occlusion conditions, so as to obtain the occlusion angle.

[0029] The third determining unit is used to determine the visibility level of the target under the potential occlusion conditions based on the target's theoretical full field of view and the occlusion angle.

[0030] Optionally, the first determining unit is specifically used for:

[0031] For each target, the azimuth angles of each corner point of the target are calculated based on the corner coordinate information of the target. Here, one target corresponds to the corner coordinate information of multiple corner points, and one corner coordinate information corresponds to one azimuth angle.

[0032] Determine the maximum and minimum azimuth angles from all azimuth angles of the target;

[0033] The theoretical full field of view of the target is obtained by calculating the first angle difference between the maximum and minimum azimuth angles.

[0034] A third aspect of this application provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the target visibility discrimination method in a multi-target scenario as provided in the first aspect of this application.

[0035] The fourth aspect of this application provides an electronic device, which includes at least one processor, at least one memory connected to the processor, and a bus; wherein the processor and the memory communicate with each other through the bus; the processor is used to call program instructions in the memory to execute the target visibility discrimination method in a multi-target scenario as provided in the first aspect of this application.

[0036] The fifth aspect of this application provides a vehicle that includes the electronic equipment provided in the fourth aspect of this application.

[0037] By employing the above technical solution, this invention provides a target visibility discrimination method, device, storage medium, and electronic device in a multi-target scene. It detects target information of multiple targets. For each target, it determines the theoretical full-field view based on the target's corner coordinates. Using the sensor's location as the origin coordinate, it determines whether the target meets potential occlusion conditions based on the target's spatial center point coordinates and those of other targets. Other targets indicate targets other than the target itself. For targets meeting potential occlusion conditions, it calculates the difference between the target's maximum azimuth angle and the minimum azimuth angle of other targets to obtain the occlusion angle. Based on the target's theoretical full-field view and the occlusion angle, it determines the visibility level of the target with potential occlusion conditions. Therefore, this invention can accurately identify and calculate the visibility level of each target based on multi-target target information, and the calculation results are relatively objective and accurate.

[0038] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0039] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0040] Figure 1 The flowchart of a target visibility discrimination method in a multi-target scene provided by the present invention is shown;

[0041] Figure 2 This invention provides a schematic diagram of a target center point and corner points;

[0042] Figure 3 This diagram illustrates a potential target occlusion and visibility discrimination method provided by the present invention.

[0043] Figure 4 This invention provides a schematic diagram of the architecture of a target visibility discrimination device in a multi-target scenario.

[0044] Figure 5 A schematic diagram of the architecture of an electronic device provided by the present invention is shown. Detailed Implementation

[0045] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0046] like Figure 1 The diagram shows a flowchart of a target visibility discrimination method in a multi-target scene provided by the present invention, which includes the following steps:

[0047] S101: Detects target information of multiple targets through sensors.

[0048] The target information includes the coordinates of the spatial center point and the coordinates of the corner points.

[0049] Optional targets include, but are not limited to, vehicles and pedestrians.

[0050] Optionally, in another embodiment of this application, the specific implementation of step S101 includes:

[0051] Target information of multiple targets in a two-dimensional plane at the same time is detected by sensors.

[0052] For example, m is the m-th target detected by the sensor at the current moment, denoted as p. m0 The coordinates of the spatial center point of the m-th target are The corner coordinates of the m-th target are: .

[0053] S102: For each target, determine the theoretical full-field perspective of the target based on the target's corner coordinate information.

[0054] The theoretical full-field perspective is the difference between the target's maximum and minimum azimuth angles.

[0055] Optionally, in another embodiment of this application, the specific implementation of step S102 includes processes A1 to A3.

[0056] A1: For each target, the azimuth of each corner point of the target is calculated based on the corner coordinate information of the target.

[0057] In this context, one target corresponds to the coordinate information of multiple corner points, and one corner point coordinate information corresponds to one azimuth angle.

[0058] It is understandable that the specific implementation process of calculating the azimuth of each corner point of the target based on the coordinate information of each corner point of the target is as follows: the azimuth formula of the corner point is used for calculation, and the specific form of the azimuth formula of the corner point is shown in formula (1).

[0059] (1)

[0060] In formula (1), i = 1, 2, 3, 4, representing the corner points of the target in sequence, i.e. , The azimuth of the corner point. The range is 0~360°.

[0061] A2: Determine the maximum and minimum azimuth angles from the target's azimuth angles.

[0062] Understandably, the maximum and minimum azimuth angles are selected from the target's four azimuth angles. For example, if the target's four azimuth angles are 20°, 25°, 30°, and 35°, the maximum azimuth angle is selected as 35° and the minimum azimuth angle as 20°.

[0063] A3: Calculate the first angle difference between the maximum and minimum azimuth angles to obtain the theoretical full field of view of the target.

[0064] The specific form of the first angle difference between the maximum and minimum azimuth angles of the target is shown in formula (2).

[0065] (2)

[0066] In formula (2), Let be the theoretical full field of view of the target. For ease of description, the center point distance, center point azimuth, and theoretical full field of view of all targets are labeled as follows: , , .

[0067] For a better explanation of the above, please refer to [link / reference]. Figure 2 This diagram illustrates the center point and corner points of a target. Figure 2 In the context, Tm is the target, and p m0 Let p be the coordinates of the center point in space. m1 p m2 p m3and p m4 For each corner point of the target, R m Distance from the center point of the target The theoretical full field of view for the target, 2 represents the minimum azimuth angle of the target. The maximum azimuth angle of the target.

[0068] S103: Using the sensor's location as the origin coordinate, determine whether the target meets the potential occlusion conditions based on the spatial center point coordinates of the target and other targets.

[0069] Among them, other targets refer to targets other than the target.

[0070] Understandably, based on the spatial center point coordinates of the target and the spatial center point coordinates of other targets, it is determined whether the target meets the potential occlusion conditions. Specifically, based on the difference between the distance of the target's center point and the distance between the center points of other targets, and the difference between the azimuth angle of the target's center point and the azimuth angle of the other targets, it is determined whether the target meets the potential occlusion conditions.

[0071] Optionally, in another embodiment of this application, the specific implementation of determining whether the target meets the potential occlusion conditions based on the spatial center point coordinates of the target and the spatial center point coordinates of other targets in step S103 includes processes B1 to B5.

[0072] B1: Based on the coordinates of the target's spatial center point, calculate the distance to the target's center point and the center point azimuth.

[0073] The specific implementation process of calculating the distance to the center point of the target based on the coordinates of the target's spatial center point is as follows: the distance is calculated using the center point distance formula, and the specific form of the center point distance formula is shown in formula (3).

[0074] (3)

[0075] In formula (3), R m The distance to the center point of the target.

[0076] Specifically, the specific implementation process of calculating the azimuth of the target's center point based on the coordinates of the target's spatial center point is as follows: the azimuth formula of the center point is used for calculation, and the specific form of the azimuth formula of the center point is shown in formula (4).

[0077] (4)

[0078] In formula (4), The azimuth of the center point, The range is 0~360°.

[0079] B2: Based on the spatial center point coordinates of other targets, calculate the center point distance and center point azimuth of other targets.

[0080] It should be noted that the specific implementation method of process B2 can be found in process B1, and will not be repeated here.

[0081] B3: Based on the center point distance and center point azimuth of the target, iterate through the center point distance and center point azimuth of other targets at the same time.

[0082] Understandably, for any given target, based on the target's center-point distance and center-point azimuth, we iterate through the center-point distances and center-point azimuths of other targets at the same time. This means calculating the distance difference between the target's center-point distance and the center-point distance of the first target among the other targets. ,in, For distance difference, Distance from the center point of the target Let be the distance to the center point of the first target among the other targets. Calculate the absolute value of the second angular difference between the azimuth angle of the target's center point and the azimuth angle of the first target's center point, i.e. ,in, The absolute value of the second angular difference. The azimuth of the center point of the target. The azimuth angle of the center point of the first target. Compare the distance difference with 0, and compare the absolute value with a preset absolute value threshold.

[0083] B4: If the difference between the distance of the center point of the target and the distance between the center point of the first target and other targets is greater than 0, and the absolute value of the second angle difference between the azimuth angle of the center point of the target and the azimuth angle of the center point of the first target is less than a preset absolute value threshold, then it is determined that the potential occlusion condition is met between the target and the first target.

[0084] Among them, the difference between the distance of the center point of the target and the distance of the center point of the first target among other targets is greater than 0, that is... The absolute value of the second angle difference between the center azimuth of the target and the center azimuth of the first target is less than a preset absolute value threshold, i.e. ,in, The preset absolute value threshold is mainly determined by the characteristics of the data being processed and the maximum visible range of the target in the specific use case. It can usually be set empirically. .

[0085] B5: If the distance difference between the center point of the target and the center point of the first target is not greater than 0, or the absolute value of the second angle difference between the azimuth angle of the target's center point and the azimuth angle of the first target's center point is not less than a preset absolute value threshold, then it is determined that the potential occlusion condition between the target and the first target is not met.

[0086] It is understandable that if the distance between the center point of the target and the center point of the first target among all other targets is not greater than 0, or the absolute value of the second angle difference between the azimuth angle of the target's center point and the azimuth angle of the center points of all first targets is not less than the preset absolute value threshold, it means that the potential occlusion condition is not met between the target and the first target.

[0087] Optionally, after step S103, the method further includes:

[0088] For targets that do not meet the potential occlusion conditions, the visibility level of the target is determined to be 100%.

[0089] S104: For a target that meets the potential occlusion conditions, calculate the difference between the target's maximum azimuth angle and the minimum azimuth angle of other targets to obtain the occlusion angle.

[0090] Among them, the visibility level of a target under potentially occluded conditions indicates the visibility of the target under potentially occluded conditions.

[0091] Specifically, the table showing the difference between the maximum azimuth of the target and the minimum azimuth of other targets is shown in formula (5).

[0092] (5)

[0093] In formula (5), To block the angle, The maximum azimuth angle of the target under potential occlusion conditions. The minimum azimuth angle for other targets.

[0094] S105: Determine the visibility level of a target with potential occlusion conditions based on the target's theoretical full field of view and occlusion angle.

[0095] The specific implementation process of determining the visibility level of a target with potential occlusion conditions based on the target's theoretical full field of view and occlusion angle is as follows: calculation is performed using the visibility formula. The specific form of the visibility formula is shown in formula (6).

[0096] (6)

[0097] In formula (6), V3 is the visibility level of the target under potential occlusion conditions.

[0098] For a better explanation of the above, please refer to [link / reference]. Figure 3 The diagram shown illustrates a potential target occlusion and visibility determination method. Figure 3 In the above, the visibility of target T4 is 100%; for targets T2 and T3, the potential occlusion condition is met, and the theoretical full field of view of target T2 is... Its target If completely obscured, then the target The visibility is Target T3, its theoretical full field of view is Its target If partially obscured, the target Obstructed angle The calculation method is the target Maximum azimuth of the corner point minus the target The minimum azimuth of the corner point, i.e. .in Identify target Target The angle of occlusion, its subscript Identify target Target To cover or obstruct.

[0099] In summary, this invention detects target information for multiple targets. For each target, the theoretical full-field view is determined based on its corner coordinates. Using the sensor's location as the origin coordinate, the spatial center coordinates of the target and other targets are used to determine whether the target meets the potential occlusion condition. Other targets are indicated. For targets meeting the potential occlusion condition, the difference between the target's maximum azimuth angle and the minimum azimuth angle of other targets is calculated to obtain the occlusion angle. The visibility level of the target under the potential occlusion condition is determined based on the target's theoretical full-field view and the occlusion angle. Therefore, this invention can accurately identify and calculate the visibility level of each target based on multi-target target information, and the calculation results are relatively objective and accurate.

[0100] Although the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous.

[0101] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0102] like Figure 4The diagram shown is an architectural schematic of a target visibility discrimination device in a multi-target scene provided by the present invention. The target visibility discrimination device includes: a detection unit 100, a first determination unit 200, a second determination unit 300, a calculation unit 400, and a third determination unit 500.

[0103] The detection unit 100 is used to detect target information of multiple targets through sensors, wherein the target information includes the coordinates of the spatial center point and the coordinates of the corner points.

[0104] The detection unit 100 is specifically used to detect target information of multiple targets on a two-dimensional plane at the same time through sensors.

[0105] The first determining unit 200 is used to determine the theoretical full-field perspective of each target based on the corner coordinate information of the target; the theoretical full-field perspective is the difference between the maximum azimuth angle and the minimum azimuth angle of the target.

[0106] The first determining unit 200 is specifically used for: for each target, calculating the azimuth angles of each corner point of the target based on the corner point coordinate information of the target, wherein one target corresponds to the corner point coordinate information of multiple corner points, and one corner point coordinate information corresponds to one azimuth angle; determining the maximum azimuth angle and the minimum azimuth angle from the azimuth angles of the target; calculating the first angle difference between the maximum azimuth angle and the minimum azimuth angle to obtain the theoretical full field of view angle of the target.

[0107] The second determining unit 300 is used to determine whether the target meets the potential occlusion condition based on the coordinates of the spatial center point of the target and the spatial center point of other targets, with the location of the sensor as the origin coordinate. Other targets indicate targets other than the target.

[0108] The second determining unit 300 includes:

[0109] The first calculation subunit is used to calculate the distance to the center point and the azimuth of the center point of the target based on the coordinates of the target's spatial center point.

[0110] The second calculation subunit is used to calculate the center distance and center azimuth of other targets based on their spatial center point coordinates.

[0111] Traverse sub-cells to iterate over the center-point distance and center-point azimuth of other targets at the same time, based on the center-point distance and center-point azimuth of the target.

[0112] The first determining subunit is used to determine that the target and the first target meet the potential occlusion condition if the distance difference between the center point distance of the target and the center point distance of the first target among other targets is greater than 0 and the absolute value of the second angle difference between the center point azimuth angle of the target and the center point azimuth angle of the first target is less than a preset absolute value threshold.

[0113] The second determining subunit is used to determine that the potential occlusion condition between the target and the first target is not met if the distance difference between the center point of the target and the center point of the first target among other targets is not greater than 0, or the absolute value of the second angle difference between the center point azimuth angle of the target and the center point azimuth angle of the first target is not less than a preset absolute value threshold.

[0114] The calculation unit 400 is used to calculate the difference between the maximum azimuth angle of a target and the minimum azimuth angle of other targets for a target that meets the potential occlusion conditions, and obtain the occlusion angle.

[0115] The third determining unit 500 is used to determine the visibility level of a target with potential occlusion conditions based on the target's theoretical full field of view and occlusion angle.

[0116] In summary, this invention detects target information for multiple targets. For each target, the theoretical full-field view is determined based on its corner coordinates. Using the sensor's location as the origin coordinate, the spatial center coordinates of the target and other targets are used to determine whether the target meets the potential occlusion condition. Other targets are indicated. For targets meeting the potential occlusion condition, the difference between the target's maximum azimuth angle and the minimum azimuth angle of other targets is calculated to obtain the occlusion angle. The visibility level of the target under the potential occlusion condition is determined based on the target's theoretical full-field view and the occlusion angle. Therefore, this invention can accurately identify and calculate the visibility level of each target based on multi-target target information, and the calculation results are relatively objective and accurate.

[0117] Combination Figure 4 As shown, the target visibility discrimination device further includes a target determination unit, used to determine the visibility level of a target as 100% for targets that do not meet the potential occlusion conditions.

[0118] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and by adjusting kernel parameters, accurate identification and calculation can be performed based on target information from multiple targets to obtain the visibility level of each target. The calculation results are relatively objective and accurate.

[0119] This invention provides a computer-readable storage medium storing a program that, when executed by a processor, implements the target visibility discrimination method in a multi-target scenario.

[0120] This invention provides a processor for running a program, wherein the program executes the target visibility discrimination method in a multi-target scenario.

[0121] like Figure 5 As shown, this embodiment of the invention provides an electronic device 500, which includes at least one processor 501, at least one memory 502 connected to the processor 501, and a bus 503. The processor 501 and the memory 502 communicate with each other via the bus 503. The processor 501 is used to call program instructions in the memory 502 to execute the aforementioned target visibility discrimination method in a multi-target scenario. The electronic device in this document can be a server, PC, PAD, mobile phone, etc.

[0122] The present invention also provides a computer program product, which, when executed on an electronic device, is suitable for executing an initialization program having the following method steps:

[0123] A method for determining target visibility in a multi-target scenario includes:

[0124] Target information of multiple targets is detected by sensors, wherein the target information includes the coordinates of the spatial center point and the coordinates of the corner points;

[0125] For each target, the theoretical full-field perspective is determined based on the target's corner coordinates; the theoretical full-field perspective is the difference between the target's maximum and minimum azimuth angles.

[0126] Using the sensor's location as the origin coordinate, and based on the spatial center coordinates of the target and other targets, it is determined whether the target meets the potential occlusion condition; the other targets refer to targets other than the target itself.

[0127] For a target that meets the potential occlusion conditions, calculate the difference between the maximum azimuth angle of the target and the minimum azimuth angle of other targets to obtain the occlusion angle;

[0128] The visibility level of the target under the potential occlusion condition is determined based on the target's theoretical full field of view and the occlusion angle.

[0129] Optionally, determining the theoretical full-field view of each target based on its corner coordinates includes:

[0130] For each target, the azimuth angles of each corner point of the target are calculated based on the corner coordinate information of the target. Here, one target corresponds to the corner coordinate information of multiple corner points, and one corner coordinate information corresponds to one azimuth angle.

[0131] Determine the maximum and minimum azimuth angles from all azimuth angles of the target;

[0132] The theoretical full field of view of the target is obtained by calculating the first angle difference between the maximum and minimum azimuth angles.

[0133] Optionally, determining whether the target meets the potential occlusion condition based on the spatial center point coordinates of the target and the spatial center point coordinates of other targets includes:

[0134] Based on the coordinates of the target's spatial center point, the distance to the target's center point and the center point azimuth angle are calculated.

[0135] Based on the spatial center point coordinates of other targets, the center point distance and center point azimuth of other targets are calculated;

[0136] Based on the center point distance and center point azimuth of the target, iterate through the center point distance and center point azimuth of other targets at the same time.

[0137] If the distance difference between the center point of the target and the center point of the first target is greater than 0 and the absolute value of the second angle difference between the center point azimuth of the target and the center point azimuth of the first target is less than a preset absolute value threshold, then it is determined that the potential occlusion condition is met between the target and the first target.

[0138] If the distance difference between the center point of the target and the center point of the first target is not greater than 0, or the absolute value of the second angle difference between the azimuth angle of the center point of the target and the azimuth angle of the center point of the first target is not less than a preset absolute value threshold, then it is determined that the potential occlusion condition is not met between the target and the first target.

[0139] Optionally, the detection of target information of multiple targets by sensors includes:

[0140] Target information of multiple targets in a two-dimensional plane at the same time is detected by sensors.

[0141] Optionally, after determining whether the target meets the potential occlusion condition based on the spatial center point coordinates of the target and other targets, using the sensor's location as the origin coordinate, the method further includes:

[0142] For targets that do not meet the potential occlusion conditions, the visibility level of the target is determined to be 100%.

[0143] This invention also provides a vehicle that includes the aforementioned electronic equipment.

[0144] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatuses, electronic devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0145] In a typical configuration, an electronic device includes one or more processors (CPUs), memory, and a bus. The electronic device may also include input / output interfaces, network interfaces, etc.

[0146] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM, and memory includes at least one memory chip. Memory is an example of computer-readable media.

[0147] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0148] In the description of this invention, it should be understood that if the terms "upper", "lower", "front", "rear", "left" and "right" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0149] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. 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 apparatus that includes the element.

[0150] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0151] The above are merely embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A method for determining target visibility in a multi-target scenario, characterized in that, include: Target information of multiple targets is detected by sensors, wherein the target information includes the coordinates of the spatial center point and the coordinates of the corner points; For each target, the theoretical full-field perspective is determined based on the target's corner coordinates; the theoretical full-field perspective is the difference between the target's maximum and minimum azimuth angles. Using the sensor's location as the origin coordinate, and based on the spatial center coordinates of the target and other targets, it is determined whether the target meets the potential occlusion condition; the other targets refer to targets other than the target itself. For a target that meets the potential occlusion conditions, calculate the difference between the maximum azimuth angle of the target and the minimum azimuth angle of other targets to obtain the occlusion angle; The visibility level of the target under the potential occlusion condition is determined based on the target's theoretical full field of view and the occlusion angle.

2. The method according to claim 1, characterized in that, For each target, the theoretical full-field viewpoint of the target is determined based on the target's corner coordinate information, including: For each target, the azimuth angles of each corner point of the target are calculated based on the corner coordinate information of the target. Here, one target corresponds to the corner coordinate information of multiple corner points, and one corner coordinate information corresponds to one azimuth angle. Determine the maximum and minimum azimuth angles from all azimuth angles of the target; The theoretical full field of view of the target is obtained by calculating the first angle difference between the maximum and minimum azimuth angles.

3. The method according to claim 1, characterized in that, The step of determining whether the target meets the potential occlusion condition based on the spatial center point coordinates of the target and the spatial center point coordinates of other targets includes: Based on the coordinates of the target's spatial center point, the distance to the target's center point and the center point azimuth angle are calculated. Based on the spatial center point coordinates of other targets, the center point distance and center point azimuth of other targets are calculated; Based on the center point distance and center point azimuth of the target, iterate through the center point distance and center point azimuth of other targets at the same time. If the distance difference between the center point of the target and the center point of the first target is greater than 0 and the absolute value of the second angle difference between the center point azimuth of the target and the center point azimuth of the first target is less than a preset absolute value threshold, then it is determined that the potential occlusion condition is met between the target and the first target. If the distance difference between the center point of the target and the center point of the first target is not greater than 0, or the absolute value of the second angle difference between the azimuth angle of the center point of the target and the azimuth angle of the center point of the first target is not less than a preset absolute value threshold, then it is determined that the potential occlusion condition is not met between the target and the first target.

4. The method according to claim 1, characterized in that, The detection of target information of multiple targets by sensors includes: Target information of multiple targets in a two-dimensional plane at the same time is detected by sensors.

5. The method according to claim 1, characterized in that, After determining whether the target meets the potential occlusion condition based on the spatial center point coordinates of the target and other targets, using the sensor's location as the origin coordinate, the method further includes: For targets that do not meet the potential occlusion conditions, the visibility level of the target is determined to be 100%.

6. A target visibility discrimination device in a multi-target scene, characterized in that, include: The detection unit is used to detect target information of multiple targets through sensors, wherein the target information includes spatial center point coordinates and corner point coordinates. The first determining unit is used to determine the theoretical full-field perspective of each target based on the corner coordinate information of the target; the theoretical full-field perspective is the difference between the maximum azimuth angle and the minimum azimuth angle of the target. The second determining unit is used to determine whether the target meets the potential occlusion condition based on the spatial center point coordinates of the target and other targets, with the sensor's location as the origin coordinate; the other targets refer to targets other than the target itself. The calculation unit is used to calculate the difference between the maximum azimuth angle of the target and the minimum azimuth angle of other targets for a target that meets the potential occlusion conditions, so as to obtain the occlusion angle. The third determining unit is used to determine the visibility level of the target under the potential occlusion conditions based on the target's theoretical full field of view and the occlusion angle.

7. The apparatus according to claim 6, characterized in that, The first determining unit is specifically used for: For each target, the azimuth angles of each corner point of the target are calculated based on the corner coordinate information of the target. Here, one target corresponds to the corner coordinate information of multiple corner points, and one corner coordinate information corresponds to one azimuth angle. Determine the maximum and minimum azimuth angles from all azimuth angles of the target; The theoretical full field of view of the target is obtained by calculating the first angle difference between the maximum and minimum azimuth angles.

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

9. An electronic device, characterized in that, The electronic device includes at least one processor, at least one memory connected to the processor, and a bus; wherein the processor and the memory communicate with each other through the bus; the processor is used to call program instructions in the memory to execute the target visibility discrimination method in a multi-target scenario as described in any one of claims 1 to 5.

10. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 9.

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