Radar data processing method and apparatus, electronic device, and vehicle

Abstract

A radar data processing method and apparatus, an electronic device, and a vehicle, relating to the field of environmental perception. A point location corresponding to a first obstacle is extracted from an obstacle point set. Under the reflection effect of a highly-reflective curved object on laser signals, a certain distance difference is present between a second obstacle generated by the reflected laser signals as reflected radar data and the first obstacle, and however, the difference is small. It can be determined by means of a first preset value that related data of the second obstacle is generated by reflection of the laser signals on the highly-reflective curved object. By filtering the related data of the second obstacle, the second obstacle generated by reflection of the laser signals of a radar on the highly-reflective curved object can be accurately determined from the reflected radar data. By filtering the related data of the second obstacle, incorrect judgement of a radar to an obstacle distance caused by the interference of a false obstacle can be avoided.

Description

Radar data processing method, device, electronic equipment and vehicle

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to a Chinese patent application filed with the Patent Office of China on February 28, 2024, with application number 202410224592.9 and entitled “A method, device, electronic device and vehicle for processing radar data”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the field of environmental perception, and in particular to a radar data processing method, device, electronic equipment and vehicle. Background Art

[0004] When a vehicle-mounted LiDAR continuously monitors its surroundings, some of the laser signal may not be directly reflected back to the LiDAR when it strikes a highly reflective, curved object. Specifically, some of the laser light is reflected directly back to the LiDAR, while another portion is reflected off the object's surface and travels a distance before returning to the LiDAR. For example, if a laser strikes the vehicle directly ahead, part of the beam will be reflected back. Another portion of the laser light will strike curved glass or a reflective object, causing the light path to be reflected at an angle. When this portion of the laser light strikes another highly reflective object and then reflects back to the LiDAR, the reflected light takes longer to return than it would normally, generating a large number of point clouds in front of the vehicle ahead, leading to false detections. Consequently, a single LiDAR signal, when striking a highly reflective, curved object, generates two reflected signals, causing the LiDAR to believe there are two obstacles ahead, making it difficult for the radar to accurately identify the object in front of the vehicle. Summary of the Invention

[0005] In view of this, the present application provides a radar data processing method, device, electronic device and vehicle, the main purpose of which is to solve the technical problem that highly reflective and curved objects reflect the radar laser signal, thereby causing the radar to generate multiple sets of reflection signals for the same position of the same object.

[0006] To achieve the above objectives, the present application discloses, in a first aspect, a method for processing radar data, the method comprising:

[0007] Read the coordinate values ​​of the obstacle point set in the radar data;

[0008] Extract the point corresponding to the first obstacle from the coordinate values;

[0009] Determine the second obstacle along the line connecting the laser radar and the obstacle point set within a range where the distance to the first obstacle is less than a first preset value;

[0010] In the radar data, the point cloud data of the second obstacle is filtered.

[0011] In some embodiments of the present application, within a range where the distance from the first obstacle is less than a first preset value, determining the second obstacle along a line connecting the laser radar and the obstacle point set includes:

[0012] Connect the laser radar to the midpoint of the obstacle, where the midpoint of the obstacle is the center point of the obstacle point set;

[0013] The obstacle point set area is expanded along the connection direction between the laser radar and the obstacle midpoint to generate an extended obstacle point set area. The obstacle point set area is the position occupied by the obstacle point set.

[0014] Extract the target overlap range that overlaps with the high-reflection area in the extended obstacle point set area;

[0015] When the proportion of the target overlap range within the extended obstacle point set area is greater than a second preset value, determining that the point corresponding to the first obstacle and the point corresponding to the second obstacle are less than the first preset value;

[0016] The second obstacle is determined based on a point that is farther away from the lidar.

[0017] In some embodiments of the present application, before extracting the target overlap range that overlaps with the high-reflection area in the expanded obstacle point set area, the method further includes:

[0018] Identify high-altitude objects within a preset altitude range in radar data;

[0019] Read the object shape corresponding to the high-altitude object;

[0020] Based on the shape of the object, calculate the area of ​​the object corresponding to the object shape;

[0021] Extract the target overlap range that overlaps with the high-reflection area in the extended obstacle point set area, including:

[0022] The target coincidence range that coincides with the target high-reflection area of ​​the object area is extracted in the expanded obstacle point set area.

[0023] In some embodiments of the present application, the obstacle point set area is expanded along the connection direction between the laser radar and the obstacle midpoint to generate an expanded obstacle point set area, including:

[0024] Generate a blank grid;

[0025] Project the obstacle point set area onto the blank grid to generate an obstacle grid;

[0026] The obstacle grid area is expanded along the connection direction between the laser radar and the obstacle midpoint to generate an extended grid, which includes an extended obstacle point set area.

[0027] In some embodiments of the present application, extracting the target overlap range that overlaps with the high-reflection area in the extended obstacle point set area includes:

[0028] The target coincidence range that coincides with the high-reflection area is extracted in the expanded grid.

[0029] In some embodiments of the present application, the obstacle grid area is expanded along the connection direction between the laser radar and the midpoint of the obstacle to generate an expanded grid, including:

[0030] Get the grid size of the blank grid;

[0031] Calculate the number of extended grids generated when the third preset value is extended along the connection direction between the laser radar and the midpoint of the obstacle;

[0032] The obstacle grid area is expanded by expanding the number of grids to generate an extended grid.

[0033] In some embodiments of the present application, after extracting the point corresponding to the first obstacle from the coordinate values, the method further includes:

[0034] Obtaining the point acquisition time corresponding to the first obstacle as the first acquisition time;

[0035] Obtaining a point acquisition time corresponding to the second obstacle as a second acquisition time, wherein the reflection signal corresponding to the second acquisition time and the reflection signal received at the first acquisition time come from the same transmitted signal;

[0036] Calculating a time difference between a first acquisition time and a second acquisition time;

[0037] If the time difference is less than the fourth preset value, and the distance difference between the first obstacle and the second obstacle is less than the first preset value;

[0038] Filter the point cloud data of the second obstacle.

[0039] In a second aspect of the present application, an embodiment provides a radar data processing device, the device comprising:

[0040] The reading module is used to read the coordinate values ​​of the obstacle point set in the radar data;

[0041] An extraction module, configured to extract a point corresponding to the first obstacle from the coordinate values;

[0042] a determination module, configured to determine a second obstacle along a line connecting the laser radar and the obstacle point set within a range where the distance from the first obstacle is less than a first preset value;

[0043] The filtering module is used to filter the point cloud data of the second obstacle in the radar data.

[0044] In a third aspect of the present application, an embodiment provides an electronic device, including:

[0045] 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 execute any one of the methods disclosed in the first aspect.

[0046] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the method of the first aspect when the computer program is executed by a processor.

[0047] In a fifth aspect embodiment of the present application, a vehicle is provided, in which the radar data processing device of the second aspect or the electronic device of the third aspect is mounted.

[0048] In summary, according to the technical solution disclosed in the present application, for reflected radar data, the present application first reads the coordinate values ​​of the obstacle point set in the radar data; secondly, extracts the point position corresponding to the first obstacle from the coordinate values; then, within a range where the distance from the first obstacle is less than a first preset value, determines the second obstacle along the direction of the line connecting the lidar and the obstacle point set; finally, filters the point cloud data of the second obstacle in the reflected radar data. For the obstacle point set obtained by the radar, the present application extracts the point position corresponding to the first obstacle from the obstacle point set. At the same time, when a highly reflective and curved object reflects the laser signal, the reflected laser signal is used as the reflected radar data. There is a certain distance difference between the second obstacle and the first obstacle, but the difference is small. Through the first preset value, it can be judged that the point cloud data corresponding to the second obstacle is generated by the reflection of the laser signal by the highly reflective object. By filtering the point cloud data of the second obstacle, the second obstacle generated by the reflection of the radar laser signal by the highly reflective and curved object can be accurately determined in the reflected radar data. By filtering the data related to the second obstacle, it is possible to avoid the radar's erroneous judgment of the obstacle distance under the interference of the erroneous obstacle.

[0049] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0051] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0052] FIG1 shows a flow chart of a radar data processing method provided by an embodiment of the present application;

[0053] FIG2 is a schematic diagram showing a first reflection motion trajectory of a laser signal provided in an embodiment of the present application;

[0054] FIG3 is a schematic diagram showing a method for determining the distance between a second obstacle and a first obstacle by using an overlap range according to an embodiment of the present application;

[0055] FIG4 is a schematic diagram showing another method of determining the distance between a second obstacle and a first obstacle by using an overlap range according to an embodiment of the present application;

[0056] FIG5 shows a structural diagram of a radar data processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0058] In order to solve the technical problem that highly reflective and curved objects reflect the radar laser signal, thereby causing the radar to generate multiple sets of reflection signals for the same position of the same object, this application provides the following embodiments to solve the above problem:

[0059] This embodiment provides a method for processing radar data. FIG1 is a flowchart of the method of this embodiment. The method of this embodiment may specifically include the following steps:

[0060] Step 101: Read the coordinate values ​​of the obstacle point set in the radar data.

[0061] During normal operation, the laser radar continuously emits laser signals in a preset direction. When the laser signal contacts an obstacle, it can be reflected back to the laser radar. The laser radar can calculate the distance between the laser radar and the obstacle by reading the time difference between the laser signal being emitted and reflected back to the laser radar, thereby realizing the distance measurement between the object equipped with the laser radar and the obstacle.

[0062] Because laser signals are emitted at multiple angles, when they are directed toward an obstacle, laser signals at different angles strike the obstacle at different locations. When the laser signal is reflected back to the lidar, each angle generates a distance value, and the reflected radar data forms a point cloud. It can be understood that each obstacle corresponds to an obstacle point set, and the distance between the obstacle and the lidar can be calculated using this obstacle point set.

[0063] Step 102: extract the point corresponding to the first obstacle from the coordinate values.

[0064] After determining the obstacle point set corresponding to the obstacle, this embodiment further extracts the first obstacle point. When the laser signal emitted by the lidar scans the obstacle, the laser signal reflected by the obstacle appears as a point cloud in the reflected radar data. Furthermore, the first obstacle here can refer to the entire obstacle, i.e., a complete point cloud, or it can refer to a portion of the obstacle structure within an obstacle. In this case, the first obstacle point corresponds to a partial point cloud within a larger point cloud.

[0065] Step 103 : within a range where the distance from the first obstacle is less than a first preset value, determine a second obstacle along a line connecting the laser radar and the obstacle point set.

[0066] When the laser signal emitted by a lidar strikes a highly reflective, curved object, part of the laser signal will be reflected by the object as a mirror, propagating along the reflection direction. When the laser signal propagates to another highly reflective object, it will be reflected back to the lidar. The specific movement process of the first reflection of the laser signal is shown in Figure 2, which discloses a schematic diagram of the movement trajectory of a laser signal. In path 1, when the laser signal emitted by the lidar moves to an obstacle, the obstacle surface is a highly reflective, curved object. At this time, part of the laser signal will be reflected by the object as the first reflection, propagating in the reflection direction, forming movement path 2. Path 2 also includes the light path formed by the first reflection, which is further reflected back to the lidar after the second reflection. However, for the lidar, the laser movement distance corresponding to the final reflected radar data obtained is the sum of paths 1 and 3. The radar signal reads the reflected signal according to the transmission angle of the transmitted signal. Therefore, the reflected radar data corresponding to paths 1 and 2 are paths 1 and 3 in the figure, where the length of path 3 is equal to the length of path 2.

[0067] Furthermore, since highly reflective, curved objects only reflect a portion of the laser signal, the reflected radar data corresponding to Path 1, which is the portion of light transmitted to the obstacle and directly reflected back to the lidar, corresponds to the location of the first obstacle. The set of obstacle points ultimately read by the lidar signal corresponds to the first and second obstacles, respectively. There is a certain distance difference between the first and second obstacles, which is equal to the value of Path 2. The length of Path 2 is limited by the signal strength of the reflected signal and has a limited range of values. For example, if the obstacle is an oncoming vehicle, the vehicle's windshield is a highly reflective object. The laser signal emitted by the onboard radar is partially reflected by the windshield and returns to the onboard radar after a certain reflection path. This can cause the lidar to mistakenly identify the presence of the first and second obstacles in the opposite direction, with a certain distance difference between them, namely Path 3. However, this distance difference is equal to Path 2. At the same time, the laser signals that identify the two obstacles are signals emitted from the same direction by the laser radar. Therefore, when they are reflected back to the laser radar, they will show the same direction. Therefore, when determining the second obstacle, along the direction of the line between the laser radar and the obstacle, it can be determined within a range less than the first preset value with respect to the first obstacle.

[0068] Step 104 : Filter the point cloud data related to the second obstacle in the radar data.

[0069] Having identified the first and second obstacles, it's known that the second obstacle is redundant radar data generated by the laser signal reflecting off a highly reflective, curved object. Therefore, in this embodiment, data related to the second obstacle is filtered to prevent it from interfering with the LiDAR's distance determination to the obstacle, allowing the relevant steps to be correctly executed based on the distance value.

[0070] For the obstacle point set acquired by the radar, the present application extracts the point position corresponding to the first obstacle from the obstacle point set. At the same time, when a highly reflective and curved object reflects the laser signal, the reflected laser signal is used as reflected radar data. There is a certain distance difference between the second obstacle and the first obstacle, but the difference is small. Through the first preset value, it can be judged that the point cloud data of the second obstacle is generated by the laser signal reflecting the highly reflective and curved object. By filtering the point cloud data of the second obstacle, the second obstacle generated by the reflection of the radar laser signal by the highly reflective and curved object can be accurately determined in the reflected radar data. By filtering the data related to the second obstacle, it is possible to avoid the interference of the erroneous obstacle and the incorrect judgment of the obstacle distance by the radar.

[0071] In some embodiments, within a data range where the distance to the first obstacle is less than a first preset value, determining the second obstacle along a line connecting the laser radar and the obstacle point set includes:

[0072] Connect the laser radar and the midpoint of the obstacle, with the midpoint of the obstacle being the center point of the obstacle point set; expand the obstacle point set area along the connection direction between the laser radar and the midpoint of the obstacle to generate an extended obstacle point set area, where the obstacle point set area is the position occupied by the obstacle point set; extract the target overlap range that overlaps with the high-reflection area in the extended obstacle point set area; when the proportion of the target overlap range in the extended obstacle point set area is greater than a second preset value, determine that the point position corresponding to the first obstacle and the point position corresponding to the second obstacle are less than the first preset value; and determine the second obstacle based on the point position that is farther away from the laser radar.

[0073] In the content of this embodiment, the relevant steps for determining the second obstacle are disclosed. If it is necessary to determine the second obstacle, it is first necessary to realize the first preset value between the first obstacle and the second obstacle. It should be noted that there is a certain difference between the first obstacle and the second obstacle, but the transmission signals of the two obstacle corresponding point sets obtained in the radar data are the same. It is when the same transmission signal is reflected back to the radar through different propagation paths that different point cloud data are generated. Among them, the first preset value can be represented in the radar data in the form of the difference between the point coordinates. At the same time, the first preset value is less than the rated transmittable distance value of the transmitted radar signal. In the content of this embodiment, a method for calculating the first preset value is further proposed, and a process for determining the second obstacle in combination with the first preset value is realized.

[0074] Specifically, the slope between the LiDAR and the obstacle midpoint can be calculated. The calculated obstacle midpoint can be represented by the average coordinate value of the points in the obstacle point set. The resulting slope can also be used to represent the emission or reflection angle corresponding to the laser signal and serve as the connection direction between the LiDAR and the obstacle midpoint. After determining the slope, the obstacle point set area is further expanded to generate an extended obstacle point set area. When identifying the obstacle point set, the first and second obstacles can be specifically identified from the obstacle point set. The target overlap range that overlaps with the highly reflective area is then calculated within the extended obstacle point set area.

[0075] It can be understood that when a lidar illuminates a highly reflective, curved object, some of the lidar signal is redirected by reflection from the object. As it propagates in the target direction, the reflected radar data ultimately reflected back to the radar contains the optical path value of the object in the target direction. In conjunction with the present embodiment, the actual distance between the first and second obstacles can be calculated based on the target overlap range between the expanded obstacle point set area generated by expanding the obstacle point set area and the highly reflective area. This is the length value shown as Path 2 or Path 3 in Figure 2.

[0076] When a laser signal strikes a highly reflective, curved object, a portion of the laser signal reflects back to the LiDAR, detecting the position of the first obstacle. Another portion propagates a distance in the direction of reflection before reflecting back to the LiDAR, detecting the position of the second obstacle. In this case, the positions of the first and second obstacles are actually the positions of the same object. The first obstacle's position accurately indicates the object's location, while the second obstacle's position indicates an incorrect position. Furthermore, the second obstacle's position may provide incorrect parameters for the distance calculation between the LiDAR and the object.

[0077] When the distance difference between the first obstacle point and the second obstacle is limited, the obstacle point set area is expanded, and the overlapping area range is calculated with the high-reflection area. It can be understood that the high-reflection area represents a highly reflective object at a high altitude. When a highly reflective and curved object changes the transmission direction of the laser signal, when the laser signal can return to the location of the radar, it often only relies on the high-altitude object to reflect the laser signal with the changed propagation direction for the second time, so that the laser signal can return to the laser radar. In some embodiments, the object corresponding to the high-reflection area can be an object at a high altitude, such as a high-altitude sign or billboard, that can reflect the signal. At the same time, there is a certain height limit for the high-reflection area, which is related to the effective propagation distance of the radar signal. When further calculating the ratio between the overlapping area and the expanded obstacle point set area, if the ratio is higher than a second preset value, it is determined that there is a high correlation between the points corresponding to the first obstacle and the points corresponding to the second obstacle and the highly reflective area. Since the first obstacle is generated by the laser signal moving at a relatively close distance, while the corresponding distance of the second obstacle is farther, the obstacle farther from the lidar is considered the second obstacle. This can be represented by a data range where the distance between the second obstacle and the first obstacle is less than the first preset value, and the second obstacle can be determined. The determined second obstacle is represented by the reflected signal generated by the laser signal emitted synchronously with the first obstacle, after being transmitted to the highly reflective and curved object and then reflected twice in the highly reflective area.

[0078] In one example, when a LiDAR is mounted on a vehicle, when the laser signal emitted by the LiDAR is transmitted to the windshield of an oncoming vehicle, part of the laser signal is reflected back to the LiDAR, providing the location of the windshield as the first obstacle. Due to the high reflectivity and curvature of the windshield, part of the laser signal will be reflected by the windshield in the direction of incidence, and then reflected again by the highly reflective area and reflected back to the LiDAR. Based on the position of the windshield, the sum of the lengths from the windshield to the highly reflective area and from the highly reflective area to the LiDAR is further provided as the second obstacle.

[0079] In addition to the distance determination method, this embodiment further provides distance determination based on an overlap range during the process of identifying the second obstacle. By expanding the obstacle point set area to generate an extended obstacle point set area, and calculating the target overlap range where the extended obstacle point set area overlaps with the high-reflectivity area, as shown in Figures 3 and 4, a schematic diagram of determining the distance between the second obstacle and the first obstacle based on the overlap range is disclosed. The proportion of the overlapped area within the extended obstacle point set area is further detected to calculate the distance between the second obstacle and the first obstacle. Furthermore, during the process of determining the second distance value, the region of interest (ROI) of the onboard radar can range from [20, 100 m] on the x-axis and [-1.3, 1.3] on the y-axis. When the second obstacle is present, the oncoming vehicle is driving slowly or stopped (0-3 m / s), and there is a speed difference (greater than 10 m / s) between the vehicle equipped with the current lidar and the oncoming vehicle.

[0080] In some embodiments, before extracting the target overlap range that overlaps with the high-reflection area in the expanded obstacle point set area, the method further includes:

[0081] Identify high-altitude objects within a preset altitude range in radar data; read the object shape corresponding to the high-altitude object; and calculate the object area corresponding to the object shape based on the object shape;

[0082] Extract the target overlap range that overlaps with the high-reflection area in the extended obstacle point set area, including:

[0083] The target coincidence range that coincides with the target high-reflection area of ​​the object area is extracted in the expanded obstacle point set area.

[0084] This embodiment further describes the area of ​​the high-reflection region. As in the example above, when the laser signal emitted by the lidar is transmitted to the front windshield of the oncoming vehicle, the laser signal is reflected by the front windshield. Simultaneously, the reflected laser signal is reflected again by the high-reflection region, returning the laser signal to the radar. Since the high-reflection region corresponds to a high-altitude object, and the lidar signal can also identify the high-altitude object when transmitting to it, the lidar can directly identify the high-altitude object. Therefore, this embodiment further proposes identifying the high-altitude object, thereby obtaining the target high-reflection region area of ​​the high-altitude object, and further obtaining other parameters of the high-altitude object, such as the layout angle and height above the ground. Furthermore, the target overlap range of the target high-reflection region and the expanded obstacle point set area is achieved.

[0085] This embodiment proposes a process for acquiring parameters for highly reflective areas. This process allows for the acquisition of parameters related to the target highly reflective area based on the object model, for example, an object less than 2 meters from its longest side. Specifically, the acquisition of the target highly reflective area allows for the calculation of the target overlap range with the expanded obstacle point set area, ensuring accurate calculation of the distance between the second obstacle and the first obstacle.

[0086] In some embodiments, the obstacle point set area is expanded along the connection direction between the laser radar and the obstacle midpoint to generate an expanded obstacle point set area, including:

[0087] Generate a blank grid; project the obstacle point set area onto the blank grid to generate an obstacle grid, which serves as the obstacle point set area; expand the obstacle grid area along the connection direction between the laser radar and the obstacle midpoint to generate an extended grid, which includes the extended obstacle point set area.

[0088] This embodiment proposes gridding the obstacle point set acquired by the lidar. Based on the position of each obstacle point, each obstacle point is projected onto the corresponding position of a blank grid to generate an obstacle grid. The obstacle grid area is further expanded along the slope value. In other words, this embodiment expands the obstacle grid in a grid format during projection.

[0089] Using the technical solution of this embodiment, when projecting the obstacle point set area, the grid can be quickly expanded as a whole, improving the rapid acquisition of the expanded obstacle point set area. Furthermore, because the obstacle point set is projected onto the grid, the expanded grid generated by grid expansion includes the expanded obstacle point set area, and the area of ​​the expanded grid is slightly larger than the expanded obstacle point set area.

[0090] In some embodiments, extracting a target overlap range that overlaps with a high-reflection area in the extended obstacle point set area includes:

[0091] The target coincidence range that coincides with the high-reflection area is extracted in the expanded grid.

[0092] After the obstacle point set area is projected onto the blank grid and expanded to generate the extended grid, in the process of calculating the target overlap range, the target overlap range that overlaps with the high-reflection area is directly calculated using the area of ​​the grid.

[0093] Calculating the target overlap range in a grid format and area can streamline the calculation process compared with the overlap range of the extended obstacle point set area composed of points and the high-reflection area. It can quickly obtain the target overlap range while ensuring the calculation results.

[0094] In some embodiments, the obstacle grid area is expanded along the connection direction between the laser radar and the midpoint of the obstacle to generate an expanded grid, including:

[0095] Obtaining the grid size of the blank grid; calculating the number of extended grids generated when the third preset value is extended along the connection direction between the laser radar and the midpoint of the obstacle; and expanding the obstacle grid area by the number of extended grids to generate an extended grid.

[0096] This embodiment further illustrates the expansion steps. During the expansion process, the grid can be expanded along the slope value. After the obstacle point set area is projected onto the blank grid, the obstacle point set is represented as a grid. Therefore, to adapt the format, this embodiment further proposes that during the expansion process, the number of grids to be expanded is determined by a third preset value. The third preset value can be expressed as a grid distance. Combined with this grid distance, the number of grids required for the slope value can be further calculated, thereby generating an expanded grid for the obstacle grid.

[0097] In some embodiments, after extracting the point corresponding to the first obstacle from the coordinate values, the method further includes:

[0098] Obtain a point acquisition time corresponding to the first obstacle as the first acquisition time; obtain a point acquisition time corresponding to the second obstacle as the second acquisition time, where the reflection signal corresponding to the second acquisition time and the reflection signal received at the first acquisition time are from the same transmitted signal; calculate a time difference between the first acquisition time and the second acquisition time; if the time difference is less than a fourth preset value and the distance difference between the first obstacle and the second obstacle is less than the first preset value; filter the point cloud data of the second obstacle.

[0099] In one embodiment of the present invention, coordinate values ​​of an obstacle point set are read from radar data; a point corresponding to a first obstacle is extracted from the coordinate values; a laser radar is connected to a midpoint of the obstacle, where the midpoint of the obstacle is the center point of the obstacle point set; a blank grid is generated; an obstacle point set area is projected onto the blank grid to generate an obstacle grid; the obstacle grid area is expanded along a connection direction between the laser radar and the midpoint of the obstacle to generate an extended grid, the extended grid including an extended obstacle point set area, where the obstacle point set area is a position occupied by the obstacle point set; a target overlap range that overlaps with a high-reflection area is extracted from the extended obstacle point set area; when a ratio of the target overlap range within the extended obstacle point set area is greater than a second preset value, it is determined that the point corresponding to the first obstacle and the point corresponding to the second obstacle are less than the first preset value; the second obstacle is determined based on the point that is farther away from the laser radar; and point cloud data of the second obstacle is filtered within the radar data.

[0100] In one embodiment of the present invention, coordinate values ​​of an obstacle point set are read from radar data; a point corresponding to a first obstacle is extracted from the coordinate values; a laser radar is connected to a midpoint of the obstacle, where the midpoint of the obstacle is the center point of the obstacle point set; a blank grid is generated; an obstacle point set area is projected onto the blank grid to generate an obstacle grid; the obstacle grid area is expanded along the connection direction of the laser radar and the midpoint of the obstacle to generate an extended grid, the extended grid including an extended obstacle point set area, where the obstacle point set area is the position occupied by the obstacle point set; high-altitude objects within a preset altitude range in the radar data are identified; an object shape corresponding to the high-altitude object is read; an object area corresponding to the object shape is calculated based on the object shape; a target overlap range that overlaps with a target high-reflectivity area of ​​the object area is extracted from the extended obstacle point set area; when a ratio of the target overlap range within the extended obstacle point set area is greater than a second preset value, it is determined that the point corresponding to the first obstacle and the point corresponding to the second obstacle are less than the first preset value; the second obstacle is determined based on the point that is farther away from the laser radar; and point cloud data of the second obstacle is filtered within the radar data.

[0101] In one embodiment of the present invention, coordinate values ​​of an obstacle point set are read from radar data; a point corresponding to a first obstacle is extracted from the coordinate values; a laser radar is connected to a midpoint of the obstacle, where the midpoint of the obstacle is the center point of the obstacle point set; a blank grid is generated; an obstacle point set area is projected onto the blank grid to generate an obstacle grid; the obstacle grid area is expanded along a connection direction between the laser radar and the midpoint of the obstacle to generate an extended grid, the extended grid including an extended obstacle point set area, where the obstacle point set area is a position occupied by the obstacle point set; a target overlap range that overlaps with a high-reflection area is extracted from the extended grid; when a ratio of the target overlap range within the extended obstacle point set area is greater than a second preset value, it is determined that the point corresponding to the first obstacle and the point corresponding to the second obstacle are less than the first preset value; the second obstacle is determined based on the point that is farther away from the laser radar; and point cloud data of the second obstacle is filtered within the radar data.

[0102] In one embodiment of the present invention, coordinate values ​​of an obstacle point set are read from radar data; a point corresponding to a first obstacle is extracted from the coordinate values; a laser radar is connected to a midpoint of the obstacle, where the midpoint of the obstacle is the center point of the obstacle point set; an obstacle point set region is expanded along the connection direction of the laser radar and the midpoint of the obstacle to generate an extended obstacle point set region, where the obstacle point set region is the position occupied by the obstacle point set; high-altitude objects within a preset height range in the radar data are identified; an object shape corresponding to the high-altitude object is read; an object area corresponding to the object shape is calculated based on the object shape; a target overlap range that overlaps with a high-reflective area is extracted from the extended grid; when a ratio of the target overlap range within the extended obstacle point set region is greater than a second preset value, it is determined that the point corresponding to the first obstacle and the point corresponding to the second obstacle are less than the first preset value; a second obstacle is determined based on the point position farther away from the laser radar; and point cloud data of the second obstacle is filtered within the radar data.

[0103] In one embodiment of the present invention, coordinate values ​​of an obstacle point set are read from radar data; a point corresponding to a first obstacle is extracted from the coordinate values; a laser radar is connected to a midpoint of the obstacle, where the midpoint of the obstacle is the center point of the obstacle point set; a blank grid is generated; an obstacle point set area is projected onto the blank grid to generate an obstacle grid; a grid size of the blank grid is obtained; the number of extended grids generated when a third preset value is extended along a direction connecting the laser radar and the midpoint of the obstacle is calculated; the obstacle grid area is expanded by the number of extended grids to generate an extended grid, the extended grid including an extended obstacle point set area, where the obstacle point set area is a position occupied by the obstacle point set; a target overlap range that overlaps with a high-reflection area is extracted from the extended grid; when a ratio of the target overlap range within the extended obstacle point set area is greater than a second preset value, determining that the point corresponding to the first obstacle and the point corresponding to the second obstacle are less than the first preset value; determining the second obstacle based on the point that is farther away from the laser radar; and filtering point cloud data of the second obstacle within the radar data.

[0104] In one embodiment of the present invention, coordinate values ​​of an obstacle point set are read from radar data; a point corresponding to a first obstacle is extracted from the coordinate values; a laser radar is connected to a midpoint of the obstacle, with the midpoint of the obstacle being the center point of the obstacle point set; an area of ​​the obstacle point set is expanded along the direction of connection between the laser radar and the midpoint of the obstacle to generate an extended obstacle point set area, where the obstacle point set area is the position occupied by the obstacle point set; high-altitude objects within a preset height range in the radar data are identified; an object shape corresponding to the high-altitude object is read; an object area corresponding to the object shape is calculated based on the object shape; a target overlap range that overlaps with a target high-reflectivity area of ​​the object area is extracted from the extended obstacle point set area; when a ratio of the target overlap range within the extended obstacle point set area is greater than a second preset value, it is determined that the point corresponding to the first obstacle and the point corresponding to the second obstacle are less than the first preset value; a second obstacle is determined based on a point that is farther away from the laser radar; and point cloud data of the second obstacle is filtered within the radar data.

[0105] In some embodiments of the present invention, the obstacle grid area is expanded along the connection direction of the laser radar and the midpoint of the obstacle to generate an extended grid, including: obtaining the grid size of the blank grid; calculating the number of extended grids generated when the third preset value is expanded along the connection direction of the laser radar and the midpoint of the obstacle; and expanding the obstacle grid area by the number of extended grids to generate an extended grid.

[0106] In some embodiments of the present invention, the coordinate values ​​of an obstacle point set are read from radar data; the point corresponding to the first obstacle is extracted from the coordinate values; the acquisition time of the point corresponding to the first obstacle is obtained as the first acquisition time; the acquisition time of the point corresponding to the second obstacle is obtained as the second acquisition time, where the reflected signal corresponding to the second acquisition time and the reflected signal received at the first acquisition time are from the same transmitted signal; the time difference between the first acquisition time and the second acquisition time is calculated; if the time difference is less than a fourth preset value and the distance difference between the first obstacle and the second obstacle is less than the first preset value, the point cloud data of the second obstacle is filtered. Within a range where the distance from the first obstacle is less than the first preset value, the second obstacle is determined along the direction of the line connecting the laser radar and the obstacle point set; and the point cloud data of the second obstacle is filtered within the radar data.

[0107] This embodiment provides another solution for filtering radar data. As shown in Figure 2, when the laser signal reaches a highly reflective, curved object after passing through path 1, part of the laser signal is reflected back to the lidar. The time point at which this part of the laser signal is reflected back to the lidar is used as the first acquisition time. Another part of the laser signal is reflected back to the lidar after passing through path 2 based on path 1. The time point at which this part of the laser signal is reflected back to the lidar is used as the second acquisition time. The time difference between the first and second acquisition times is combined with the distance difference between the first and second obstacles to filter the second obstacle data.

[0108] In combination with a radar data processing method in the above embodiment, as shown in FIG5 , this embodiment further provides a radar data processing device structure diagram, including:

[0109] A reading module 51 is used to read the coordinate values ​​of the obstacle point set in the radar data;

[0110] An extraction module 52 is configured to extract a point corresponding to the first obstacle from the coordinate values;

[0111] A determination module 53 is configured to determine a second obstacle along a line connecting the laser radar and the obstacle point set within a range where the distance from the first obstacle is less than a first preset value;

[0112] The filtering module 54 is configured to filter the point cloud data of the second obstacle in the radar data.

[0113] In some embodiments, the determination module 53 is specifically configured to:

[0114] Connecting the laser radar to the midpoint of the obstacle, where the midpoint of the obstacle is the center point of the obstacle point set;

[0115] Expanding the obstacle point set area along the connection direction between the laser radar and the obstacle midpoint to generate an expanded obstacle point set area, where the obstacle point set area is the position occupied by the obstacle point set;

[0116] Extracting a target overlap range that overlaps with a high-reflection area in the extended obstacle point set area;

[0117] When the proportion of the target overlap range within the expanded obstacle point set area is greater than a second preset value, determining that the point corresponding to the first obstacle and the point corresponding to the second obstacle are less than the first preset value;

[0118] The second obstacle is determined based on a point that is farther away from the laser radar.

[0119] In some embodiments, the determination module 53 is further configured to:

[0120] Identifying high-altitude objects within a preset altitude range in the radar data;

[0121] Reading the object shape corresponding to the high-altitude object;

[0122] Based on the object shape, calculating the object area corresponding to the object shape;

[0123] Extracting the target overlap range that overlaps with the high-reflection area in the extended obstacle point set area includes:

[0124] A target overlap range that overlaps with the target high-reflection area of ​​the object area is extracted from the extended obstacle point set area.

[0125] In some embodiments, the determination module 53 is specifically configured to:

[0126] Generate a blank grid;

[0127] Projecting the obstacle point set region onto the blank grid to generate an obstacle grid, wherein the obstacle grid serves as the obstacle point set region;

[0128] The obstacle grid area is expanded along a connection direction between the laser radar and the obstacle midpoint to generate an extended grid, where the extended grid includes the extended obstacle point set area.

[0129] In some embodiments, the determination module 53 is specifically configured to:

[0130] The target overlap range that overlaps with the high-reflection area is extracted from the expanded grid.

[0131] In some embodiments, the determination module 53 is specifically configured to:

[0132] Obtaining the grid size of the blank grid;

[0133] Calculate the number of extended grids generated when the third preset value is extended along the connection direction between the laser radar and the midpoint of the obstacle;

[0134] The obstacle grid area is expanded by the number of expanded grids to generate an expanded grid.

[0135] In some embodiments, the filtering module 54 is further configured to:

[0136] Obtaining a point acquisition time corresponding to the first obstacle as a first acquisition time;

[0137] Obtaining the point acquisition time corresponding to the second obstacle as the second acquisition time;

[0138] Calculating a time difference between the first acquisition time and the second acquisition time;

[0139] If the time difference is less than a fourth preset value, and the distance difference between the first obstacle and the second obstacle is less than a first preset value;

[0140] Filtering the data related to the second obstacle.

[0141] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various implementation scenarios of the present application.

[0142] Based on the above-mentioned method shown in Figure 1 and the virtual device embodiment shown in Figure 5, in order to achieve the above-mentioned purpose, the embodiment of the present application also provides an electronic device that can be configured on the vehicle (such as a new energy vehicle) side, and the device includes at least one processor and a memory communicatively connected to the at least one processor; the memory is used to store instructions that can be executed by at least one processor, and the instructions are executed by at least one processor; the processor is used to execute a computer program to implement the above-mentioned method shown in Figure 1.

[0143] In some embodiments of the present application, the physical device may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a Wi-Fi module, etc. The user interface may include a display, an input unit such as a keyboard, etc. Optional user interfaces may also include a USB interface, a card reader interface, etc. The network interface may include a standard wired interface, a wireless interface (such as a Wi-Fi interface), etc. in some embodiments of the present application.

[0144] Those skilled in the art will understand that the above-mentioned physical device structure provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or a combination of certain components, or different component arrangements.

[0145] Based on the method shown in Figure 1 above, an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, a method corresponding to any embodiment is implemented. The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the above-mentioned physical device and supports the operation of information processing programs and other software and / or programs. The network communication module is used to realize communication between the components inside the storage medium, as well as communication with other hardware and software in the information processing physical device.

[0146] Based on the above electronic device, an embodiment of the present application further provides a vehicle, which may specifically include: the device shown in FIG5 or the above electronic device. The vehicle may specifically be a new energy vehicle or a traditional vehicle.

[0147] Through the above description of the implementation method, those skilled in the art can clearly understand that this application can be implemented using software plus the necessary general hardware platform, or it can be implemented through hardware. By applying the solution of this embodiment, compared with the current existing technology, this embodiment first reads the coordinate values ​​of the obstacle point set in the radar data; secondly, extracts the point corresponding to the first obstacle from the coordinate values; then, within the data range where the distance value to the first obstacle is less than a first preset value, determines the second obstacle along the direction of the line connecting the lidar and the obstacle point set; finally, filters the point cloud data related to the second obstacle in the reflected radar data. For the obstacle point set acquired by the radar, the present application extracts the point position corresponding to the first obstacle from the obstacle point set. At the same time, when a highly reflective and curved object reflects a laser signal, the reflected laser signal is used as reflected radar data. There is a certain distance difference between the second obstacle and the first obstacle, but the difference is small. The first preset value can be used to determine that the relevant data of the second obstacle is generated by the laser signal reflecting the highly reflective and curved object. By filtering the relevant data of the second obstacle, the second obstacle generated by the reflection of the radar laser signal by the highly reflective and curved object can be accurately determined in the reflected radar data. By filtering the data related to the second obstacle, it is possible to avoid the radar's incorrect judgment of the obstacle distance under the interference of high-error obstacles.

[0148] 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 entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a..." do not exclude the presence of other identical elements in the process, method, article or device that includes the elements.

[0149] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand and implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments described herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. A radar data processing method, characterized in that: include: Read the coordinate values ​​of the obstacle point set in the radar data; Extracting the point corresponding to the first obstacle from the coordinate values; Determine a second obstacle along a line connecting the laser radar and the obstacle point set within a range where the distance from the first obstacle is less than a first preset value; The point cloud data of the second obstacle is filtered within the radar data.

2. The method according to claim 1, characterized in that The determining of the second obstacle along a line connecting the laser radar and the obstacle point set within a range where the distance from the first obstacle is less than a first preset value includes: Connecting the laser radar to the midpoint of the obstacle, where the midpoint of the obstacle is the center point of the obstacle point set; Expanding the obstacle point set area along the connection direction between the laser radar and the obstacle midpoint to generate an expanded obstacle point set area, where the obstacle point set area is the position occupied by the obstacle point set; Extracting a target overlap range that overlaps with a high-reflection area in the extended obstacle point set area; When the proportion of the target overlap range within the expanded obstacle point set area is greater than a second preset value, determining that the point corresponding to the first obstacle and the point corresponding to the second obstacle are less than the first preset value; The second obstacle is determined based on a point that is farther away from the laser radar.

3. The method according to claim 2, characterized in that Before extracting the target overlap range that overlaps with the high-reflection area in the extended obstacle point set area, the method further includes: Identifying high-altitude objects within a preset altitude range in the radar data; Reading the object shape corresponding to the high-altitude object; Based on the object shape, calculating the object area corresponding to the object shape; Extracting the target overlap range that overlaps with the high-reflection area in the extended obstacle point set area includes: A target overlap range that overlaps with the target high-reflection area of ​​the object area is extracted from the extended obstacle point set area.

4. The method according to any one of claims 2 to 3, characterized in that The step of expanding the obstacle point set area along the connection direction between the laser radar and the obstacle midpoint to generate an expanded obstacle point set area includes: Generate a blank grid; Projecting the obstacle point set area onto the blank grid to generate an obstacle grid; The obstacle grid area is expanded along a connection direction between the laser radar and the obstacle midpoint to generate an extended grid, where the extended grid includes the extended obstacle point set area.

5. The method according to claim 4, characterized in that Extracting the target overlap range that overlaps with the high-reflection area in the extended obstacle point set area includes: The target overlap range that overlaps with the high-reflection area is extracted from the expanded grid.

6. The method according to any one of claims 4 to 5, characterized in that The step of expanding the obstacle grid area along the connection direction between the laser radar and the obstacle midpoint to generate an expanded grid includes: Obtaining the grid size of the blank grid; Calculate the number of extended grids generated when the third preset value is extended along the connection direction between the laser radar and the midpoint of the obstacle; The obstacle grid area is expanded by the number of expanded grids to generate an expanded grid.

7. The method according to any one of claims 1 to 6, characterized in that After extracting the point corresponding to the first obstacle from the coordinate values, the method further includes: Obtaining a point acquisition time corresponding to the first obstacle as a first acquisition time; Obtaining a point acquisition time corresponding to a second obstacle as a second acquisition time, wherein the reflection signal corresponding to the second acquisition time and the reflection signal received at the first acquisition time are from the same transmitted signal; Calculating a time difference between the first acquisition time and the second acquisition time; If the time difference is less than a fourth preset value, and the distance difference between the first obstacle and the second obstacle is less than a first preset value; The point cloud data of the second obstacle is filtered.

8. A radar data processing device, characterized in that: include: The reading module is used to read the coordinate values ​​of the obstacle point set in the radar data; An extraction module, configured to extract a point corresponding to the first obstacle from the coordinate values; a determination module, configured to determine a second obstacle along a line connecting the laser radar and the obstacle point set within a range where the distance from the first obstacle is less than a first preset value; A filtering module is used to filter the point cloud data of the second obstacle in the radar data.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed 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 method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

11. A vehicle, characterized in that: The vehicle is equipped with the device according to claim 8 or the electronic device according to claim 9.

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