CN116520325A - Real target detection method, device, equipment and storage medium - Google Patents
Real target detection method, device, equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention discloses a real target detection method, a device, equipment and a storage medium. According to the method, a transmitting signal sent by the trapezoidal wave radar to the obstacle target and a checking signal sent by the sawtooth wave radar to the obstacle target are obtained, then speed information of the obstacle target and distance information between the obstacle target and the speed information of the obstacle target are determined according to the transmitting signal, then intermediate tolerance frequency and checking tolerance frequency are determined according to the transmitting signal and the checking signal, and then a real target in the obstacle target is determined according to the speed information, the distance information, the intermediate tolerance frequency and the checking tolerance frequency. According to the invention, the intermediate tolerance frequency and the checking tolerance frequency are determined according to the transmitting signal and the checking signal, so that the real target in the obstacle target can be detected for the first time through the intermediate tolerance frequency, the calculation workload of the real target detection is reduced, and then the real target is detected again through the checking tolerance frequency, thereby improving the accuracy of the real target detection and eliminating false targets accurately.
Description
Technical Field
The present invention relates to the field of target detection technologies, and in particular, to a method, an apparatus, a device, and a storage medium for detecting a real target.
Background
With the rapid development of social economy, automobiles are continuously driven into modernization, the safety and the intelligence of automobile driving are becoming the great importance of people, wherein traffic accidents caused by collision are one of the safety consideration ranges, and in order to alleviate the reaction delay and improper operation of drivers, the automatic driving technology such as a driving assistance system and the like appearing at the present stage becomes the research and development emphasis of various countries, wherein an anti-collision device based on millimeter wave radar has high recognition rate, is not easily affected by environment, and has higher sensitivity and anti-interference performance, so that the anti-collision device is one of the first choice of the intelligent anti-collision device, but how to detect real targets from the millimeter wave radar and analyze physical information of target environments is one of the main problems to be considered. Therefore, how to improve the accuracy of real target detection and accurately remove false targets becomes a problem to be solved urgently.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a real target detection method, a device, equipment and a storage medium, and aims to solve the technical problem of how to improve the accuracy of real target detection and accurately remove false targets.
In order to achieve the above object, the present invention provides a real object detection method comprising the steps of:
optionally, the step of determining the speed information of the obstacle target and the distance information between the obstacle target according to the transmission signal specifically includes:
determining a transmission center frequency according to the transmission signal and a transmission echo signal corresponding to the transmission signal, wherein the transmission center frequency comprises: rising center frequency and falling center frequency;
and determining speed information of the obstacle target and distance information between the obstacle target and the obstacle target according to the ascending center frequency and the descending center frequency.
Optionally, the transmitting center frequency further includes: an intermediate center frequency;
the step of determining an intermediate tolerance frequency and a test tolerance frequency from the transmit signal and the test signal comprises:
determining a test center frequency according to the test signal and a test echo signal corresponding to the test signal;
and determining an intermediate tolerance frequency and a checking tolerance frequency according to the intermediate center frequency and the checking center frequency.
Optionally, the step of determining the intermediate tolerance frequency and the checking tolerance frequency according to the intermediate center frequency and the checking center frequency specifically includes:
determining a first intermediate frequency error based on the intermediate center frequency and an intermediate velocity resolution of the transmit signal;
determining a first inspection frequency error based on the inspection center frequency, a speed resolution of the inspection signal, and a distance resolution of the inspection signal;
determining a second intermediate frequency error based on the intermediate center frequency and a rising velocity resolution of the transmit signal;
determining a second inspection frequency error based on the inspection center frequency, the rising speed resolution, and the distance resolution of the inspection signal;
determining an intermediate tolerance frequency from the first intermediate frequency error and the second intermediate frequency error;
and determining a checking tolerance frequency according to the first checking frequency error and the second checking frequency error.
Optionally, the step of determining a real target in the obstacle targets according to the speed information, the distance information, the intermediate tolerance frequency and the checking tolerance frequency specifically includes:
determining a target intermediate center frequency and a target inspection center frequency according to the speed information, the distance information, the intermediate center frequency and the inspection center frequency;
determining an intermediate error result and a checking error result according to the target intermediate center frequency and the target checking center frequency;
and determining a real target in the obstacle targets according to the intermediate error result, the checking error result, the intermediate tolerance frequency and the checking tolerance frequency.
Optionally, the step of determining a target intermediate center frequency and a target verification center frequency according to the speed information, the distance information, the intermediate center frequency and the verification center frequency specifically includes:
substituting the speed information and the distance information into the intermediate center frequency to obtain a target intermediate center frequency;
substituting the speed information and the distance information into the checking center frequency to obtain a target checking center frequency.
Optionally, the step of determining a real target of the obstacle targets according to the intermediate error result, the inspection error result, the intermediate tolerance frequency and the inspection tolerance frequency specifically includes:
obtaining a target intermediate error result of which the intermediate error result is within the intermediate tolerance frequency;
acquiring an initial real target corresponding to the target intermediate error result;
when the initial real target verification fails, acquiring a target verification error result of which the verification error result is within the verification tolerance frequency;
and determining a real target in the obstacle targets according to the target inspection error result.
In addition, in order to achieve the above object, the present invention also provides a real object detection apparatus including:
the signal acquisition module is used for acquiring a transmitting signal sent by the trapezoidal wave radar to the obstacle target and a checking signal sent by the sawtooth wave radar to the obstacle target;
an information determining module for determining speed information of the obstacle target and distance information between the obstacle target and the obstacle target according to the transmission signal;
a frequency determination module for determining an intermediate tolerance frequency and a verification tolerance frequency from the transmit signal and the verification signal;
and the target detection module is used for determining a real target in the obstacle targets according to the speed information, the distance information, the intermediate tolerance frequency and the checking tolerance frequency.
In addition, in order to achieve the above object, the present invention also proposes a real object detection apparatus including: a memory, a processor and a real object detection program stored on the memory and executable on the processor, the real object detection program being configured to implement the steps of the real object detection method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a real object detection program which, when executed by a processor, implements the steps of the real object detection method as described above.
According to the method, a transmitting signal sent by the trapezoidal wave radar to the obstacle target and a checking signal sent by the sawtooth wave radar to the obstacle target are obtained, then speed information of the obstacle target and distance information between the obstacle target and the speed information of the obstacle target are determined according to the transmitting signal, then intermediate tolerance frequency and checking tolerance frequency are determined according to the transmitting signal and the checking signal, and then a real target in the obstacle target is determined according to the speed information, the distance information, the intermediate tolerance frequency and the checking tolerance frequency. According to the invention, the intermediate tolerance frequency and the checking tolerance frequency are determined according to the transmitting signal and the checking signal, so that the real target in the obstacle target can be detected for the first time through the intermediate tolerance frequency, the calculation workload of the real target detection is reduced, and then the real target is detected again through the checking tolerance frequency, thereby improving the accuracy of the real target detection and eliminating false targets accurately.
Drawings
FIG. 1 is a schematic diagram of a real object detection device of a hardware runtime environment according to an embodiment of the present invention;
FIG. 2 is a flowchart of a real object detection method according to a first embodiment of the present invention;
FIG. 3 is a waveform diagram of a transmit signal, a transmit echo signal, a test signal, and a test echo signal according to an embodiment of the real object detection method of the present invention;
FIG. 4 is a flowchart of a real object detection method according to a second embodiment of the present invention;
FIG. 5 is a flowchart of a third embodiment of a real object detection method according to the present invention;
FIG. 6 is a graph showing a rising phase of a transmitted signal according to an embodiment of the present invention;
FIG. 7 is a spectrum diagram of a falling phase of a transmission signal according to an embodiment of the real object detection method of the present invention;
FIG. 8 is a graph showing a velocity profile of a target distance at an intermediate stage of a transmitted signal according to an embodiment of the real target detection method of the present invention;
FIG. 9 is a graph showing a target distance velocity profile of a test signal according to an embodiment of the real target detection method of the present invention;
fig. 10 is a block diagram showing the structure of a first embodiment of a real object detection apparatus according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a real object detection device of a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the real object detection apparatus may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 does not constitute a limitation of the real object detection apparatus, and may include more or fewer components than shown, or may combine certain components, or may be arranged in different components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a real object detection program may be included in the memory 1005 as one type of storage medium.
In the real object detection apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the real target detection apparatus of the present invention may be provided in the real target detection apparatus, which invokes the real target detection program stored in the memory 1005 through the processor 1001 and executes the real target detection method provided by the embodiment of the present invention.
Based on the above-mentioned real target detection apparatus, an embodiment of the present invention provides a real target detection method, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the real target detection method of the present invention.
In this embodiment, the real target detection method includes the following steps:
step S10: acquiring a transmitting signal sent by a trapezoidal wave radar to an obstacle target and a checking signal sent by a sawtooth wave radar to the obstacle target;
it should be noted that, the execution body of the embodiment may be a computing service device with functions of data processing, network communication and program running, such as a mobile phone, a tablet computer, a personal computer, or an electronic device or a real object detection device capable of implementing the above functions. The present embodiment and the following embodiments will be described below by taking the real object detection apparatus as an example.
It is to be understood that the present embodiment can be applied to a device equipped with a ladder wave radar or a saw wave radar, which can resolve a true obstacle target, for example: the present embodiment is not particularly limited to such devices as automobiles, unmanned aerial vehicles, and the like. The obstacle target refers to a target around the above-described apparatus, for example: vehicles in a preset distance in front of and behind the automobile, obstacles in front of and behind the automobile, and the like.
It should be understood that a trapezoidal wave radar, which is a radar capable of emitting a trapezoidal wave to an obstacle target for measuring the distance and speed of the obstacle target, and a saw-tooth wave radar, which is a radar capable of emitting a saw-tooth wave to the obstacle target, belong to millimeter wave radars. Referring to fig. 3, fig. 3 is a waveform diagram of a transmit signal, a transmit echo signal, a test signal, and a test echo signal according to an embodiment of the real object detection method of the present invention. As shown in fig. 3, the abscissa T represents time, the ordinate f represents frequency, the solid line portion before time T2 is a transmission signal, the solid line portion after time T2 is a test signal, the broken line portion before time T2 is a transmission echo signal, and the broken line portion after time T2 is a test echo signal. The present embodiment does not particularly limit parameters such as the frequency, amplitude, etc. of the transmission signal and the inspection signal.
Step S20: determining speed information of the obstacle target and distance information between the obstacle target and the obstacle target according to the transmitting signal;
it is understood that the speed information refers to the radial speed of the obstacle target to the millimeter wave radar, and the distance information refers to the distance between the device on which the millimeter wave radar is mounted and the obstacle target. The speed information of the obstacle target and the distance information between the obstacle target can be determined according to the transmitting signal and the transmitting echo signal returned after the transmitting signal passes through the obstacle target.
Further, in order to accurately determine the speed information and the distance information, in the present embodiment, the step S20 includes: determining a transmission center frequency according to the transmission signal and a transmission echo signal corresponding to the transmission signal, wherein the transmission center frequency comprises: rising center frequency and falling center frequency; and determining speed information of the obstacle target and distance information between the obstacle target and the obstacle target according to the ascending center frequency and the descending center frequency.
It should be understood that the transmit signal in fig. 3 refers to the solid line portion before time T2, the transmit echo signal refers to the dashed line portion before time T2, the transmit signal in fig. 3 may include a rising phase, an intermediate phase, and a falling phase, the rising phase refers to the phase of increasing frequency as a function of time, i.e., T 1 The intermediate phase refers to a phase in which the frequency is unchanged, and the descending phase refers to a phase in which the frequency is reduced. Accordingly, the transmit center frequency may include a rising center frequency, an intermediate center frequency, and a falling center frequency, f in FIG. 3 bu Represents the rising center frequency, f bs Represents the intermediate center frequency, f bd Indicating a decreasing center frequency.
It will be appreciated that the transmit center frequency may be determined from the transmit signal and the transmit echo signal corresponding to the transmit signal, and the transmit signal at the rising phase in this embodiment may be expressed as:the transmit signal at the intermediate stage can be expressed as: />The transmit signal for the fall phase can be expressed as: />The test signal may be expressed as: />Wherein mu 1 For the modulation slope in the rising phase, satisfy μ 1 ＝B/T 1 ，μ 2 For the modulation slope in the falling phase, satisfy μ 2 ＝2B/T 1 ，μ 3 To check the modulation slope of the signal, satisfy μ 3 ＝B/T 2 ，A 0 To transmit the signal and verify the amplitude of the signal, B is the effective modulation bandwidth of the signal, f 0 For the start frequency of the transmit signal and the check signal. Assume that the distance information between the obstacle target and the target is R 0 The speed information of the obstacle target is V 0 The instantaneous delay in the signal contacting the obstacle target may be indicative of: />Wherein c is the speed of light.
Specifically, the original time T is changed to T-2T 1 An echo signal expression at the receiving antenna may be obtained. The transmit echo signal has a delay value τ of 2 (R 0 +v 0 t)/c, the transmit echo signal corresponding to the transmit signal at the rising stage in this embodiment can be expressed as: the transmit echo signal corresponding to the transmit signal at the intermediate stage may be expressed as:the transmit echo signal of the transmit signal at the falling phase may be expressed as: /> The test echo signal corresponding to the test signal may be expressed as: /> Wherein (1)>For initial random phase of the transmitted signal, the range is [ -pi, pi]。
It will be appreciated that mixing the transmit signal with the transmit echo signal occurs due to V 0 Far less than the speed of light c, the rising center frequency can be found as:the intermediate center frequency is: />The center frequency of the dip is: />The test center frequency is: />
In a specific implementation, since the saw-tooth wave, that is, the inspection signal is only an inspection part, the distance and speed information of the obstacle target cannot be measured, and the calculation amount is too large when the saw-tooth wave is added, the distance and speed physical information is extracted by using the trapezoidal wave FMCW for the single obstacle target, the reason of adding the saw-tooth wave is to eliminate the false target, the resolution of the millimeter wave radar is improved, and the distance R for the single target 0 The expression is:velocity information v 0 The expression is: />
For detecting a plurality of obstacle targets, the sawtooth wave detection section, namely the detection signal and the trapezoidal wave, namely the emission signal exert effect, so that false targets are easier to identify, and the specific working principle is as follows, the ascending center frequency f is obtained by mixing the N obstacle target emission signals and the emission echo signals bui The intermediate center frequency is f bsi The center frequency is lowered to f bdi Checking the center frequency to be f bci Wherein i is more than or equal to 1 and less than or equal to n, and the obtained distance formula is as follows:the speed formula is:wherein i is not less than 1 and not more than n, k is not less than 1 and not more than n, and the speed v ik Distance R from ik Are all n x n matrices.
Step S30: determining an intermediate tolerance frequency and a verification tolerance frequency from the transmit signal and the verification signal;
it is understood that the intermediate tolerance frequency refers to a frequency range that needs to be met at the intermediate center frequency of the transmitted signal, and that the obstacle target is a false target when the intermediate center frequency is not within the intermediate tolerance frequency range, and that the obstacle target is a true target when the intermediate center frequency is within the intermediate tolerance frequency range. The checking tolerance frequency refers to a frequency range that needs to be satisfied at a checking center frequency of the checking signal, and when the checking center frequency is not within the intermediate tolerance frequency range, the obstacle target is indicated as a false target. The embodiment can be determined according to the transmitting center frequency corresponding to the transmitting signal and the checking center frequency corresponding to the checking signal.
Step S40: and determining a real target in the obstacle targets according to the speed information, the distance information, the intermediate tolerance frequency and the checking tolerance frequency.
It should be understood that the present embodiment may determine the real target in the obstacle target according to the intermediate tolerance frequency and the checking tolerance frequency, specifically, may take the obstacle target as the real target when the intermediate center frequency of the obstacle target is in the intermediate tolerance frequency range and the checking center frequency is in the checking tolerance range, and obtain the speed information and the distance information corresponding to the real target through the above distance speed formula, that is, the above v ik And R is ik . The real target of the obstacle targets may also be determined by other means, which is not particularly limited in this embodiment.
According to the method, a transmitting signal sent by the trapezoidal wave radar to the obstacle target and a checking signal sent by the sawtooth wave radar to the obstacle target are obtained, speed information of the obstacle target and distance information between the obstacle target and the speed information of the obstacle target are determined according to the transmitting signal, intermediate tolerance frequency and checking tolerance frequency are determined according to the transmitting signal and the checking signal, and real targets in the obstacle target are determined according to the speed information, the distance information, the intermediate tolerance frequency and the checking tolerance frequency. According to the method, the device and the system, the intermediate tolerance frequency and the checking tolerance frequency are determined according to the transmitting signal and the checking signal, the real target in the obstacle target can be detected for the first time through the intermediate tolerance frequency, so that the calculation workload of real target detection is reduced, the real target is detected again through the checking tolerance frequency, the accuracy of real target detection can be improved, and false targets can be eliminated accurately.
Referring to fig. 4, fig. 4 is a flowchart illustrating a real object detection method according to a second embodiment of the present invention.
Based on the first embodiment, in this embodiment, the step S30 includes:
step S301: determining a test center frequency according to the test signal and a test echo signal corresponding to the test signal;
it will be appreciated that with reference to the first embodiment described above, the test may be determined from the test signal and the test echo signal corresponding to the test signalThe center frequency, the test signal may be expressed as: the test echo signal may be expressed as: /> The test center frequency is: />
Step S302: and determining an intermediate tolerance frequency and a checking tolerance frequency according to the intermediate center frequency and the checking center frequency.
It will be appreciated that since spurious targets cannot be removed from the rising and falling phases of the transmitted signal, the present embodiment may determine an intermediate tolerance frequency from the intermediate center frequency and determine a verification tolerance frequency from the verification center frequency.
Further, in order to accurately determine the intermediate tolerance frequency and the checking tolerance frequency, in this embodiment, the step S302 includes: determining a first intermediate frequency error based on the intermediate center frequency and an intermediate velocity resolution of the transmit signal; determining a first inspection frequency error based on the inspection center frequency, a speed resolution of the inspection signal, and a distance resolution of the inspection signal; determining a second intermediate frequency error based on the intermediate center frequency and a rising velocity resolution of the transmit signal; determining a second inspection frequency error based on the inspection center frequency, the rising speed resolution, and the distance resolution of the inspection signal; determining an intermediate tolerance frequency from the first intermediate frequency error and the second intermediate frequency error; and determining a checking tolerance frequency according to the first checking frequency error and the second checking frequency error.
It can be appreciated that millimeter wave radar has a range resolution of Δr=c/2B and a velocity resolution of Δv=c/2 Tf, respectively 0 Thus replacing time T with time T corresponding to the intermediate stage 1 Deriving the intermediate speed resolution of the transmitted signal as Deltav iks ＝c/T 1 f 0 At this time, deltav iks V substituted into intermediate center frequency expression 0 Obtaining a first intermediate frequency error of
It will be appreciated that the velocity resolution of the inspection signal is Deltav ikc ＝c/2T 2 f 0 The distance resolution of the test signal is ΔR ikc =c/2B, at which time Δv will be ikc Substituting v in the verification center frequency expression 0 Will DeltaR ikc R substituted into the verification center frequency expression 0 Obtaining the first test frequency error as
Specifically, the rising speed resolution or the falling speed resolution of the transmission signal is: deltav ik ＝c/2T 1 f 0 At this time, deltav ik V substituted into intermediate center frequency expression 0 Can obtain the second intermediate frequency error ofSimilarly, deltav is taken ik Substituting v in the verification center frequency expression 0 Will DeltaR ik R substituted into the verification center frequency expression 0 Obtaining the second test frequency error as
In a specific implementation, the absolute value of the intermediate tolerance frequencyIs the sum of the first intermediate frequency error and the second intermediate frequency error,the absolute value of the checking tolerance frequency is the sum of the first checking frequency error and the second checking frequency error,/-, and>
the present embodiment determines a verification center frequency from the verification signal and the verification echo signal corresponding to the verification signal, and then determines a middle tolerance frequency and a verification tolerance frequency from the middle center frequency and the verification center frequency. According to the method, the device and the system, the middle tolerance frequency is determined according to the middle center frequency, the checking tolerance frequency is determined according to the checking center frequency, the real targets in the obstacle targets can be detected for the first time through the middle tolerance frequency, so that the calculation workload of real target detection is reduced, the real targets are detected again through the checking tolerance frequency, the accuracy of real target detection can be improved, and false targets can be eliminated accurately.
Referring to fig. 5, fig. 5 is a flowchart of a third embodiment of the real object detection method according to the present invention.
Based on the above embodiments, in this embodiment, the step S40 includes:
step S401: determining a target intermediate center frequency and a target inspection center frequency according to the speed information, the distance information, the intermediate center frequency and the inspection center frequency;
it is understood that the target intermediate center frequency is a frequency obtained by adjusting the intermediate center frequency according to the speed information and the distance information of the plurality of obstacle targets, and the target inspection center frequency is a frequency obtained by adjusting the intermediate center frequency according to the speed information and the distance information of the plurality of obstacle targets, and both the target intermediate center frequency and the target inspection center frequency can be represented by a matrix.
Further, in order to accurately determine the target intermediate center frequency and the target verification center frequency, in this embodiment, the step S401 includes: substituting the speed information and the distance information into the intermediate center frequency to obtain a target intermediate center frequency; substituting the speed information and the distance information into the checking center frequency to obtain a target checking center frequency.
It should be appreciated that for a plurality of obstacle targets, the velocity information v ik And distance information R ik All are n×n matrices, and the velocity information v ik And distance information R ik Substituting the target intermediate center frequency into the intermediate center frequency to obtain a target intermediate center frequency:
velocity information v ik And distance information R ik Substituting the target checking center frequency into the checking center frequency to obtain the target checking center frequency as follows:
step S402: determining an intermediate error result and a checking error result according to the target intermediate center frequency and the target checking center frequency;
it can be appreciated that the intermediate error result in this embodiment may be a difference between the intermediate center frequency and the target intermediate center frequency, and specifically, each value in the intermediate center frequency and the target intermediate center frequency may be compared to obtain the intermediate error result. The test error result may be a difference between the test center frequency and the target test center frequency, and specifically, each value in the test center frequency and the test intermediate center frequency may be compared to obtain the test error result.
In particular implementations, where the error in the intermediate error result is large, the error result may be compared and vice versa. When the error in the intermediate error result and the error in the test error result are smaller, the corresponding n equal differential frequencies can be found out, f bsik Or f bcik Corresponding velocity v ik Distance R from ik The physical information of the real target can be calculated by the speed v ik Distance R from ik Is calculated from the formula of (e.g., f) bs11 Corresponding velocity v 11 Distance is R 11 。
Step S403: and determining a real target in the obstacle targets according to the intermediate error result, the checking error result, the intermediate tolerance frequency and the checking tolerance frequency.
It can be understood that, in this embodiment, the real target in the obstacle target may be first detected by the intermediate error result and the intermediate tolerance frequency, and then the real target may be detected again by the inspection error result and the inspection tolerance frequency, so as to determine the real target in the obstacle target.
Further, in order to accurately determine the real target, in this embodiment, the step S403 includes: obtaining a target intermediate error result of which the intermediate error result is within the intermediate tolerance frequency; acquiring an initial real target corresponding to the target intermediate error result; when the initial real target verification fails, acquiring a target verification error result of which the verification error result is within the verification tolerance frequency; and determining a real target in the obstacle targets according to the target inspection error result.
It should be understood that the target intermediate error results refer to error results in which the intermediate error results are within an intermediate tolerance frequency, each intermediate error result corresponding to a real target, e.g., f bc11 The corresponding real target has a velocity v 11 Distance is R 11 Therefore, the initial real target corresponding to the target intermediate error result can be obtained.
It can be understood that when the initial real target verification fails, it indicates that the real target is not accurately identified, and the verification fails and can be that the target intermediate error result corresponds to a plurality of different initial real targets, or that the speed and distance of the initial real target cannot be accurately obtained, at this time, the target verification error result with the verification error result within the verification tolerance frequency can be obtained, and similarly, each verification error result corresponds to a real target, so that the real target corresponding to the target verification error result can be obtained, the speed and distance information corresponding to the real target can be further obtained, and the remaining obstacle target is the false target.
In specific implementation, referring to fig. 6, fig. 6 is a spectrum diagram of an ascending phase of a transmission signal according to an embodiment of the real object detection method of the present invention, fig. 7 is a spectrum diagram of a descending phase of a transmission signal according to an embodiment of the real object detection method of the present invention, and the abscissa in fig. 6 and 7 represents frequency and the ordinate represents amplitude. The feasibility of the method is verified through simulation calculation, 5 obstacle vehicles are found in front of a main vehicle with millimeter wave radar, the obstacle vehicles are obstacle targets, the distance R between the obstacle vehicles and the main vehicle is 10m,14m,20m,30m and 34m, and the running speed v is 2m/s,4m/s,6m/s,8m/s and 10 m/s; carrier frequency f for setting millimeter wave FMCW radar transmitting signal 0 =77 GHz, sampling frequency f s An asymmetric trapezoidal wave, i.e. a sweep period of T in the rising phase of the transmitted signal =300 KHz 1 The sawtooth wave inspection phase, i.e. inspection signal sweep period T 2 =5 ms, the maximum frequency of the intermediate frequency signal of the obstacle vehicle is f max = 88.727KHz. Further, fig. 8 is a graph of a velocity profile of a target distance at an intermediate stage of a transmission signal according to an embodiment of the real target detection method of the present invention, an abscissa in fig. 8 represents a distance, an ordinate represents a velocity, a square represents a real target, a star represents a false target, fig. 9 is a graph of a velocity profile of a target distance of a test signal according to an embodiment of the real target detection method of the present invention, an abscissa in fig. 9 represents a distance, an ordinate represents a velocity, a triangle represents a real target, and a circle represents a false target.
According to the method, the target intermediate center frequency and the target checking center frequency are determined according to the speed information, the distance information, the intermediate center frequency and the checking center frequency, then an intermediate error result and a checking error result are determined according to the target intermediate center frequency and the target checking center frequency, and then a real target in the obstacle target is determined according to the intermediate error result, the checking error result, the intermediate tolerance frequency and the checking tolerance frequency. According to the method, the device and the system, the intermediate error result is determined according to the intermediate center frequency of the target, the checking error result is determined according to the checking center frequency of the target, then the real target in the obstacle target is detected for the first time through the intermediate error result and the intermediate tolerance frequency, so that the calculation workload of real target detection is reduced, and then the real target is detected again through the checking error result and the checking tolerance frequency, so that the accuracy of real target detection can be improved, and false targets can be eliminated accurately.
Referring to fig. 10, fig. 10 is a block diagram showing the structure of a first embodiment of a real object detecting apparatus according to the present invention.
As shown in fig. 10, the real object detection apparatus according to the embodiment of the present invention includes:
a signal acquisition module 10, configured to acquire a transmission signal sent by a trapezoidal wave radar to an obstacle target and a check signal sent by a sawtooth wave radar to the obstacle target;
an information determining module 20 for determining speed information of the obstacle target and distance information from the obstacle target according to the transmission signal;
a frequency determination module 30 for determining an intermediate tolerance frequency and a test tolerance frequency from the transmit signal and the test signal;
an object detection module 40 for determining a real object of the obstacle objects based on the speed information, the distance information, the intermediate tolerance frequency and the inspection tolerance frequency.
According to the method, a transmitting signal sent by the trapezoidal wave radar to the obstacle target and a checking signal sent by the sawtooth wave radar to the obstacle target are obtained, speed information of the obstacle target and distance information between the obstacle target and the speed information of the obstacle target are determined according to the transmitting signal, intermediate tolerance frequency and checking tolerance frequency are determined according to the transmitting signal and the checking signal, and real targets in the obstacle target are determined according to the speed information, the distance information, the intermediate tolerance frequency and the checking tolerance frequency. According to the method, the device and the system, the intermediate tolerance frequency and the checking tolerance frequency are determined according to the transmitting signal and the checking signal, the real target in the obstacle target can be detected for the first time through the intermediate tolerance frequency, so that the calculation workload of real target detection is reduced, the real target is detected again through the checking tolerance frequency, the accuracy of real target detection can be improved, and false targets can be eliminated accurately.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details that are not described in detail in this embodiment may refer to the real target detection method provided in any embodiment of the present invention, and are not described herein.
Based on the above-described first embodiment of the real object detection apparatus of the present invention, a second embodiment of the real object detection apparatus of the present invention is proposed.
In this embodiment, the information determining module 20 is further configured to determine a transmission center frequency according to the transmission signal and a transmission echo signal corresponding to the transmission signal, where the transmission center frequency includes: rising center frequency and falling center frequency; and determining speed information of the obstacle target and distance information between the obstacle target and the obstacle target according to the ascending center frequency and the descending center frequency.
Further, the transmitting center frequency further includes: an intermediate center frequency; the frequency determining module 30 is further configured to determine a test center frequency according to the test signal and a test echo signal corresponding to the test signal; and determining an intermediate tolerance frequency and a checking tolerance frequency according to the intermediate center frequency and the checking center frequency.
Further, the frequency determining module 30 is further configured to determine a first intermediate frequency error according to the intermediate center frequency and an intermediate speed resolution of the transmission signal; determining a first inspection frequency error based on the inspection center frequency, a speed resolution of the inspection signal, and a distance resolution of the inspection signal; determining a second intermediate frequency error based on the intermediate center frequency and a rising velocity resolution of the transmit signal; determining a second inspection frequency error based on the inspection center frequency, the rising speed resolution, and the distance resolution of the inspection signal; determining an intermediate tolerance frequency from the first intermediate frequency error and the second intermediate frequency error; and determining a checking tolerance frequency according to the first checking frequency error and the second checking frequency error.
Further, the target detection module 40 is further configured to determine a target intermediate center frequency and a target inspection center frequency according to the speed information, the distance information, the intermediate center frequency, and the inspection center frequency; determining an intermediate error result and a checking error result according to the target intermediate center frequency and the target checking center frequency; and determining a real target in the obstacle targets according to the intermediate error result, the checking error result, the intermediate tolerance frequency and the checking tolerance frequency.
Further, the target detection module 40 is further configured to substitute the speed information and the distance information into the intermediate center frequency to obtain a target intermediate center frequency; substituting the speed information and the distance information into the checking center frequency to obtain a target checking center frequency.
Further, the target detection module 40 is further configured to obtain a target intermediate error result that the intermediate error result is within the intermediate tolerance frequency; acquiring an initial real target corresponding to the target intermediate error result; when the initial real target verification fails, acquiring a target verification error result of which the verification error result is within the verification tolerance frequency; and determining a real target in the obstacle targets according to the target inspection error result.
Other embodiments or specific implementations of the real object detection apparatus of the present invention may refer to the above method embodiments, and will not be described herein.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium stores a real target detection program, and the real target detection program realizes the steps of the real target detection method when being executed by a processor.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. read-only memory/random-access memory, magnetic disk, optical disk), comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A real object detection method, characterized in that the real object detection method comprises the steps of:
acquiring a transmitting signal sent by a trapezoidal wave radar to an obstacle target and a checking signal sent by a sawtooth wave radar to the obstacle target;
determining speed information of the obstacle target and distance information between the obstacle target and the obstacle target according to the transmitting signal;
determining an intermediate tolerance frequency and a verification tolerance frequency from the transmit signal and the verification signal;
and determining a real target in the obstacle targets according to the speed information, the distance information, the intermediate tolerance frequency and the checking tolerance frequency.
2. The real object detection method according to claim 1, wherein the step of determining the speed information of the obstacle object and the distance information from the obstacle object from the transmission signal specifically includes:
determining a transmission center frequency according to the transmission signal and a transmission echo signal corresponding to the transmission signal, wherein the transmission center frequency comprises: rising center frequency and falling center frequency;
and determining speed information of the obstacle target and distance information between the obstacle target and the obstacle target according to the ascending center frequency and the descending center frequency.
3. The real object detection method according to claim 2, wherein the transmission center frequency further includes: an intermediate center frequency;
the step of determining an intermediate tolerance frequency and a test tolerance frequency from the transmit signal and the test signal comprises:
determining a test center frequency according to the test signal and a test echo signal corresponding to the test signal;
and determining an intermediate tolerance frequency and a checking tolerance frequency according to the intermediate center frequency and the checking center frequency.
4. The true object detection method of claim 3, wherein the step of determining an intermediate tolerance frequency and a verification tolerance frequency from the intermediate center frequency and the verification center frequency comprises:
determining a first intermediate frequency error based on the intermediate center frequency and an intermediate velocity resolution of the transmit signal;
determining a first inspection frequency error based on the inspection center frequency, a speed resolution of the inspection signal, and a distance resolution of the inspection signal;
determining a second intermediate frequency error based on the intermediate center frequency and a rising velocity resolution of the transmit signal;
determining a second inspection frequency error based on the inspection center frequency, the rising speed resolution, and the distance resolution of the inspection signal;
determining an intermediate tolerance frequency from the first intermediate frequency error and the second intermediate frequency error;
and determining a checking tolerance frequency according to the first checking frequency error and the second checking frequency error.
5. The real object detection method according to claim 4, wherein the step of determining a real object among the obstacle objects based on the speed information, the distance information, the intermediate tolerance frequency, and the inspection tolerance frequency, specifically comprises:
determining a target intermediate center frequency and a target inspection center frequency according to the speed information, the distance information, the intermediate center frequency and the inspection center frequency;
determining an intermediate error result and a checking error result according to the target intermediate center frequency and the target checking center frequency;
and determining a real target in the obstacle targets according to the intermediate error result, the checking error result, the intermediate tolerance frequency and the checking tolerance frequency.
6. The real object detection method according to claim 5, wherein the step of determining the target intermediate center frequency and the target verification center frequency based on the speed information, the distance information, the intermediate center frequency, and the verification center frequency specifically comprises:
substituting the speed information and the distance information into the intermediate center frequency to obtain a target intermediate center frequency;
substituting the speed information and the distance information into the checking center frequency to obtain a target checking center frequency.
7. The real object detection method according to claim 5, wherein the step of determining the real object from among the obstacle objects based on the intermediate error result, the inspection error result, the intermediate tolerance frequency, and the inspection tolerance frequency, specifically comprises:
obtaining a target intermediate error result of which the intermediate error result is within the intermediate tolerance frequency;
acquiring an initial real target corresponding to the target intermediate error result;
when the initial real target verification fails, acquiring a target verification error result of which the verification error result is within the verification tolerance frequency;
and determining a real target in the obstacle targets according to the target inspection error result.
8. A real object detection apparatus, characterized in that the real object detection apparatus comprises:
the signal acquisition module is used for acquiring a transmitting signal sent by the trapezoidal wave radar to the obstacle target and a checking signal sent by the sawtooth wave radar to the obstacle target;
an information determining module for determining speed information of the obstacle target and distance information between the obstacle target and the obstacle target according to the transmission signal;
a frequency determination module for determining an intermediate tolerance frequency and a verification tolerance frequency from the transmit signal and the verification signal;
and the target detection module is used for determining a real target in the obstacle targets according to the speed information, the distance information, the intermediate tolerance frequency and the checking tolerance frequency.
9. A real object detection apparatus, characterized in that the apparatus comprises: a memory, a processor and a real object detection program stored on the memory and executable on the processor, the real object detection program being configured to implement the steps of the real object detection method according to any one of claims 1 to 7.
10. A storage medium having stored thereon a real object detection program which, when executed by a processor, implements the steps of the real object detection method according to any one of claims 1 to 7.
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