CN113109798A

CN113109798A - Target detection method, target detection device, computer equipment and storage medium

Info

Publication number: CN113109798A
Application number: CN202110224360.XA
Authority: CN
Inventors: 于晓爽; 晁淑媛
Original assignee: Freetech Intelligent Systems Co Ltd
Current assignee: Freetech Intelligent Systems Co Ltd
Priority date: 2021-03-01
Filing date: 2021-03-01
Publication date: 2021-07-13
Anticipated expiration: 2041-03-01
Also published as: CN113109798B

Abstract

The application relates to a target detection method, a target detection device, a computer device and a storage medium, wherein the method comprises the following steps: acquiring current motion point tracks and predicted motion information of a radar tracking target, and determining target motion point tracks corresponding to the radar tracking target based on the predicted motion information and the current motion point tracks, wherein the predicted motion information comprises a predicted distance, a predicted speed and a predicted azimuth angle; acquiring a target range Doppler position corresponding to a target motion point trace, and acquiring an adjacent range Doppler position corresponding to the target range Doppler position; and acquiring an interference suppression coefficient based on the adjacent range-Doppler position, and acquiring current position information of the radar tracking target based on the interference suppression coefficient, the target range-Doppler position and the prediction azimuth angle. By the method and the device, the problem that the moving traces of the same-distance and same-speed weak targets cannot be accurately detected in the related technology is solved.

Description

Target detection method, target detection device, computer equipment and storage medium

Technical Field

The present application relates to the field of intelligent driving technologies, and in particular, to a target detection method, an apparatus, a computer device, and a storage medium.

Background

With the development of intelligent driving technology, blind spot monitoring (BSD) and Lane Change Assistance (LCA) based on millimeter wave radar have become essential functions that Advanced Driving Assistance System (ADAS) must possess. The continuous and stable target motion track is obtained on the premise of realizing the blind spot monitoring alarm function and the lane change auxiliary alarm function, so that the radar signal processing end is required to stably detect the target.

In the related art, a peak detection method is adopted for target detection, however, due to the working principle of the millimeter wave radar, two targets with the same distance and the same speed usually appear, and if the echo energy of one target is far stronger than that of the other target, the target with weaker echo energy usually cannot be normally detected, so that the problems of trace loss and track interruption of a weak target point are caused, and further the problems of missed alarm, alarm delay or alarm interruption are caused.

At present, no effective solution is provided for the problem that the motion trace of the equidistance and same speed weak target cannot be accurately detected in the related technology.

Disclosure of Invention

The embodiment of the application provides a target detection method, a target detection device, computer equipment and a storage medium, and at least solves the problem that in the related technology, the moving traces of the same-distance and same-speed weak targets cannot be accurately detected.

In a first aspect, an embodiment of the present application provides a target detection method, where the method includes:

acquiring current motion point tracks and predicted motion information of a radar tracking target, and determining target motion point tracks corresponding to the radar tracking target based on the predicted motion information and the current motion point tracks, wherein the predicted motion information comprises a predicted distance, a predicted speed and a predicted azimuth angle;

acquiring a target range-Doppler position corresponding to the target motion point trace, and acquiring an adjacent range-Doppler position corresponding to the target range-Doppler position, wherein the target range-Doppler position comprises the position of the target motion point trace in a range-Doppler matrix, and the range-Doppler matrix is constructed on the basis of radar echo data;

and acquiring an interference suppression coefficient based on the adjacent range-Doppler position, and acquiring current position information of the radar tracking target based on the interference suppression coefficient, the target range-Doppler position and the predicted azimuth angle.

In some of these embodiments, the obtaining the predicted motion information of the radar tracking target includes:

obtaining a motion point trace prediction result of the current radar tracking target under a rectangular coordinate system, wherein the motion point trace prediction result comprises a current position prediction result and a current speed prediction result;

acquiring current vehicle speed, vehicle radar installation information and a conversion relation between a polar coordinate system and a rectangular coordinate system, wherein the vehicle radar installation information comprises a vehicle radar installation angle and a vehicle radar installation position;

and converting the motion point track prediction result from a rectangular coordinate system to a polar coordinate system based on the conversion relation, the current vehicle speed and the vehicle radar installation information to obtain the predicted motion information.

In some of these embodiments, the determining a target motion trajectory corresponding to the radar tracking target based on the predicted motion information and the current motion trajectory comprises:

acquiring a preset range-doppler parameter, wherein the preset range-doppler parameter comprises a preset range value and a preset doppler velocity;

determining a current trace search area based on the predicted distance, the predicted speed and the preset range-Doppler parameter;

and determining the target motion track from the current motion track based on the current track searching area and the predicted azimuth angle.

In some of these embodiments, said determining said target motion trajectory from said current motion trajectory based on said current trajectory search area and said predicted azimuth comprises:

acquiring a trace point azimuth corresponding to the current motion trace point, and acquiring an azimuth difference value between the trace point azimuth and the predicted azimuth;

judging whether the current motion trace is in the current trace searching area or not, and judging whether an azimuth angle difference value corresponding to the current motion trace is larger than a preset difference threshold value or not;

and if the current motion point trace is in the current point trace searching area and the azimuth angle difference value corresponding to the current motion point trace is larger than the preset difference value threshold, determining that the current motion point trace is the target motion point trace.

In some of these embodiments, the number of adjacent range-doppler locations is plural; the obtaining an interference suppression coefficient based on the adjacent range-doppler position, and obtaining current position information of the radar tracking target based on the interference suppression coefficient, the target range-doppler position, and the predicted azimuth angle includes:

acquiring an interference suppression coefficient corresponding to each adjacent range-Doppler position based on a guide vector and each adjacent range-Doppler position; the adjacent range-Doppler positions comprise adjacent positions of the target motion point trace in a range-Doppler matrix, and adjacent distance values and adjacent Doppler velocities corresponding to the adjacent positions;

acquiring a target azimuth spectrum corresponding to the target range-Doppler position according to the target range-Doppler position and each interference suppression coefficient to obtain a plurality of target azimuth spectrums; the target range-Doppler position further comprises a target range value and a target Doppler speed corresponding to the position of the target motion point in a range-Doppler matrix;

and acquiring current position information of the radar tracking target based on the plurality of target azimuth spectrums and the predicted azimuth, wherein the current position information comprises the current azimuth of the radar tracking target.

In some embodiments, said obtaining current location information of said radar-tracking target based on a plurality of said target bearing spectra and said predicted azimuth comprises:

acquiring a first peak value and a second peak value in each target azimuth spectrum and a first peak value azimuth angle corresponding to the first peak value;

acquiring a peak energy ratio corresponding to the first peak value and the second peak value, and judging whether the peak energy ratio is greater than a preset energy ratio threshold value to obtain a first judgment result;

acquiring an absolute value of a difference value of the first peak azimuth angle and an azimuth angle corresponding to the predicted azimuth angle, and judging whether the absolute value of the difference value is smaller than a preset absolute value threshold value to obtain a second judgment result;

and acquiring the current azimuth angle of the radar tracking target based on the first judgment result and the second judgment result.

In some of these embodiments, before the obtaining the predicted motion information of the radar tracking target, the method further comprises:

acquiring historical motion traces of the radar tracking target, and determining a current frame trace prediction range of the radar tracking target based on the historical motion traces;

searching whether a motion trace point exists in the current frame trace point prediction range, and if the motion trace point exists in the current frame trace point prediction range, determining that the current motion trace point successfully related to the radar tracking target;

if no motion trace exists in the current frame trace prediction range, determining the current motion trace which is not associated with the radar tracking target, and acquiring the prediction motion information of the current radar tracking target based on the historical motion trace.

In a second aspect, an embodiment of the present application provides an object detection apparatus, including:

the target track determining module is used for acquiring a current motion track and predicted motion information of a radar tracking target, and determining a target motion track corresponding to the radar tracking target based on the predicted motion information and the current motion track, wherein the predicted motion information comprises a predicted distance, a predicted speed and a predicted azimuth angle;

an adjacent position acquisition module, configured to acquire a target range-doppler position corresponding to the target motion trace, and acquire an adjacent range-doppler position corresponding to the target range-doppler position, where the target range-doppler position includes a position of the target motion trace in a range-doppler matrix, and the range-doppler matrix is constructed based on radar echo data;

and the target position detection module is used for acquiring an interference suppression coefficient based on the adjacent range Doppler position and acquiring the current position information of the radar tracking target based on the interference suppression coefficient, the target range Doppler position and the predicted azimuth angle.

In a third aspect, an embodiment of the present application provides a computer device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor, when executing the computer program, implements the object detection method according to the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the object detection method according to the first aspect.

Compared with the related art, the target detection method, the target detection device, the computer equipment and the storage medium provided by the embodiment of the application determine the target motion point trace corresponding to the radar tracking target on the basis of the predicted motion information and the current motion point trace by acquiring the current motion point trace and the predicted motion information of the radar tracking target, wherein the predicted motion information comprises a predicted distance, a predicted speed and a predicted azimuth angle; acquiring a target range-Doppler position corresponding to a target motion point trace, and acquiring an adjacent range-Doppler position corresponding to the target range-Doppler position, wherein the target range-Doppler position comprises the position of the target motion point trace in a range-Doppler matrix, and the range-Doppler matrix is constructed based on radar echo data; and acquiring an interference suppression coefficient based on the adjacent range-Doppler position, and acquiring current position information of the radar tracking target based on the interference suppression coefficient, the target range-Doppler position and the prediction azimuth angle. According to the method and the device, the interference suppression coefficient is obtained through the adjacent distance Doppler positions, and the strong target is suppressed based on the interference suppression coefficient, so that the same-distance same-speed weak target is detected, and the problem that the moving point trace of the same-distance same-speed weak target cannot be accurately detected in the related technology is solved.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a flow chart of a target detection method according to an embodiment of the present application;

FIG. 2a is a flowchart of obtaining predicted motion information of a radar tracking target in an embodiment of the present application;

FIG. 2b is a schematic view of an orientation for obtaining predicted motion information of a radar tracking target in an embodiment of the present application;

FIG. 3 is a flowchart of determining a target motion trajectory based on predicted motion information and a current motion trajectory in an embodiment of the present application;

FIG. 4 is a flowchart illustrating an embodiment of determining a target motion trajectory based on a current trajectory search area and a predicted azimuth;

FIG. 5 is a flowchart illustrating obtaining current position information of a radar tracking target based on an interference suppression coefficient, a target range-Doppler position, and a predicted azimuth in an embodiment of the present application;

FIG. 6 is a flowchart illustrating obtaining current position information of a radar tracking target based on a plurality of target azimuth spectrums and predicted azimuth angles in an embodiment of the present application;

FIG. 7 is a flow chart of associating a current motion point of a radar tracking target in an embodiment of the present application;

FIG. 8 is a diagram of an application scenario of the related art;

fig. 9a is a schematic view of an application scenario of a target detection method according to an embodiment of the present application;

FIG. 9b is a schematic diagram of an azimuth spectrum corresponding to a range-Doppler location of a target vehicle according to an embodiment of the present application;

FIGS. 10 a-10 h are schematic diagrams of target azimuth spectra after interference suppression processing in an embodiment of the present application;

fig. 11 is a block diagram of a target detection apparatus according to an embodiment of the present application;

fig. 12 is a schematic hardware configuration diagram of a computer device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.

It is obvious that the drawings in the following description are only examples or embodiments of the present application, and that it is also possible for a person skilled in the art to apply the present application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.

Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as referred to herein means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.

Various technologies described in the present application may be applied to a MIMO (Multiple Input Multiple Output) based radar and various vehicle target detection systems and devices, implementing a target detection function during driving.

Fig. 1 is a flowchart of a target detection method according to an embodiment of the present application, and as shown in fig. 1, the flowchart includes the following steps.

And step S110, acquiring the current motion point track and the predicted motion information of the radar tracking target, and determining the target motion point track corresponding to the radar tracking target based on the predicted motion information and the current motion point track, wherein the predicted motion information comprises a predicted distance, a predicted speed and a predicted azimuth angle.

The current motion point trace represents the current frame motion point trace acquired by the processor. The predicted motion information indicates a result of prediction of a current motion state of the radar tracking target.

Step S120, a target range-Doppler position corresponding to the target motion point trace is obtained, and an adjacent range-Doppler position corresponding to the target range-Doppler position is obtained, wherein the target range-Doppler position comprises the position of the target motion point trace in a range-Doppler matrix, and the range-Doppler matrix is constructed based on radar echo data.

The adjacent range-doppler location represents a range-doppler location in the range-doppler matrix adjacent to where the target motion trace is located. The range-doppler matrix is obtained based on a two-dimensional Fast Fourier Transform (FFT) process performed on the radar echo data.

Before obtaining a target range-doppler position corresponding to a target motion point trace, a range-doppler matrix is constructed according to the obtained current motion point trace, then the position of the target motion point trace in the range-doppler matrix is found according to coordinate information corresponding to the target motion point trace, and a peripheral adjacent position of the target motion point trace in the range-doppler matrix is used as an adjacent range-doppler position.

And step S130, acquiring an interference suppression coefficient based on the adjacent range Doppler position, and acquiring current position information of the radar tracking target based on the interference suppression coefficient, the target range Doppler position and the prediction azimuth angle.

The target range-doppler position further includes target range-doppler data corresponding to the position of the target motion point in the range-doppler matrix. The adjacent range-doppler position comprises the adjacent position of the target moving point in the range-doppler matrix and the adjacent range-doppler data corresponding to the adjacent position.

It should be noted that an interference suppression coefficient may be calculated based on the adjacent range-doppler position, and the interference suppression coefficient is used to eliminate strong target echo energy radiated to the adjacent position of the target range-doppler position, so as to implement suppression processing on the strong target.

Through the steps from S110 to S130, the current motion trace and the predicted motion information of the radar tracking target are obtained, and the target motion trace corresponding to the radar tracking target is determined based on the predicted motion information and the current motion trace; acquiring a target range Doppler position corresponding to a target motion point trace, and acquiring an adjacent range Doppler position corresponding to the target range Doppler position; and acquiring an interference suppression coefficient based on the adjacent range-Doppler position, and acquiring current position information of the radar tracking target based on the interference suppression coefficient, the target range-Doppler position and the prediction azimuth angle. Aiming at the problem that two targets with the same distance and the same speed can not be normally detected when a radar detects two targets with the same distance and the same speed, wherein the echo energy of one target is far stronger than that of the other target, the method obtains an interference suppression coefficient by obtaining an adjacent distance Doppler position corresponding to the distance Doppler position of the target where the radar tracks the target (namely the target with the weaker echo energy) currently, and calculates based on the adjacent distance Doppler position, so as to suppress the strong target based on the interference suppression coefficient, thereby eliminating the influence of the echo energy of the strong target on the detection of the radar tracks the target, further realizing the detection of the weak targets with the same distance and the same speed (namely the radar tracks the target), and solving the problem that the moving point traces of the weak targets with the same distance and the same speed can not be accurately detected in the related technology.

In some embodiments, fig. 2a is a flowchart of obtaining predicted motion information of a radar tracking target in an embodiment of the present application, and as shown in fig. 2a, the flowchart includes the following steps.

Step S210, obtaining a motion point trajectory prediction result of the current radar tracking target in a rectangular coordinate system, wherein the motion point trajectory prediction result comprises a current position prediction result and a current speed prediction result.

Wherein the current position prediction result is a current position prediction coordinate (x, y), and the current speed prediction result is a current speed prediction coordinate (v)_x，v_y)。

Step S220, obtaining the current speed of the vehicle, the installation information of the radar of the vehicle and the conversion relation between the polar coordinate system and the rectangular coordinate system, wherein the installation information of the radar of the vehicle comprises the installation angle and the installation position of the radar of the vehicle.

Wherein, the installation angle of the radar of the bicycleCan be expressed as M_angleThe installation position of the radar of the bicycle can be expressed as (M)_x，M_y)。

And step S230, converting the motion point track prediction result from a rectangular coordinate system to a polar coordinate system based on the conversion relation, the current vehicle speed and the vehicle radar installation information to obtain predicted motion information.

It should be noted that, the track processing process of the target tracked by the radar is generally performed in a rectangular coordinate system, the echo data received by the radar is polar coordinate system information, and the coordinates of the current motion point track obtained from the echo data are also in the polar coordinate system, so that the motion point track prediction result needs to be converted from the rectangular coordinate system to the polar coordinate system, and then the step of determining the target motion point track from the current motion point track can be performed.

Through the steps S210 to S230, the predicted motion information is obtained by converting the motion point trajectory prediction result from the rectangular coordinate system to the polar coordinate system based on the conversion relationship, the current vehicle speed, and the vehicle radar installation information, so as to subsequently determine the target motion point trajectory from the current motion point trajectory.

In some embodiments, fig. 2b is a schematic view of an orientation for obtaining predicted motion information of a radar tracking target in the embodiment of the present application, and as shown in fig. 2b, a current position predicted coordinate (x, y) in a rectangular coordinate system is converted into a position in a radar coordinate system, that is, a predicted distance R_idxPredicted velocity (i.e., predicted Doppler velocity) Dop_iaxAnd predicting the azimuth angle theta_preThe concrete conversion formula is as follows:

where Δ R and Δ v are a distance resolution unit and a velocity resolution unit, respectively, and ROUND denotes rounding the numerical value. Doppler velocity (Doppler velocity) represents the radial velocity of an object relative to a radar measured based on the Doppler principle.

It should be noted that, after the radar processing end performs two-dimensional fast fourier transform processing on the acquired echo original ADC data, a two-dimensional matrix (i.e., a range-doppler matrix) is obtained, where one dimension of the two-dimensional matrix corresponds to a distance and the other dimension corresponds to a doppler velocity, and the two-dimensional matrix is referred to as an RV (R represents a distance and V represents a velocity). Each element in the two-dimensional matrix corresponds to a range-doppler position, and different range-doppler positions correspond to different ranges and doppler velocities. For example, the size of the two-dimensional matrix is N × M, i.e., there are N range cells and M doppler cells. One range bin corresponds to range Δ R and one doppler bin corresponds to velocity Δ v, assuming that the range-doppler position of the target is (m, n), the range and doppler velocity corresponding to the target are m Δ R and n Δ v, respectively.

In some embodiments, fig. 3 is a flowchart of determining a target motion trajectory based on predicted motion information and a current motion trajectory in the embodiments of the present application, and as shown in fig. 3, the flowchart includes the following steps.

Step S310, obtaining a preset range-doppler parameter, where the preset range-doppler parameter includes a preset range value and a preset doppler velocity.

The preset distance value may be represented as Rwidth, and the preset Doppler velocity may be represented as Dop_width。

And step S320, determining the current trace search area based on the predicted distance, the predicted speed and the preset range-Doppler parameter.

Wherein the predicted velocity is a predicted Doppler velocity and the predicted distance can be represented as R_idxThe predicted Doppler velocity can be expressed as Dop_idxThat is, the predicted range-Doppler position of the radar tracking target is (R)_idx，Dop_idx)。

In particular, based onThe current trace search area is divided by the predicted distance, the predicted speed and the preset range-Doppler parameter, namely the range-Doppler position corresponding to the current trace search area is (R)_idx±R_width，Dop_idx±Dop_width) That is, the current trace search area is (R)_idx-R_width，Dop_iax-Dop_width) And (R)_idx+R_width，Dop_idx+Dop_width) A rectangular region formed by two diagonal vertices.

And step S330, determining a target motion trajectory from the current motion trajectories based on the current trajectory search area and the prediction azimuth.

In some embodiments, fig. 4 is a flowchart of determining a target motion trajectory based on a current trajectory search area and a predicted azimuth in the embodiment of the present application, and as shown in fig. 4, the flowchart includes the following steps.

Step S410, acquiring a trace point azimuth corresponding to the current motion trace point, and acquiring an azimuth difference value between the trace point azimuth and the prediction azimuth.

Step S420, determining whether the current motion trace is in the current trace search area, and determining whether an azimuth difference value corresponding to the current motion trace is greater than a preset difference threshold value.

Step S430, if the current motion trace is in the current trace search area and the azimuth difference corresponding to the current motion trace is greater than the preset difference threshold, determining that the current motion trace is the target motion trace.

It should be noted that, the preselected current motion point trace in the current point trace search area may be screened out first, and then the target motion point trace may be determined from the preselected current motion point trace according to the difference threshold. Or, the pre-selected current motion point trace is screened out from the current motion point traces according to the difference threshold value, and then the target motion point trace is determined from the pre-selected current motion point trace according to the current point trace search area. Or traversing all current motion traces to judge in the current trace search area and judge the difference threshold, and determining the target motion trace from the current motion traces according to the results of two judgments. The execution sequence of the two judgments is not limited, the judgments can be executed successively or simultaneously, and the target motion trace can be determined from the current motion trace without error.

In the prior art, in order to improve the angle measurement resolution, the vehicle-mounted millimeter wave radar mostly adopts sparse arrays, so that the sidelobe of the azimuth spectrum is higher. When two targets with the same distance and the same speed appear, if the echo energy of one target is far stronger than that of the other target, the peak value of the azimuth spectrum of the weak target is usually lower than the side lobe of the azimuth spectrum of the strong target, and thus the weak target cannot be effectively detected.

In some of these embodiments, the number of adjacent range-doppler locations is multiple; fig. 5 is a flowchart of acquiring current position information of a radar tracking target based on an interference suppression coefficient, a target range-doppler position, and a predicted azimuth in an embodiment of the present application, where as shown in fig. 5, the flowchart includes the following steps.

Step S510, acquiring an interference suppression coefficient corresponding to each adjacent range Doppler position based on the guide vector and each adjacent range Doppler position; the adjacent range-doppler position comprises the adjacent position of the target moving point in the range-doppler matrix, and the adjacent range value and the adjacent doppler velocity corresponding to the adjacent position.

Here, the interference suppression coefficient may be represented as w (θ), and a (θ) is a steering vector (column vector) in the azimuth θ direction. The steering vector is the response of all array elements of the array antenna to a narrow-band source with unit energy, and is an azimuth angle function.

It should be noted that, after the radar receives the echo data, two-dimensional fast fourier transform processing is performed on the echo data, so as to obtain a two-dimensional matrix. If the radar has N channels, N two-dimensional matrices are obtained in one frame, and the range-doppler position data corresponding to the N two-dimensional matrices form an azimuth dimension signal corresponding to the range-doppler position, that is, the same range-doppler position in the range-doppler matrix corresponds to multiple sets of range-doppler position data, and the multiple sets of range-doppler position data form an azimuth dimension signal corresponding to the range-doppler position.

Specifically, a target azimuth dimension signal corresponding to adjacent range-doppler positions is obtained and is denoted as s. Acquiring adjacent direction dimension signals corresponding to each adjacent range Doppler position, and recording the adjacent direction dimension signals as s_refWherein s and s_refAre column vectors. Based on the steering vector and the adjacent azimuth dimension signal corresponding to each adjacent range-doppler position, obtaining an interference suppression coefficient corresponding to each adjacent range-doppler position, that is, the interference suppression coefficient w (θ) is:

w(θ)＝(s_ref*s_ref ^H)^-1a (theta) formula (4)

Wherein w (θ) represents an interference suppression coefficient, s_refRepresenting signals of adjacent azimuth dimensions, s_ref ^HRepresenting signals s in adjacent azimuth dimensions_refAnd a (θ) represents a steering vector.

Step S520, obtaining a target azimuth spectrum corresponding to the target range Doppler position according to the target range Doppler position and each interference suppression coefficient to obtain a plurality of target azimuth spectrums; the target range-doppler position further includes a target range value and a target doppler velocity corresponding to the position of the target motion point in the range-doppler matrix.

Specifically, a target azimuth spectrum corresponding to the target range-doppler position is obtained according to the target azimuth dimension signal s corresponding to the target range-doppler position and each interference suppression coefficient w (θ), that is, the target azimuth spectrum is P (θ):

P(θ)＝w(θ)^Hequation of the letter s (5)

Wherein P (theta) represents the target azimuth spectrum, w (theta)^HRepresents the conjugate transpose of the interference suppression coefficient w (θ), and s represents the target azimuth dimension signal.

Step S530, obtaining the current position information of the radar tracking target based on the plurality of target azimuth spectrums and the predicted azimuth, wherein the current position information comprises the current azimuth of the radar tracking target.

Through the steps S510 to S530, an interference suppression coefficient is calculated based on the steering vector and the adjacent direction dimension signal corresponding to each adjacent range-doppler position, so that the signal at the adjacent range-doppler position is regarded as an interference source signal to be eliminated, suppression processing on a strong target signal is realized, influence of side lobe energy of a strong target direction spectrum on detection of a weak target is avoided, and detection on a same-distance and same-speed weak target (namely, a radar tracking target) is further realized.

Meanwhile, in the embodiment, the predicted motion information fed back by the tracking end is utilized to perform interference suppression processing in a small range (namely, in a rectangular window with the target distance doppler position corresponding to the target motion predicted point trace as the center), so that accurate suppression processing of the strong target side lobe energy is realized, the problem of overlarge calculation amount is avoided, and the data processing efficiency can be improved.

In some embodiments, fig. 6 is a flowchart of acquiring current position information of a radar tracking target based on a plurality of target azimuth spectrums and predicted azimuth angles in the embodiment of the present application, and as shown in fig. 6, the flowchart includes the following steps.

Step S610, a first peak, a second peak and a first peak azimuth angle corresponding to the first peak in each target azimuth spectrum are obtained.

Wherein the first peak azimuth angle may be represented as θ_peakThe predicted azimuth angle can be expressed as theta_pre。

Specifically, a first peak value and a second peak value are searched in a target azimuth spectrum P (theta) obtained after interference suppression processing, and the first peak value, the second peak value and a first peak value azimuth angle theta corresponding to the first peak value are recorded_peak。

Step S620, obtaining a peak energy ratio corresponding to the first peak and the second peak, and determining whether the peak energy ratio is greater than a preset energy ratio threshold, to obtain a first determination result.

Step S630, an absolute value of a difference between the first peak azimuth and the azimuth corresponding to the predicted azimuth is obtained, and whether the absolute value of the difference is smaller than a preset absolute value threshold is determined, so as to obtain a second determination result.

And step S640, acquiring the current azimuth angle of the radar tracking target based on the first judgment result and the second judgment result.

It should be noted that, because the number of target azimuth spectrums is multiple, that is, the number of adjacent range-doppler positions is multiple, the above-mentioned determination process needs to be performed multiple times, and the current azimuth angle of the radar tracking target needs to be determined according to the first determination result and the second determination result obtained in the multiple determination processes.

In some of these embodiments, the determination of the current neighboring range-doppler location: judging whether the peak energy ratio corresponding to the first peak value and the second peak value is larger than a preset energy ratio threshold value or not, and judging whether the azimuth angle theta of the first peak value is larger than the preset energy ratio threshold value or not_peakAnd the predicted azimuth angle theta_preWhether the absolute value of the difference value of the corresponding azimuth angles is smaller than a preset absolute value threshold value or not; if the peak energy ratio is greater than a preset energy ratio threshold and the absolute value of the difference is less than a preset absolute value threshold, the first peak azimuth angle theta is saved_peak(ii) a Otherwise, discarding the first peak azimuth θ_peakAnd switching to the judgment of the next adjacent range-Doppler position until the judgment process of all the adjacent range-Doppler positions is completed, and acquiring the stored first peak azimuth theta_peakAnd determining whether the number of azimuth angles is greater than a preset number threshold.

If the azimuth angle number is larger than a preset number threshold value, all the first peak azimuth angles theta stored in the storage are calculated_peakAnd taking the azimuth average value as the current azimuth of the radar tracking target (namely the current azimuth of the equidistance and same speed weak target point track); if the number of the azimuth angles is smaller than the preset number threshold, the processing result is determined to be unreliable and is not output, so that other problems caused by outputting false trace azimuth angles are prevented.

In some embodiments, fig. 7 is a flowchart of associating a current motion point of a radar tracking target in an embodiment of the present application, and as shown in fig. 7, the flowchart includes the following steps.

Step S710, obtaining historical motion point traces of the radar tracking target, and determining a current frame point trace prediction range of the radar tracking target based on the historical motion point traces.

The current frame trace point prediction range represents the trace point distribution range of the radar tracking target in the current frame predicted according to the historical motion trace points.

The track processing flow of the radar tracking target comprises the processes of track starting, track association/maintenance, track ending and the like, and each step can carry out smoothing, prediction and other processing (generally realized by Kalman filtering) according to historical motion point track information. The prediction process refers to estimating information such as the position and the speed of the radar tracking target in the current frame to obtain a trace distribution range (i.e., a current frame trace prediction range or an associated window) of the radar tracking target in the current frame.

And S720, searching whether the motion trace exists in the current frame trace prediction range, and if the motion trace exists in the current frame trace prediction range, determining that the motion trace is successfully associated with the current motion trace of the radar tracking target.

And step S730, if no motion trace exists in the current frame trace prediction range, determining the current motion trace which is not associated with the radar tracking target, and acquiring the predicted motion information of the current radar tracking target based on the historical motion trace.

Further, if the current frame trace point is in the trace point distribution range, the current frame motion trace point which is successfully associated with the radar tracking target is considered; and if the current frame trace point is not in the trace point distribution range, the current frame motion trace point which is not related to the radar tracking target is considered. When a certain frame is not associated with the motion point track in the prediction range, the track cannot be immediately interrupted, and generally, M frames (N > M) in the continuous N frames have the motion point track which is not associated with the prediction range, namely, the track of the radar tracking target is considered to be lost, and the track of the radar tracking target is not output any more.

In the application scenario of the application, due to the influence of the same-distance and same-speed strong targets, the motion point tracks of the weak targets cannot be normally and continuously output, and when the weak target tracks are associated, multiple frames cannot be associated with the effective motion point tracks, so that the weak target tracks can be interrupted.

In the related technology, two targets at the same distance and speed can be usually distinguished in an angle dimension, a DBF (Digital Beam Forming) angle measurement technology can be utilized, a peak is respectively formed in an angle unit where the two targets are located in an azimuth spectrum, and whether a weak target is output or not is judged according to a comparison result by comparing a second peak with a preset threshold. Fig. 8 is a schematic diagram of an application scenario of the related art, as shown in fig. 8, where a target vehicle is located in a BSD/LCA alarm area. When the speed of the vehicle and the target vehicle (i.e. the radar tracking target in the present application) satisfy a certain condition, the distance and the radial speed (i.e. doppler speed) of the target point 1 and the target point 2 relative to the radar of the vehicle are the same, that is, they are at the same distance and at the same speed. At this time, if the energy of the target point 2 is far stronger than that of the target point 1, the target point 1 cannot be normally detected, so that the problems of target vehicle point track loss and track interruption are caused, and the situations of missed alarm, alarm delay or alarm interruption are caused.

The embodiments of the present application are described and illustrated below by way of two specific examples.

In a specific embodiment 1, (1) obtaining a current motion point trajectory and a motion point trajectory prediction result of a current radar tracking target under a rectangular coordinate system, wherein the motion point trajectory prediction result comprises a current position prediction result and a current speed prediction result; acquiring current vehicle speed, vehicle radar installation information and a conversion relation between a polar coordinate system and a rectangular coordinate system, wherein the vehicle radar installation information comprises a vehicle radar installation angle and a vehicle radar installation position; and converting the motion point track prediction result from a rectangular coordinate system to a polar coordinate system based on the conversion relation, the current vehicle speed and the vehicle radar installation information to obtain the predicted motion information of the radar tracking target, wherein the predicted motion information comprises a predicted distance, a predicted speed and a predicted azimuth angle.

(2) Acquiring a preset range-doppler parameter, wherein the preset range-doppler parameter comprises a preset range value and a preset doppler speed; determining a current trace point search area based on the predicted distance, the predicted speed and a preset range Doppler parameter; acquiring a trace point azimuth corresponding to the current motion trace point, and acquiring an azimuth difference value between the trace point azimuth and a predicted azimuth; judging whether the current motion trace is in the current trace searching area or not, and judging whether the azimuth angle difference value corresponding to the current motion trace is larger than a preset difference threshold value or not; and if the current motion point trace is in the current point trace searching area and the azimuth angle difference value corresponding to the current motion point trace is greater than the preset difference value threshold, determining that the current motion point trace is the target motion point trace.

(3) Acquiring a target range-Doppler position corresponding to a target motion point trace, and acquiring an adjacent range-Doppler position corresponding to the target range-Doppler position, wherein the target range-Doppler position comprises the position of the target motion point trace in a range-Doppler matrix, and the range-Doppler matrix is constructed based on radar echo data; the number of adjacent range-doppler positions is plural (typically 8).

(4) Acquiring an interference suppression coefficient corresponding to each adjacent range-Doppler position based on the guide vector and each adjacent range-Doppler position; the adjacent distance Doppler positions comprise adjacent positions of the target motion point trace in the distance Doppler matrix, adjacent distance values corresponding to the adjacent positions and adjacent Doppler speeds; acquiring a target azimuth spectrum corresponding to the target range-Doppler position according to the target range-Doppler position and each interference suppression coefficient to obtain a plurality of target azimuth spectrums; the target range-doppler position further includes a target range value and a target doppler velocity corresponding to the position of the target motion point in the range-doppler matrix.

(5) Acquiring a first peak value, a second peak value and a first peak value azimuth angle corresponding to the first peak value in each target azimuth spectrum; acquiring a peak energy ratio corresponding to the first peak value and the second peak value, and judging whether the peak energy ratio is greater than a preset energy ratio threshold value to obtain a first judgment result; acquiring an absolute value of a difference value of the azimuth angle corresponding to the first peak azimuth angle and the predicted azimuth angle, and judging whether the absolute value of the difference value is smaller than a preset absolute value threshold value to obtain a second judgment result; and acquiring the current azimuth angle of the radar tracking target based on the first judgment result and the second judgment result.

In embodiment 2, fig. 9a is a schematic view of an application scenario of the target detection method according to the embodiment of the present application, taking an urban road scenario as an example, as shown in fig. 9a, a lot of stationary objects such as trees, stationary vehicles, and enclosing walls exist at a roadside, and a target vehicle (electric bicycle) is located in an adjacent lane of a driving lane of a host vehicle. The speed of the self vehicle is about 25KM/H kilometer/hour, the speed of the target vehicle is about 15KM/H kilometer/hour, the radial distance between the target vehicle and the radar on the right side of the self vehicle is about 10m, and the azimuth angle of the target vehicle is about 50 degrees. The radar mounting angle is 98 degrees, so that the radial speed of the target vehicle relative to the radar on the right side of the self vehicle can be calculated as follows:

the roadside stationary object has a wide distribution range, and in the azimuth direction of 12 degrees, a stationary object with a radial distance of about 10m from the radar on the right side of the vehicle exists, and the radial speed of the stationary object relative to the radar on the right side of the vehicle is as follows:

the situation that the target vehicle and a static object in the 12-degree azimuth direction have the same distance and the same speed can be seen, and the effective scattering sectional area of the static object is larger, and the azimuth of the static object is closer to the normal direction of the radar, so that the echo energy of the static object is stronger. Fig. 9b is a schematic diagram of an azimuth spectrum corresponding to the range-doppler location of the target vehicle according to the embodiment of the present application, in which a sharp strong peak is formed only in the 12 ° azimuth, and the target vehicle in the 50 ° azimuth is submerged by the side lobe of the peak of the stationary object.

Fig. 10a to 10h are schematic diagrams of target azimuth spectrums after interference suppression processing in the embodiment of the present application, acquiring target range-doppler positions corresponding to target vehicles, and 8 adjacent range-doppler positions corresponding to the target range-doppler position and adjacent direction-dimension signals corresponding to each adjacent range-doppler position are obtained, calculating interference suppression coefficients according to the adjacent direction dimension signals corresponding to the 8 adjacent range-Doppler positions, a target azimuth spectrum (as shown in fig. 10 a-10 h) obtained after the interference suppression processing is obtained according to the interference suppression coefficient and the azimuth dimension signal corresponding to the target range-doppler position, wherein, the target azimuth spectrum obtained by processing No. 2, 3, 4 and 5 adjacent range Doppler positions forms a peak near the real target azimuth, the average value of the target detection method is 52.5 degrees, so that the target detection method provided by the application can be used for detecting the same-distance and same-speed weak targets.

The 8 adjacent range-doppler positions refer to four range-doppler positions adjacent to the target range-doppler position in four directions, i.e., up, down, left, and right directions in the range-doppler matrix, and four range-doppler positions adjacent to the target range-doppler position in a diagonal direction.

It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here. For example, with reference to fig. 2, the execution sequence of step S210 and step S220 may be interchanged, that is, step S210 may be executed first, and then step S220 may be executed; step S120 may be performed first, and then step S110 may be performed. For another example, in conjunction with fig. 6, the order of step S620 and step S630 may also be interchanged.

The present embodiment further provides a target detection apparatus, which is used to implement the foregoing embodiments and preferred embodiments, and the description of the target detection apparatus is omitted here. As used hereinafter, the terms "module," "unit," "subunit," and the like may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.

Fig. 11 is a block diagram of a target detection apparatus according to an embodiment of the present application, and as shown in fig. 11, the apparatus includes.

And the target track determining module 110 is configured to obtain a current motion track and predicted motion information of the radar tracking target, and determine a target motion track corresponding to the radar tracking target based on the predicted motion information and the current motion track, where the predicted motion information includes a predicted distance, a predicted speed, and a predicted azimuth.

The adjacent position obtaining module 120 is configured to obtain a target range-doppler position corresponding to the target motion point trace, and obtain an adjacent range-doppler position corresponding to the target range-doppler position, where the target range-doppler position includes a position of the target motion point trace in a range-doppler matrix, and the range-doppler matrix is constructed based on radar echo data.

And the target position detection module 130 is configured to obtain an interference suppression coefficient based on the adjacent range-doppler position, and obtain current position information of the radar tracking target based on the interference suppression coefficient, the target range-doppler position, and the predicted azimuth.

In some of these embodiments, the target trace determination module 110 includes a prediction information acquisition unit including a first data acquisition subunit, a second data acquisition subunit, and a coordinate conversion subunit.

The first data acquisition subunit is used for acquiring a motion point trajectory prediction result of the current radar tracking target in the rectangular coordinate system, wherein the motion point trajectory prediction result comprises a current position prediction result and a current speed prediction result.

The second data acquisition subunit is used for acquiring the current speed of the vehicle, the installation information of the vehicle radar and the conversion relation between the polar coordinate system and the rectangular coordinate system, wherein the installation information of the vehicle radar comprises the installation angle and the installation position of the vehicle radar;

and the coordinate conversion subunit is used for converting the motion point track prediction result from the rectangular coordinate system to the polar coordinate system based on the conversion relation, the current vehicle speed and the vehicle radar installation information to obtain the predicted motion information.

In some of these embodiments, the target point trace determining module 110 further comprises a target point trace determining unit comprising a doppler parameter acquisition subunit, a search area determining subunit, and a target point trace determining subunit.

And the Doppler parameter acquisition subunit is used for acquiring a preset range Doppler parameter, wherein the preset range Doppler parameter comprises a preset range value and a preset Doppler speed.

And the search area determining subunit is used for determining the current trace search area based on the predicted distance, the predicted speed and the preset range Doppler parameter.

And the target point trace determining subunit is used for determining the target motion point trace from the current motion point trace based on the current point trace searching area and the predicted azimuth angle.

In some embodiments, the target trace determining subunit is further configured to obtain a trace azimuth corresponding to the current moving trace, and obtain an azimuth difference between the trace azimuth and the predicted azimuth; judging whether the current motion trace is in the current trace searching area or not, and judging whether the azimuth angle difference value corresponding to the current motion trace is larger than a preset difference threshold value or not; and if the current motion point trace is in the current point trace searching area and the azimuth angle difference value corresponding to the current motion point trace is greater than the preset difference value threshold, determining that the current motion point trace is the target motion point trace.

In some embodiments, the number of adjacent range-doppler positions is multiple, and the target position detection module 130 includes a suppression coefficient obtaining unit, a target azimuth spectrum obtaining unit, and a current position obtaining unit.

The suppression coefficient acquisition unit is used for acquiring an interference suppression coefficient corresponding to each adjacent range Doppler position based on the guide vector and each adjacent range Doppler position; the adjacent range-doppler position comprises the adjacent position of the target moving point in the range-doppler matrix, and the adjacent range value and the adjacent doppler velocity corresponding to the adjacent position.

The target orientation spectrum acquisition unit is used for acquiring a target orientation spectrum corresponding to the target range Doppler position according to the target range Doppler position and each interference suppression coefficient to obtain a plurality of target orientation spectrums; the target range-doppler position further includes a target range value and a target doppler velocity corresponding to the position of the target motion point in the range-doppler matrix.

And the current position obtaining unit is used for obtaining the current position information of the radar tracking target based on the plurality of target azimuth spectrums and the predicted azimuth angle, and the current position information comprises the current azimuth angle of the radar tracking target.

In some embodiments, the current position obtaining unit includes a peak obtaining subunit, a first determining subunit, a second determining subunit, and an azimuth obtaining subunit.

And the peak value acquisition subunit is used for acquiring a first peak value, a second peak value and a first peak value azimuth angle corresponding to the first peak value in each target azimuth spectrum.

And the first judgment subunit is used for acquiring a peak energy ratio corresponding to the first peak value and the second peak value, and judging whether the peak energy ratio is greater than a preset energy ratio threshold value to obtain a first judgment result.

And the second judgment subunit is used for acquiring an absolute value of a difference value between the first peak azimuth and the azimuth corresponding to the predicted azimuth, and judging whether the absolute value of the difference value is smaller than a preset absolute value threshold value to obtain a second judgment result.

And the azimuth angle acquisition subunit is used for acquiring the current azimuth angle of the radar tracking target based on the first judgment result and the second judgment result.

In some embodiments, the target detection apparatus further includes a target association detection module, where the target association detection module includes a history trace acquisition unit, a first association detection unit, and a second association detection unit.

And the historical point trace acquisition unit is used for acquiring the historical motion point trace of the radar tracking target and determining the current frame point trace prediction range of the radar tracking target based on the historical motion point trace.

And the first correlation detection unit is used for searching whether the motion trace point exists in the current frame trace point prediction range or not, and if the motion trace point exists in the current frame trace point prediction range, determining that the motion trace point is successfully correlated to the current motion trace point of the radar tracking target.

And the second correlation detection unit is used for determining the current motion trace which is not correlated to the radar tracking target if no motion trace exists in the current frame trace prediction range, and acquiring the predicted motion information of the current radar tracking target based on the historical motion trace.

The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.

In addition, the object detection method described in conjunction with fig. 1 in the embodiment of the present application may be implemented by a computer device. Fig. 12 is a schematic hardware configuration diagram of a computer device according to an embodiment of the present application.

The computer device may include a processor 121 and a memory 122 storing computer program instructions.

Specifically, the processor 121 may include a Central Processing Unit (CPU), or A Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.

Memory 122 may include, among other things, mass storage for data or instructions. By way of example, and not limitation, memory 122 may include a Hard Disk Drive (Hard Disk Drive, abbreviated to HDD), a floppy Disk Drive, a Solid State Drive (SSD), flash memory, an optical Disk, a magneto-optical Disk, magnetic tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 122 may include removable or non-removable (or fixed) media, where appropriate. The memory 122 may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory 122 is a Non-Volatile (Non-Volatile) memory. In particular embodiments, Memory 122 includes Read-Only Memory (ROM) and Random Access Memory (RAM). The ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), Electrically rewritable ROM (EAROM), or FLASH Memory (FLASH), or a combination of two or more of these, where appropriate. The RAM may be a Static Random-Access Memory (SRAM) or a Dynamic Random-Access Memory (DRAM), where the DRAM may be a Fast Page Mode Dynamic Random-Access Memory (FPMDRAM), an Extended data output Dynamic Random-Access Memory (EDODRAM), a Synchronous Dynamic Random-Access Memory (SDRAM), and the like.

Memory 122 may be used to store or cache various data files for processing and/or communication purposes, as well as possibly computer program instructions for execution by processor 121.

The processor 121 implements any one of the object detection methods in the above embodiments by reading and executing computer program instructions stored in the memory 122.

In some of these embodiments, the computer device may also include a communication interface 123 and a bus 120. As shown in fig. 12, the processor 121, the memory 122, and the communication interface 123 are connected via the bus 120 to complete communication therebetween.

The communication interface 123 is used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present application. Communication interface 123 may also enable communication with other components such as: the data communication is carried out among external equipment, image/data acquisition equipment, a database, external storage, an image/data processing workstation and the like.

Bus 120 comprises hardware, software, or both coupling the components of the computer device to each other. Bus 120 includes, but is not limited to, at least one of the following: data Bus (Data Bus), Address Bus (Address Bus), Control Bus (Control Bus), Expansion Bus (Expansion Bus), and Local Bus (Local Bus). By way of example, and not limitation, Bus 120 may include an Accelerated Graphics Port (AGP) or other Graphics Bus, an Enhanced Industry Standard Architecture (EISA) Bus, a Front-Side Bus (FSB), a Hyper Transport (HT) Interconnect, an ISA (ISA) Bus, an InfiniBand (InfiniBand) Interconnect, a Low Pin Count (LPC) Bus, a memory Bus, a microchannel Architecture (MCA) Bus, a PCI (Peripheral Component Interconnect) Bus, a PCI-Express (PCI-X) Bus, a Serial Advanced Technology Attachment (SATA) Bus, a Video Electronics Bus (audio Electronics Association), abbreviated VLB) bus or other suitable bus or a combination of two or more of these. Bus 120 may include one or more buses, where appropriate. Although specific buses are described and shown in the embodiments of the application, any suitable buses or interconnects are contemplated by the application.

The computer device may execute the target detection method in the embodiment of the present application based on the obtained predicted motion information of the current motion trace and the radar tracking target, thereby implementing the target detection method described with reference to fig. 1.

In addition, in combination with the target detection method in the foregoing embodiments, the embodiments of the present application may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement any of the object detection methods in the above embodiments.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A method of object detection, the method comprising:

2. The method of claim 1, wherein the obtaining predicted motion information for the radar tracking target comprises:

3. The method of claim 1, wherein the determining a target motion trajectory corresponding to the radar tracking target based on the predicted motion information and the current motion trajectory comprises:

4. The method of claim 3, wherein the determining the target motion trajectory from the current motion trajectory based on the current trajectory search area and the predicted azimuth comprises:

5. The method of claim 1, wherein the number of adjacent range-doppler locations is plural; the obtaining an interference suppression coefficient based on the adjacent range-doppler position, and obtaining current position information of the radar tracking target based on the interference suppression coefficient, the target range-doppler position, and the predicted azimuth angle includes:

6. The method of claim 5, wherein obtaining current location information of the radar-tracking target based on the plurality of target bearing spectra and the predicted azimuth comprises:

7. The method of claim 1, wherein prior to the obtaining predicted motion information for the radar tracking target, the method further comprises:

8. An object detection apparatus, characterized in that the apparatus comprises:

9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the object detection method as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the object detection method according to any one of claims 1 to 7.