CN117647797A - Method and device for correcting short-distance speed of radar, radar and storage medium - Google Patents
Method and device for correcting short-distance speed of radar, radar and storage medium Download PDFInfo
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Abstract
The application is applicable to the technical field of radars, and provides a near-distance speed correction method and device for a radar, the radar and a storage medium. The method comprises the following steps: after the radar transmits signals, echo signals are obtained, and point clouds of the dynamic targets are obtained according to the echo signals; clustering point clouds to obtain clustering points of dynamic targets and corresponding clustering information, wherein the clustering information comprises the speed of the dynamic targets relative to the radar; acquiring a historical track, and determining a target track associated with a clustering point of a dynamic target in the historical track; and adjusting the speed of the dynamic target relative to the radar according to the target track to obtain the correction speed of the dynamic target relative to the radar. The method and the device can improve the speed measurement precision of the dynamic target (target vehicle) under the close distance condition and reduce the speed measurement error, so that the track of the dynamic target can be accurately determined based on the correction speed of the dynamic target relative to the radar.
Description
Technical Field
The application relates to the technical field of radars, in particular to a near-distance speed correction method and device for a radar, the radar and a storage medium.
Background
Along with the development of intelligent traffic, people continuously increase the attention to road safety. The portable mobile speed measuring radar (also called radar) is applied to traffic and is installed on a vehicle, and can measure the speed of other vehicles (such as target vehicles), thereby determining the track of the target vehicles.
However, when the own vehicle has an offset angle with the lane line and the distance between the own vehicle and the target vehicle is relatively short, the target vehicle cannot be regarded as a point target, and the angle of the target vehicle at different positions relative to the own vehicle is also not negligible, so that the speed of the target vehicle measured by the radar arranged on the own vehicle at this time is the radial speed of the target vehicle (the radial speed of the target vehicle is the speed of the target vehicle in the direction of the connecting line of the radar and the target vehicle), and the actual speed deviation of the target vehicle is relatively large, that is, the speed measurement accuracy of the target vehicle is low and the speed measurement error is relatively large, and therefore, in the case of short distance, when the track of the target vehicle is determined based on the speed of the target vehicle, the relatively large speed deviation exists.
Disclosure of Invention
In view of this, the embodiment of the application provides a method and a device for correcting the near-distance speed of a radar, the radar and a storage medium, so as to solve the technical problems of low speed measurement precision and large speed measurement error of the radar on a target vehicle under the near-distance condition.
In a first aspect, an embodiment of the present application provides a method for correcting a near-distance speed of a radar, including:
after the radar transmits signals, echo signals are obtained, and point clouds of the dynamic targets are obtained according to the echo signals;
clustering the point clouds to obtain clustering points of the dynamic targets and corresponding clustering information, wherein the clustering information comprises the speed of the dynamic targets relative to the radar;
acquiring a historical track, and determining a target track associated with a clustering point of a dynamic target in the historical track;
and adjusting the speed of the dynamic target relative to the radar according to the target track to obtain the correction speed of the dynamic target relative to the radar.
In a possible implementation manner of the first aspect, the target track includes a track lateral-longitudinal distance and a track lateral-longitudinal speed;
according to the target track, adjusting the speed of the dynamic target relative to the radar to obtain the correction speed of the dynamic target relative to the radar, comprising:
calculating an included angle according to the track transverse and longitudinal distance and the track transverse and longitudinal speed of the target track, wherein the included angle is an included angle between a connecting line of the dynamic target and the radar and an actual speed direction of the dynamic target relative to the radar;
and adjusting the speed of the dynamic target relative to the radar according to the included angle to obtain the correction speed of the dynamic target relative to the radar.
In a possible implementation manner of the first aspect, calculating the included angle according to the track transverse and longitudinal distance and the track transverse and longitudinal speed of the target track includes:
determining a corresponding track distance vector according to the track transverse and longitudinal distance of the target track, and determining a corresponding track speed vector according to the track transverse and longitudinal speed of the target track;
and calculating a vector included angle between the track distance vector and the track speed vector, and taking the vector included angle as an included angle.
In a possible implementation of the first aspect, the target track comprises a track lateral-longitudinal velocity;
after the speed of the dynamic target relative to the radar is adjusted according to the target track to obtain the correction speed of the dynamic target relative to the radar, the method further comprises the following steps:
according to the track transverse and longitudinal speeds of the target track, speed prediction is carried out to obtain a track speed predicted value of the dynamic target;
based on an extended Kalman filtering algorithm, the track speed predicted value of the dynamic target and the correction speed of the dynamic target relative to the radar are fused to obtain the fused speed, and track updating is carried out on the target track according to the fused speed.
In a possible implementation manner of the first aspect, obtaining a point cloud of the dynamic object according to the echo signal includes:
Performing down-conversion and filtering on the echo signals to obtain intermediate-frequency echo signals;
performing two-dimensional fast Fourier transform on the intermediate frequency echo signals based on each virtual channel of the receiving and transmitting antenna of the radar to obtain a distance-Doppler diagram corresponding to each virtual channel;
non-coherent accumulation is carried out on the distance-Doppler graphs corresponding to each virtual channel, and a non-coherent distance-Doppler graph is obtained;
performing constant false alarm detection on the non-coherent distance-Doppler graph to obtain a plurality of point clouds and corresponding point cloud data; the point cloud data comprises the distance, speed and angle of the point cloud;
and carrying out dynamic and static separation on all the point clouds according to the plurality of point cloud data to obtain the point clouds of the dynamic target.
In a possible implementation manner of the first aspect, determining a target track associated with a cluster point of a dynamic target in a historical track includes:
constructing a cost matrix according to the historical track and the clustering points of the dynamic targets;
and determining a target track associated with the clustering point of the dynamic target in the historical track according to the numerical value of each element in the cost matrix.
In a possible implementation manner of the first aspect, adjusting a speed of the dynamic target relative to the radar according to the included angle to obtain a correction speed of the dynamic target relative to the radar includes:
According to the expression:
determining the correction speed of the dynamic target relative to the radar;
wherein v represents the dynamic target relative to the radarCorrection speed, v 1 Representing the velocity of the dynamic object relative to the radar, θ representing the angle.
In a possible implementation manner of the first aspect, calculating a vector angle between the track distance vector and the track velocity vector, and taking the vector angle as the angle includes:
if the radar is traveling opposite to the dynamic target, then according to the expression:
determining an included angle;
if the radar runs in the same direction as the dynamic target, the following expression is adopted:
determining an included angle;
in the formula, theta is an included angle, vector 1 ＝(R x ,R y ) R is track distance vector x Is the transverse distance coordinate of the track, R y Vector as the longitudinal distance coordinate of the track 2 ＝(V x ,V y ) For track velocity vector, V x Is the transverse velocity coordinate of the track, V y Is the longitudinal velocity coordinate of the track.
In a second aspect, an embodiment of the present application provides a near-field speed correction device of a radar, including:
the acquisition module is used for acquiring echo signals after the radar transmits signals, and obtaining point clouds of the dynamic targets according to the echo signals;
the clustering module is used for clustering the point cloud to obtain clustering points of the dynamic targets and corresponding clustering information, wherein the clustering information comprises the speed of the dynamic targets relative to the radar;
The association module is used for acquiring a historical track and determining a target track associated with a cluster point of the dynamic target in the historical track;
and the correction module is used for adjusting the speed of the dynamic target relative to the radar according to the target track to obtain the correction speed of the dynamic target relative to the radar.
In a third aspect, embodiments of the present application provide a radar, including: a transmitting assembly, a receiving assembly, and a processor;
wherein the transmitting component is for transmitting signals, the receiving component is for receiving echo signals, and the processor is for performing a short range speed correction method of the radar according to any one of the first aspects.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements a method for correcting short range speed of a radar according to any one of the first aspects.
In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on a radar, causes the radar to perform the method of short range speed correction of a radar according to any one of the first aspects above.
It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.
According to the near-distance speed correction method, device and radar and storage medium of the radar, under the condition that the near distance is considered, the speed measurement precision of the radar on a dynamic target (such as a target vehicle) is low, the error is large, the point cloud of the dynamic target is obtained through echo signals obtained based on the radar, the point cloud is clustered, clustering information comprising the speed of the dynamic target relative to the radar is determined, then a historical track is obtained, the target track associated with the dynamic target in the historical track is determined, further, the speed of the dynamic target relative to the radar is compensated and corrected based on the relevant track data of the target track, namely the speed of the dynamic target under the condition of the near distance is corrected based on the target track, the correction speed of the dynamic target relative to the radar is obtained, the speed measurement precision of the dynamic target under the condition of the near distance is improved, the speed measurement error is reduced, and therefore the track of the dynamic target relative to the radar can be accurately determined based on the correction speed of the dynamic target later.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;
FIG. 2 is a flow chart of a method for correcting near-field velocity of a radar according to an embodiment of the present application;
FIG. 3 is a flow chart of a method for short range speed correction of a radar according to another embodiment of the present application;
FIG. 4 is a schematic diagram of a radar versus target vehicle according to an embodiment of the present disclosure;
FIG. 5 is a flow chart of a method for short range speed correction of a radar according to yet another embodiment of the present application;
FIG. 6 is a schematic diagram of a short-range speed correction device of a radar according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a radar according to an embodiment of the present application.
Detailed Description
The present application will be more clearly described with reference to the following specific examples. The following examples will assist those skilled in the art in further understanding the function of the present application, but are not intended to limit the present application in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the spirit of the present application. These are all within the scope of the present application.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It should be noted that, the data related to the present specification are all acquired and processed under the condition that the corresponding user is aware and authorized.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In the description of this application and the claims that follow, the terms "first," "second," "third," etc. are used merely to distinguish between descriptions and should not be construed to indicate or imply relative importance. It should be noted that, the data related to the present specification are all acquired and processed under the condition that the corresponding user is aware and authorized.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Furthermore, references to "a plurality of" in the examples of this application should be interpreted as two or more.
In the related art, the radar is applied to traffic and is installed on a vehicle, so that the speed of the vehicle (such as a target vehicle) can be measured, and the track of the target vehicle can be determined. However, when there is a deviation angle between the host vehicle and the lane line, and the distance between the host vehicle and the target vehicle is relatively short, the target vehicle cannot be regarded as a point target, and the angle of the target vehicle with respect to the host vehicle at different positions is also not negligible, resulting in that the speed of the target vehicle measured by the radar provided on the host vehicle at this time is the radial speed of the target vehicle (the radial speed of the target vehicle is the speed of the target vehicle in the direction of the line connecting the radar and the target vehicle), which is greatly different from the actual speed of the target vehicle, resulting in low speed measurement accuracy and large speed measurement error of the target vehicle, and thus, in a close distance situation, there is a large deviation in determining the track of the target vehicle based on the speed of the target vehicle.
Based on the above problems, the inventor finds that the speed of the dynamic target relative to the radar (namely, the radial speed of the target vehicle) can be compensated and corrected based on the historical track, so that the speed measurement precision of the target vehicle (dynamic target) is improved, and the speed measurement error is reduced, so that the track of the target vehicle is accurately determined based on the speed of the target vehicle under the short-distance condition, and the accurate report of the track of the target vehicle is realized.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application. As shown in fig. 1, the application scenario involves devices including a radar 10, a track module 20, and an in-vehicle terminal 30.
The application scenario is that the radar 10 is disposed on a vehicle (vehicle), there is a relative motion between the vehicle and the target vehicle, and there is a deflection angle between the vehicle and the lane line, and the distance between the vehicle and the target vehicle is relatively close, for example, the distance between the vehicle and the target vehicle may be less than 15 meters, or less than 20 meters, and the like, and the specific limitation on the distance is not herein imposed. The radar 10 may have one or more, such as one, for example, the radar 10 may periodically transmit signals and then acquire echo signals for clustering. It is assumed that only the own vehicle and the target vehicle provided with the radar 10 are clustered in the clustering scene at this time, and after clustering, the radar 10 obtains cluster information of the target vehicle, the cluster information including the speed. Meanwhile, the radar 10 can also acquire a historical track, and compensate and correct the speed of the target vehicle according to the historical track to obtain the corrected speed of the target vehicle.
In this way, after compensating and correcting the speed of the target vehicle, the radar 10 sends corresponding information to the track module 20, and the track module 20 can track in time.
Alternatively, the track module 20 may send the tracked track to the in-vehicle terminal 30. At this time, the driver can acquire the track of the target vehicle from the in-vehicle terminal 30, and further, perform vehicle avoidance, realize safe driving, and the like.
Fig. 2 is a flow chart of a method for correcting a near-distance speed of a radar according to an embodiment of the present application.
As shown in fig. 2, the method in the embodiment of the present application may include:
and 101, acquiring an echo signal after the radar transmits a signal, and obtaining a point cloud of the dynamic target according to the echo signal.
Illustratively, the present embodiment may use a frequency modulated continuous wave signal (Frequency Modulated Continuous Wave, FMCW) as the transmit signal. The FMCW has a large time-bandwidth product, and the present embodiment processes the echo signal, for example, after filtering, can obtain a high distance resolution capability and a high speed resolution capability at the same time. Meanwhile, in order to improve the angle resolution capability, the present embodiment may combine FMCW with a Multiple-Input Multiple-Output (MIMO) array to obtain a high angle resolution capability.
In one possible implementation manner, in this embodiment, when obtaining a point cloud of a dynamic target according to an echo signal, the echo signal may be subjected to down-conversion and filtering to obtain an intermediate frequency echo signal, and further, based on each virtual channel of a transceiver antenna of a radar, two-dimensional fast fourier transform is performed on the intermediate frequency echo signal to obtain a distance-doppler map corresponding to each virtual channel, and non-coherent accumulation is performed on the distance-doppler map corresponding to each virtual channel to obtain a non-coherent distance-doppler map, so that constant false alarm detection is performed on the non-coherent distance-doppler map to obtain a plurality of point clouds and corresponding point cloud data, and dynamic and static separation is performed on all the point clouds according to the plurality of point cloud data to obtain the point cloud of the dynamic target. The point cloud data comprise information such as distance, speed and angle of the point cloud.
Exemplary, in this embodiment, the echo signal is subjected to down-conversion and filtering, and the expression for obtaining the intermediate frequency echo signal is:
wherein x is m (t s ,n,m t ,m r ) Is the intermediate frequency echo signal of the mth target, t s Is a fast sampling time, and 0<t s <T, T is the signal transmitting period, n is the number of the pulse repetition period,b is effective bandwidth, f c Is the center frequency, c is the speed of light, m t ＝0,1,2,…,M t -1，m r ＝0,1,2,…,M r -1，d t [m t ]Represents the mth t The positions of the transmitting array elements M t For transmitting the number of array elements d r [m r ]Represents the mth r The positions of the receiving array elements M r For receiving the number of array elements, k is the minimum array element distance of the receiving and transmitting antenna, the position of the mth target is R, and the radial speed of the mth target is v 0 The signal amplitude is sigma m Beta is the angle between the radar echo and the normal.
Optionally, in this embodiment, a two-dimensional fast fourier transform (2D Fast Fourier transform,2DFFT) may be used to process the intermediate frequency echo signal to obtain a Range-Doppler (RD) graph corresponding to each virtual channel, and neglect phase information of each virtual channel, and only superimpose the module value information of the Range-Doppler graph corresponding to each virtual channel to obtain a non-coherent Range-Doppler graph. And then, constant False Alarm detection (CFAR) is carried out on the non-coherent distance-Doppler graph, for example, in order to ensure high detection Rate, a minimum selection Constant False Alarm algorithm can be adopted to obtain a plurality of detected point clouds and corresponding point cloud data, wherein the point cloud data comprise distance, speed, amplitude, signal to noise ratio and the like. And then, according to each detected point cloud, determining data corresponding to each point cloud from the distance-Doppler diagram corresponding to each virtual channel, rearranging and interpolating, and determining angles corresponding to each data by using a phase comparison method, namely determining the angles of each point cloud, wherein the point cloud data comprise distance, speed, angle, amplitude, signal-to-noise ratio and the like.
Here, after obtaining the plurality of point cloud data, the embodiment may perform dynamic and static separation on the detected point cloud according to the distance, the speed, the angle, the amplitude, the signal-to-noise ratio, and the like in the plurality of point cloud data, to obtain the point cloud of the dynamic target. Wherein the dynamic target may be plural.
Step 102, clustering the point clouds to obtain clustering points of the dynamic targets and corresponding clustering information, wherein the clustering information comprises the speed of the dynamic targets relative to the radar.
For example, after the point cloud of the dynamic target is obtained, the embodiment clusters the point cloud data of the dynamic target, for example, a Density-based clustering algorithm (Density-Based Spatial Clustering of Applications with, DBSCAN), K-Means, mean shift clustering and other clustering algorithms are adopted, similar point clouds such as distance, speed and angle are clustered into one class based on the distance, speed and angle and the like in the point cloud data, related information such as the distance, speed and angle of the centroid after clustering is obtained, and the clustered points and corresponding clustered information of the dynamic target are obtained and stored. As the dynamic targets can be multiple, the clustering points of the dynamic targets can be corresponding to the dynamic targets.
Optionally, in this embodiment, a weighted average process may be performed on the speeds in the point cloud data corresponding to the cluster points of each dynamic target, so as to obtain the speeds of the cluster points of each dynamic target, which are used as the speeds of the relative radars of each dynamic target. Similarly, in this embodiment, the distances and angles in the point cloud data corresponding to the cluster points of each dynamic target are weighted and averaged respectively to obtain the distances and angles of the cluster points of each dynamic target, which are used as the distances and angles of each dynamic target relative to the radar.
In the above weighted average processing, the present embodiment describes an example of weighted average processing of the velocity, for example, a weighted value corresponding to the velocity in the point cloud data may be obtained first, each velocity may be multiplied by the corresponding weighted value to obtain a corresponding weighted result, then each weighted result is added, an average value of the added results is calculated, and the average value is used as the velocity of each dynamic target relative to the radar.
Step 103, acquiring a historical track, and determining a target track associated with the clustering point of the dynamic target in the historical track.
The historical track is the track of the dynamic target at the previous time. The track of the previous time dynamic object may be understood as a track of a dynamic object determined by a signal transmitted by the radar at a previous time, and there may be a plurality of previous time dynamic objects, and correspondingly, there may be a plurality of tracks of previous time dynamic objects. The dynamic target is the dynamic target of the current time and is the same as or different from the dynamic target of the previous time.
It should be noted that, in this embodiment, if the current time is t, the historical track is a track corresponding to a previous time t- Δt, where Δt is a fixed interval between the current time and the previous time. In this embodiment, the number of historical tracks may be plural, and each historical track includes a corresponding track lateral-longitudinal distance, track lateral-longitudinal speed, track lateral-longitudinal acceleration, and the like. As can be seen from the foregoing, the number of the cluster points of the dynamic target determined in this embodiment may be multiple, and the cluster information corresponding to the cluster points of the dynamic target includes the distance, the speed and the angle of the dynamic target relative to the radar.
In one possible manner, in the embodiment, when determining the target track associated with the cluster point of the dynamic target, a cost matrix may be constructed according to the historical track and the cluster point of the dynamic target, and the target track associated with the cluster point of the dynamic target in the historical track may be determined according to the numerical value of each element in the cost matrix.
In this embodiment, each historical track may be taken as a column, and the clustering points of each dynamic target may be taken as a row, so as to calculate a cost matrix, that is, construct a cost matrix, based on the track transverse and longitudinal distance, the track transverse and longitudinal speed, the track transverse and longitudinal acceleration of each historical track, and the clustering information corresponding to the clustering points of each dynamic target. Therefore, according to the numerical value of each element in the cost matrix, the target track associated with the clustering point of the dynamic target in the historical track is determined. For example, the element with the value smaller than the preset threshold value and the smallest value in all elements of the cost matrix is used as the first element, the historical track corresponding to the first element (the column corresponding to the first element) is used as the target track associated with the clustering point (the row corresponding to the first element) of the dynamic target corresponding to the first element, namely, the target track associated with the clustering point of one dynamic target is determined. And deleting the row and the column corresponding to the first element from the cost matrix to obtain an updated cost matrix, taking the element with the value smaller than the preset threshold value and the smallest value in all elements of the updated cost matrix as a second element, determining a target track associated with the cluster point of the next dynamic target according to the second element, and repeating the processes of determining the element and updating the cost matrix until no element with the value smaller than the preset threshold value exists in the updated cost matrix. Wherein the minimum representation value is minimum. Of course, the present embodiment may also construct a cost matrix by taking each historical track as a row and taking the cluster points of each dynamic target as columns.
It should be noted that, as described above, if no element whose value is smaller than the preset threshold value exists in a certain row of elements of the cost matrix, the cluster point of the dynamic target corresponding to the row is not associated with each historical track, and is used as the cluster point of the unassociated dynamic target. The preset threshold value can be set according to actual conditions, such as setting values of elements in a time matrix when the clustering points of the dynamic targets are associated with the historical tracks.
And 104, adjusting the speed of the dynamic target relative to the radar according to the target track to obtain the correction speed of the dynamic target relative to the radar.
From the foregoing, it can be seen that the target track includes a track lateral-longitudinal distance and a track lateral-longitudinal speed.
According to the embodiment, the included angle between the connecting line of the dynamic target and the radar and the actual speed direction of the dynamic target relative to the radar can be calculated according to the track transverse and longitudinal distance and the track transverse and longitudinal speed of the target track, so that the speed of the dynamic target relative to the radar (the radial speed of the dynamic target relative to the radar) is compensated and corrected according to the included angle, and the corrected speed of the dynamic target relative to the radar (the actual speed of the dynamic target relative to the radar) is obtained. The speed of the dynamic target relative to the radar is also called a measured value of the track, and the corrected speed of the dynamic target relative to the radar is also called a corrected measured value of the track.
It should be noted that, in the above embodiment, taking a cluster point of a dynamic target as an example, the speed of the dynamic target relative to the radar is adjusted according to the target track associated with the cluster point of the dynamic target, so as to obtain the correction speed of the dynamic target relative to the radar. In practical applications, there may be a plurality of clustering points of the dynamic targets, and each target track associated with each of the clustering points of the dynamic targets. In practical application, the same method for adjusting the speed of one dynamic target relative to the radar in the embodiment is adopted to respectively adjust and correct the speed of each dynamic target relative to the radar, so as to obtain the correction speed of each dynamic target relative to the radar.
According to the near-distance speed correction method of the radar, based on the echo signals acquired by the radar, the point cloud of the dynamic target is obtained, the point cloud is clustered, clustering information comprising the speed of the dynamic target relative to the radar is determined, then, a historical track is acquired, a target track associated with the dynamic target in the historical track is determined, further, the speed of the dynamic target relative to the radar is compensated and corrected based on the relevant track data of the target track, namely, the speed of the dynamic target under the near-distance condition is corrected based on the target track, the correction speed of the dynamic target relative to the radar is obtained, the speed measurement precision of the dynamic target (such as a target vehicle) under the near-distance condition is improved, and the speed measurement error is reduced, so that the track of the dynamic target can be accurately determined based on the correction speed of the dynamic target relative to the radar in the follow-up process.
In order to more accurately compensate and correct the speed of the dynamic target relative to the radar, on the basis of the embodiment, the track distance vector and the track speed vector can be determined according to the target track, and then, the connecting line of the dynamic target and the radar and the included angle of the dynamic target relative to the actual speed direction of the radar are calculated, so that the speed of the dynamic target relative to the radar is adjusted according to the calculated included angle.
Fig. 3 is a flow chart of a method for correcting a near-distance speed of a radar according to another embodiment of the present application. As shown in fig. 3, the method in the embodiment of the present application may include:
step 201, after the radar transmits a signal, an echo signal is obtained, and a point cloud of the dynamic target is obtained according to the echo signal.
Step 202, clustering the point clouds to obtain clustering points of the dynamic targets and corresponding clustering information, wherein the clustering information comprises the speed of the dynamic targets relative to the radar.
Step 203, acquiring a historical track, and determining a target track associated with the clustering point of the dynamic target in the historical track.
The specific implementation manner of steps 201 to 203 in this embodiment may refer to the descriptions related to steps 101 to 103 in the foregoing embodiments, which are not repeated here.
Step 204, determining a corresponding track distance vector according to the track transverse and longitudinal distances of the target track, and determining a corresponding track speed vector according to the track transverse and longitudinal speeds of the target track.
And 205, calculating a vector included angle between the track distance vector and the track speed vector, and taking the vector included angle as an included angle.
From the foregoing, it can be seen that the target track includes a track lateral-longitudinal distance and a track lateral-longitudinal speed. The included angle is the included angle between the connecting line of the dynamic target and the radar and the actual speed direction of the dynamic target relative to the radar.
Illustratively, in this embodiment, the corresponding track distance vector is determined according to the transverse and longitudinal distance coordinates corresponding to the track transverse and longitudinal distance of the target track, and the corresponding track speed vector is determined according to the transverse and longitudinal speed coordinates corresponding to the track transverse and longitudinal speed of the target track. Therefore, the connecting line of the dynamic target and the radar and the included angle of the dynamic target relative to the actual speed direction of the radar can be obtained by calculating the vector included angle between the track distance vector and the track speed vector.
Note that, referring to fig. 4, when the radar travels in the opposite direction and in the same direction as the dynamic target (target vehicle), the angle is determined according to different expressions. Here, (a) in fig. 4 is that the radar and the dynamic target (target vehicle) travel in opposite directions, and (b) in fig. 4 is that the radar and the dynamic target (target vehicle) travel in the same direction.
Wherein, when the radar and the dynamic target run in opposite directions, the included angle is expressed according to the expression
And (5) determining.
When the radar and the dynamic target run in the same direction, the included angle is expressed according to the expression
And (5) determining.
In the formula, theta is an included angle, vector 1 ＝(R x ,R y ) R is track distance vector x Is the transverse distance coordinate of the track, R y Vector as the longitudinal distance coordinate of the track 2 ＝(V x ,V y ) For track velocity vector, V x Is the transverse velocity coordinate of the track, V y Is the longitudinal velocity coordinate of the track.
And 206, adjusting the speed of the dynamic target relative to the radar according to the included angle to obtain the correction speed of the dynamic target relative to the radar.
The correction speed of the dynamic target relative to the radar in the present embodiment is exemplified by the expression
Determining;
wherein v represents the correction speed of the dynamic target relative to the radar, v 1 Representing the velocity of the dynamic object relative to the radar.
Referring to fig. 4, the speed of the dynamic target relative to the radar in the present embodiment may be understood as the radial speed of the target vehicle, and the corrected speed of the dynamic target relative to the radar may be understood as the actual speed of the target vehicle.
In this embodiment, a point cloud is obtained based on an echo signal obtained by a radar, the point cloud is clustered, cluster information of a dynamic target is determined, then a target track associated with the cluster point of the dynamic target is determined, an included angle between a connection line of the dynamic target and the radar and an actual speed direction of the dynamic target relative to the radar is determined according to the target track, and the speed of the dynamic target relative to the radar is compensated and corrected according to the included angle, so as to obtain a correction speed of the dynamic target relative to the radar, thereby improving the speed measurement precision of the dynamic target (target vehicle) and reducing the speed measurement error under a close range condition.
After the correction speed of the dynamic target relative to the radar is obtained, in order to avoid the dynamic target (target vehicle) and realize safe driving, on the basis of the embodiment, the track of the dynamic target can be determined based on the correction speed of the dynamic target relative to the radar.
Fig. 5 is a flowchart of a method for correcting a near-distance speed of a radar according to still another embodiment of the present application. As shown in fig. 5, the method in the embodiment of the present application may include:
step 301, acquiring an echo signal after the radar transmits a signal, and obtaining a point cloud of the dynamic target according to the echo signal.
Step 302, clustering the point clouds to obtain clustering points of the dynamic targets and corresponding clustering information, wherein the clustering information comprises the speed of the dynamic targets relative to the radar.
Step 303, acquiring a historical track, and determining a target track associated with the clustering point of the dynamic target in the historical track.
And 304, adjusting the speed of the dynamic target relative to the radar according to the target track to obtain the correction speed of the dynamic target relative to the radar.
The specific implementation manner of steps 301 to 304 in this embodiment may refer to the descriptions related to steps 101 to 104 in the foregoing embodiments, which are not repeated here.
And 305, carrying out speed prediction according to the track transverse and longitudinal speeds of the target track to obtain a track speed predicted value of the dynamic target.
By way of example, the embodiment may predict the track speed according to the track transverse and longitudinal speeds of the target track based on a preset state model, so as to obtain a track speed predicted value of the dynamic target, where the preset state model may be a uniform acceleration model, input the track transverse and longitudinal speeds of the target track, and output the track speed predicted value of the dynamic target. Similarly, in this embodiment, the track distance prediction and the track acceleration prediction may be performed based on a preset state model according to the track transverse and longitudinal distance and the track transverse and longitudinal acceleration of the target track, so as to obtain the track distance prediction value and the track acceleration prediction value of the dynamic target.
And 306, based on an extended Kalman filtering algorithm, fusing the track speed predicted value of the dynamic target and the correction speed of the dynamic target relative to the radar to obtain fused speed, and updating the track of the target according to the fused speed.
By way of example, in this embodiment, the track speed predicted value of the dynamic target and the corrected speed of the dynamic target relative to the radar are subjected to extended kalman filtering, that is, the track speed predicted value of the dynamic target and the corrected speed of the dynamic target relative to the radar are fused, and the fused speed is obtained as the track transverse and longitudinal speeds after the update of the dynamic target, so that the track of the target is updated according to the track transverse and longitudinal speeds after the update of the dynamic target.
Similarly, in this embodiment, the track distance predicted value of the dynamic target and the distance between the dynamic target and the radar are subjected to extended kalman filtering processing, so that the fused distance is used as the track transverse and longitudinal distance after the dynamic target is updated, and thus, track updating is performed on the target track according to the track transverse and longitudinal distance after the dynamic target is updated. Meanwhile, the embodiment also carries out extended Kalman filtering processing on the track acceleration predicted value of the dynamic target and the angle of the dynamic target relative to the radar to obtain the fused acceleration as the track transverse and longitudinal acceleration after the dynamic target is updated, so that the track of the target is updated according to the track transverse and longitudinal acceleration after the dynamic target is updated. That is, in this embodiment, the target track is updated according to the updated track lateral and longitudinal speed, the updated track lateral and longitudinal distance, and the updated track lateral and longitudinal acceleration of the dynamic target.
It should be noted that, in the foregoing, in practical application, there may be a plurality of clustering points of the dynamic targets and each target track associated with each of the clustering points of the dynamic targets, so that the correction speed of each dynamic target relative to the radar may be obtained, and thus, each target track is updated. After the track updating is carried out on each target track, the obtained current track is the track corresponding to the current time t. And when the next time t+delta t is updated, the radar retransmits the signal and acquires the echo signal at the next time t+delta t, dynamic point cloud is obtained based on the echo signal, clustering is carried out on the point cloud to obtain clustering points and corresponding clustering information of the dynamic target, the track corresponding to the current time t is used as a historical track, a target track associated with the clustering points of the dynamic target is determined in the historical track, the speed of the dynamic target relative to the radar is adjusted according to the target track, the correction speed of the dynamic target relative to the radar is obtained, further, the next time t+2 delta t target track is updated based on the correction speed of the dynamic target relative to the radar, and the steps are circulated.
Here, if the cluster points of the plurality of dynamic targets obtained in the embodiment are not associated with each historical track, that is, if there is a cluster point of an unassociated dynamic target, as described above, track creation is performed according to the cluster information corresponding to the cluster point of the unassociated dynamic target, and a new track unassociated with the historical track is constructed.
In addition, in order to ensure accuracy of track updating, in this embodiment, after the obtained track is greater than the preset frame number, for example, the preset frame number may be four, and then the near-distance speed correction method of the radar provided in this embodiment of the present application is applied to adjust the speed of the dynamic target relative to the radar, so as to obtain the correction speed of the dynamic target relative to the radar, and further, track updating is performed in the fifth frame according to the correction speed of the dynamic target relative to the radar.
In this embodiment, after the correction speed of the dynamic target relative to the radar is obtained, the track speed predicted value of the dynamic target is obtained according to the track transverse and longitudinal speeds of the target track, and the track of the target track is updated based on the correction speed of the dynamic target relative to the radar and the track speed predicted value of the dynamic target, so that the track of the dynamic target can be accurately determined, and a driver can avoid the target vehicle according to the track of the dynamic target, thereby realizing safe driving.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
Fig. 6 is a schematic structural diagram of a near-distance speed correction device of a radar according to an embodiment of the present application. As shown in fig. 6, the near-distance speed correction device of the radar provided in this embodiment may include: an acquisition module 401, a clustering module 402, an association module 403, and a correction module 404.
The acquiring module 401 is configured to acquire an echo signal after the radar transmits the signal, and obtain a point cloud of the dynamic target according to the echo signal.
The clustering module 402 is configured to cluster the point cloud to obtain a cluster point of the dynamic target and corresponding cluster information, where the cluster information includes a speed of the dynamic target relative to the radar.
The association module 403 is configured to obtain a historical track, and determine a target track associated with the cluster point of the dynamic target in the historical track.
And the correction module 404 is configured to adjust the speed of the dynamic target relative to the radar according to the target track, and obtain the correction speed of the dynamic target relative to the radar.
Optionally, the target track includes a track lateral-longitudinal distance and a track lateral-longitudinal speed; the correction module 404 is specifically configured to: calculating an included angle according to the track transverse and longitudinal distance and the track transverse and longitudinal speed of the target track, wherein the included angle is an included angle between a connecting line of the dynamic target and the radar and the actual speed direction of the dynamic target relative to the radar;
and adjusting the speed of the dynamic target relative to the radar according to the included angle to obtain the correction speed of the dynamic target relative to the radar.
Optionally, the correction module 404 is further specifically configured to: determining a corresponding track distance vector according to the track transverse and longitudinal distance of the target track, and determining a corresponding track speed vector according to the track transverse and longitudinal speed of the target track;
and calculating a vector included angle between the track distance vector and the track speed vector, and taking the vector included angle as an included angle.
Optionally, the target track includes track lateral and longitudinal speeds; the correction module 404 is also configured to: according to the track transverse and longitudinal speeds of the target track, speed prediction is carried out to obtain a track speed predicted value of the dynamic target;
based on an extended Kalman filtering algorithm, the track speed predicted value of the dynamic target and the correction speed of the dynamic target relative to the radar are fused to obtain the fused speed, and track updating is carried out on the target track according to the fused speed.
Optionally, the obtaining module 401 is specifically configured to: performing down-conversion and filtering on the echo signals to obtain intermediate-frequency echo signals;
performing two-dimensional fast Fourier transform on the intermediate frequency echo signals based on each virtual channel of the receiving and transmitting antenna of the radar to obtain a distance-Doppler diagram corresponding to each virtual channel;
non-coherent accumulation is carried out on the distance-Doppler graphs corresponding to each virtual channel, and a non-coherent distance-Doppler graph is obtained;
performing constant false alarm detection on the non-coherent distance-Doppler graph to obtain a plurality of point clouds and corresponding point cloud data; the point cloud data comprises the distance, speed and angle of the point cloud;
and carrying out dynamic and static separation on all the point clouds according to the plurality of point cloud data to obtain the point clouds of the dynamic target.
Optionally, the association module 403 is specifically configured to: constructing a cost matrix according to the historical track and the clustering points of the dynamic targets;
and determining a target track associated with the clustering point of the dynamic target in the historical track according to the numerical value of each element in the cost matrix.
Optionally, the correction module 404 is further specifically configured to: according to the expression:
determining the correction speed of the dynamic target relative to the radar;
wherein v represents the correction speed of the dynamic target relative to the radar, v 1 Representing the velocity of the dynamic object relative to the radar, θ representing the angle.
Optionally, the correction module 404 is further specifically configured to: when the radar runs opposite to the dynamic target, according to the expression:
determining an included angle;
when the radar and the dynamic target run in the same direction, according to the expression:
determining an included angle;
in the formula, theta is an included angle, vector 1 ＝(R x ,R y ) R is track distance vector x Is the transverse distance coordinate of the track, R y Vector as the longitudinal distance coordinate of the track 2 ＝(V x ,V y ) For track velocity vector, V x Is the transverse velocity coordinate of the track, V y Is the longitudinal velocity coordinate of the track.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
Fig. 7 is a schematic structural diagram of a radar according to an embodiment of the present application. The radar 500 shown in fig. 7 is only an example, and should not impose any limitation on the function and use range of the present embodiment.
As shown in fig. 7, radar 500 may include a transmitting component 501, a receiving component 502, and a processor 503.
The transmitting component 501 may transmit signals. For ease of description, the signals transmitted by the transmitting assembly 501 will be referred to hereinafter as transmit signals. The transmitting component 501 may transmit signals in multiple directions, for example, the processor 503 may control the transmitting component to transmit signals in different directions. After the transmitted signal reaches the obstacle, the obstacle may reflect the transmitted signal, and a signal reflected by the obstacle may be referred to as an echo signal.
Alternatively, the transmitting component 501 may periodically transmit a signal, where the period of the transmitted signal may be referred to as a transmit period or a scan period, and the transmit period may be the duration of one transmitted signal. If the transmission period of the transmission component 501 is T, the duration of each transmission signal is T. It should be noted that the foregoing is merely illustrative of the manner in which the transmitting assembly 501 transmits signals, and is not a limitation of the manner in which the transmitting assembly 501 transmits signals.
The receiving component 502 can perform signal reception. The receiving component 502 may receive an echo signal and an interference signal. For example, the interfering signal may include an ambient noise signal, a hacking signal, a signal that an obstacle reflects a transmitted signal of other radar systems, and so on. One or more receiving components 502 may be included in the radar 500, and when multiple receiving components 502 are included in the radar 500, the multiple receiving components 502 may be disposed at different locations, such that the receiving components 502 may receive echo signals from more obstructions.
The processor 503 may acquire the signals received by the receiving component 502 and determine echo signals from the signals received by the receiving component 502. The processor 503 may also acquire signals transmitted by the transmitting assembly 501 and measure objects (obstructions) based on the transmitted signals and echo signals. The measuring of the object may include: the speed of the measurement object (speed measurement), the distance between the measurement object and the radar (ranging), the position of the measurement object (positioning), etc. The object may be a person, a vehicle, an aircraft, etc. The processor 503 may include a DSP and an ARM processor.
For example, after a transmitted signal transmitted by the transmitting assembly 501 reaches the vehicle, the vehicle may reflect the transmitted signal. The receiving component 502 may receive echo signals from the vehicle reflecting the transmitted signals, and since there are also ambient noise signals, hacking signals, etc., the receiving component 502 may also receive ambient noise signals, hacking signals, etc. The processor 503 may determine echo signals in the receiving component 502 and measure (speed, range, position, etc.) the vehicle based on the echo signals and the transmit signals.
In this embodiment, the processor 503 may also perform the above method provided in the present application.
It should be noted that fig. 7 illustrates only the components included in the radar 500 by way of example, and the radar 500 is not limited thereto.
It should be noted that although in the above detailed description several units/modules or sub-units/modules of a short range speed correction device of a radar are mentioned, such a division is only exemplary and not mandatory. Indeed, the features and functionality of two or more units/modules described above may be embodied in one unit/module in accordance with embodiments of the present invention. Conversely, the features and functions of one unit/module described above may be further divided into ones that are embodied by a plurality of units/modules.
Furthermore, although the operations of the methods of the present invention are depicted in the drawings in a particular order, this is not required to either imply that the operations must be performed in that particular order or that all of the illustrated operations be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.
The present application also provides a computer readable storage medium having stored therein computer executable instructions that, when executed by a processor, perform the above-described methods provided herein.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (11)
1. A method for correcting short-range speed of a radar, comprising:
after the radar transmits a signal, acquiring an echo signal, and obtaining a point cloud of a dynamic target according to the echo signal;
clustering the point cloud to obtain clustering points of the dynamic target and corresponding clustering information, wherein the clustering information comprises the speed of the dynamic target relative to the radar;
acquiring a historical track, and determining a target track associated with a cluster point of the dynamic target in the historical track; the historical track is the track of the dynamic target in the previous time;
and adjusting the speed of the dynamic target relative to the radar according to the target track to obtain the correction speed of the dynamic target relative to the radar.
2. The method of claim 1, wherein the target track includes a track lateral-longitudinal distance and a track lateral-longitudinal speed;
the step of adjusting the speed of the dynamic target relative to the radar according to the target track to obtain the correction speed of the dynamic target relative to the radar comprises the following steps:
calculating an included angle according to the track transverse and longitudinal distance and the track transverse and longitudinal speed of the target track, wherein the included angle is an included angle between a connecting line of the dynamic target and the radar and an included angle between the dynamic target and the actual speed direction of the radar;
And adjusting the speed of the dynamic target relative to the radar according to the included angle to obtain the correction speed of the dynamic target relative to the radar.
3. The method for correcting short-range speed of radar according to claim 2, wherein calculating an included angle based on the track lateral-longitudinal distance and the track lateral-longitudinal speed of the target track comprises:
determining a corresponding track distance vector according to the track transverse and longitudinal distance of the target track, and determining a corresponding track speed vector according to the track transverse and longitudinal speed of the target track;
and calculating a vector included angle between the track distance vector and the track speed vector, and taking the vector included angle as the included angle.
4. The method of claim 1, wherein the target track comprises track lateral and longitudinal speeds;
after the speed of the dynamic target relative to the radar is adjusted according to the target track, the correction speed of the dynamic target relative to the radar is obtained, the method further comprises the following steps:
according to the track transverse and longitudinal speeds of the target track, carrying out speed prediction to obtain a track speed predicted value of the dynamic target;
And based on an extended Kalman filtering algorithm, fusing a track speed predicted value of the dynamic target and a correction speed of the dynamic target relative to the radar to obtain a fused speed, and updating the track of the target according to the fused speed.
5. A method of correcting near-field velocity of a radar according to any one of claims 1 to 3, wherein the obtaining a point cloud of a dynamic target from the echo signals comprises:
performing down-conversion and filtering on the echo signals to obtain intermediate-frequency echo signals;
based on each virtual channel of the receiving and transmitting antenna of the radar, performing two-dimensional fast Fourier transform on the intermediate frequency echo signals to obtain a distance-Doppler diagram corresponding to each virtual channel;
non-coherent accumulation is carried out on the distance-Doppler graphs corresponding to the virtual channels, and a non-coherent distance-Doppler graph is obtained;
performing constant false alarm detection on the non-coherent distance-Doppler graph to obtain a plurality of point clouds and corresponding point cloud data; the point cloud data comprise the distance, the speed and the angle of the point cloud;
and carrying out dynamic and static separation on all the point clouds according to the plurality of point cloud data to obtain the point clouds of the dynamic target.
6. A near speed correction method for a radar according to any one of claims 1 to 3, wherein the determining a target track associated with a cluster point of the dynamic target in the historical track comprises:
constructing a cost matrix according to the historical track and the clustering points of the dynamic targets;
and determining a target track associated with the clustering point of the dynamic target in the historical track based on the numerical value of each element in the cost matrix.
7. The method for correcting the near-distance speed of the radar according to claim 2, wherein the adjusting the speed of the dynamic object relative to the radar according to the included angle to obtain the corrected speed of the dynamic object relative to the radar comprises:
according to the expression:
determining a correction speed of the dynamic target relative to the radar;
wherein v represents the correction speed of the dynamic target relative to the radar, v 1 Representing the velocity of a dynamic object relative to the radarθ represents the angle.
8. A near field speed correction method for a radar according to claim 3, wherein the calculating a vector angle between the track distance vector and the track speed vector and taking the vector angle as the angle comprises:
If the radar runs opposite to the dynamic target, according to the expression:
determining the included angle;
if the radar and the dynamic target run in the same direction, according to the expression:
determining the included angle;
in the formula, theta is an included angle, vector 1 ＝(R x ,R y ) R is track distance vector x Is the transverse distance coordinate of the track, R y Vector as the longitudinal distance coordinate of the track 2 ＝(V x ,V y ) For track velocity vector, V x Is the transverse velocity coordinate of the track, V y Is the longitudinal velocity coordinate of the track.
9. A near-field speed correction device for a radar, comprising:
the acquisition module is used for acquiring echo signals after the radar transmits signals, and obtaining point clouds of the dynamic targets according to the echo signals;
the clustering module is used for clustering the point cloud to obtain clustering points of the dynamic target and corresponding clustering information, wherein the clustering information comprises the speed of the dynamic target relative to the radar;
the association module is used for acquiring a historical track, and determining a target track associated with the clustering point of the dynamic target in the historical track;
and the correction module is used for adjusting the speed of the dynamic target relative to the radar according to the target track to obtain the correction speed of the dynamic target relative to the radar.
10. A radar, comprising: a transmitting assembly, a receiving assembly, and a processor;
wherein the transmitting component is for transmitting signals, the receiving component is for receiving echo signals, and the processor is for performing a short range speed correction method of a radar as claimed in any one of claims 1 to 8.
11. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the short-range speed correction method of the radar according to any one of claims 1 to 8.
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