阅读说明：本技术 雷达检测中多径虚假目标抑制方法、装置、介质和设备 (Method, device, medium and equipment for suppressing multipath false target in radar detection ) 是由 赵宇 王东峰 李俊 张悦 姚京立 宋雨轩 宋科宁 腾世海 柏宇豪 焦敬恩 李萌 于 2021-07-07 设计创作，主要内容包括：本发明实施例提供一种雷达检测中多径虚假目标抑制方法、存储介质和电子装置,所述方法包括对雷达帧的点云进行聚类,得到至少一个雷达目标,根据至少一个雷达目标的轨迹信息,检测至少一个雷达目标中是否存在多径虚假目标,当检测到至少一个雷达目标存在多径虚假目标时,在预设周期内对所述多径虚假目标的轨迹的置信度进行调整,在检测时段内,删除调整后置信度低于设定阈值的多径虚假目标。能够避免直接删除导致的真实的雷达目标的轨迹丢失,通过预设周期内对多径虚假目标的轨迹的置信度进行调整,确保检测结果的准确性和稳定性。(The embodiment of the invention provides a method for suppressing multipath false targets in radar detection, a storage medium and an electronic device. The real radar target track loss caused by direct deletion can be avoided, and the accuracy and stability of the detection result are ensured by adjusting the confidence coefficient of the multipath false target track in the preset period.)

1. A method for suppressing multipath false targets in a radar detection scene is characterized by comprising the following steps:

clustering point clouds of the radar frames to obtain at least one radar target;

detecting whether a multipath false target exists in the at least one radar target according to the track information of the at least one radar target;

when the at least one radar target is detected to have the multipath false target, adjusting the confidence coefficient of the track of the multipath false target in a preset period;

and deleting the multipath false target with the adjusted confidence coefficient lower than the set threshold value in the detection period.

2. The method of claim 1, wherein the trajectory information of the at least one radar target includes a velocity of each radar target, and wherein detecting whether the multipath false target exists in the at least one radar target according to the trajectory information of the at least one radar target comprises:

screening out a first radar target and a second radar target with the speed and the height meeting preset conditions according to the track information of the at least one radar target;

traversing all radar targets, and detecting whether multipath reflection points exist in the first radar target and/or the second radar target;

when one radar target has multipath reflection points in a preset period, the radar target is detected to be a multipath false target.

3. The method of claim 2, wherein the velocity meeting the predetermined condition comprises that the first radar target and the second radar target have the same height and similar velocity or have a 2-fold relationship.

4. The method of claim 3, wherein the traversing all radar targets, detecting whether a first radar target and/or a second radar target has a multipath reflection point comprises:

determining a connecting line between the radar and the first radar target and the second radar target as a reflection path;

when the speeds of the first radar target and the second radar target are approximate or the same, if a third radar target exists in a preset distance interval at two sides of one reflection path, determining the third radar target as a multipath reflection point;

when the speeds of the first radar target and the second radar target are in a 2-time relation, if the radar, the first radar target and the second radar target are positioned on the same straight line, determining a third radar target which is in a preset distance interval at two sides of one reflection path and is close to the radar as a multi-path reflection point;

and when the speeds of the first radar target and the second radar target are equal but the directions of the first radar target and the second radar target are opposite, if a third radar target exists in a preset distance interval at two sides of one reflection path, determining the third radar target as a multipath reflection point.

5. The method of multipath false target suppression in a radar detection scenario of claim 4,

when the speeds of the first radar target and the second radar target are approximate, determining a radar target corresponding to a reflection path with a third radar target as a multipath false target;

when the speeds of the first radar target and the second radar target are in a 2-time relation, determining the radar target far away from the radar as a multipath false target;

and when the speeds of the first radar target and the second radar target are equal but the directions of the first radar target and the second radar target are opposite, determining the radar target corresponding to the reflection path with the third radar target as a multipath false target.

6. The method for suppressing the multipath false target in the radar detection scenario according to claim 4, wherein when the at least one radar target is detected to have the multipath false target, the adjusting the confidence level of the trajectory of the multipath false target in a preset period includes:

when detecting that the first radar target and/or the second radar target have multipath reflection points, reducing the confidence coefficient of the multipath false target track;

and when the existence of the multipath reflection points in the first radar target and/or the second radar target is not detected, the confidence coefficient of the multipath false target track is improved.

7. An apparatus for multipath false target suppression in a radar detection scenario, the apparatus comprising:

the clustering module is used for clustering point clouds of the radar frames to obtain at least one radar target;

the detection module is used for detecting whether a multipath false target exists in the at least one radar target according to the track information of the at least one radar target;

the adjusting module is used for adjusting the confidence coefficient of the track of the multipath false target in a preset period when the at least one radar target is detected to have the multipath false target;

and the deleting module is used for deleting the multipath false target with the adjusted confidence coefficient lower than the set threshold value in the detection period.

8. The apparatus of claim 7, wherein the trajectory information of the at least one radar target comprises a velocity of each radar target, and the detection module comprises:

the screening unit is used for screening out a first radar target and a second radar target with the speed meeting a preset condition according to the track information of the at least one radar target;

the traversing unit is used for traversing all the radar targets and detecting whether multipath reflection points exist in the first radar target and/or the second radar target;

and the detection unit is used for detecting that one radar target is a multipath false target when multipath reflection points exist in the radar target in a preset period.

9. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 6 when executed.

10. An apparatus comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 6.

Technical Field

The invention relates to the technical field of data processing, in particular to a method, a device, a storage medium and equipment for suppressing multipath false targets in a radar detection scene.

Background

The radar is a detection device, finds a target by using electromagnetic waves without being blocked by fog, cloud and rain, and has the characteristics of all weather and all time. Microwave radars are widely used for monitoring ground moving targets because they can respectively identify very small targets and can identify a plurality of targets.

However, when the target moves on the ground, on one hand, the radar detection beam irradiates and reflects the target through a straight line to obtain a real target, and on the other hand, the radar detection beam also reflects to other objects (such as vehicles, pedestrians, manhole covers, guideboards, and the like) and reflects back to the radar, or reflects back to the radar through multiple paths, so as to form a plurality of false targets.

In the traditional technology, the false target detected by the radar is mainly identified and eliminated or induced, namely, the false target is reacted or alarmed as long as the change of the reflected energy brought by the moving object on the ground is induced. Generally, the microwave radar sensing technology has lower requirements on direction and distance resolution of a target; the microwave detection radar mainly takes distance approach detection as a main part at present, only a target closest to the radar is concerned, namely a target with the shortest irradiation reflection distance, and a multipath false target with a larger distance is naturally eliminated.

Disclosure of Invention

The method, the device, the storage medium and the equipment for inhibiting the multipath false target in the radar detection scene can accurately eliminate the track of the multipath false target and optimize the detection result of the radar track.

In a first aspect, an embodiment of the present invention provides a method for suppressing a multipath false target in a radar detection scenario, where the method includes:

clustering point clouds of the radar frames to obtain at least one radar target;

detecting whether a multipath false target exists in the at least one radar target according to the track information of the at least one radar target;

when the at least one radar target is detected to have the multipath false target, adjusting the confidence coefficient of the track of the multipath false target in a preset period;

and deleting the multipath false target with the adjusted confidence coefficient lower than the set threshold value in the detection period.

Further, the trajectory information of the at least one radar target includes a speed of each radar target, and the detecting whether the multipath false target exists in the at least one radar target according to the trajectory information of the at least one radar target includes:

screening out a first radar target and a second radar target with the speed meeting a preset condition according to the track information of the at least one radar target;

traversing all radar targets aiming at a first radar target and a second radar target with the speed meeting a preset condition, and detecting whether multipath reflection points exist in the first radar target and/or the second radar target;

when one radar target has multipath reflection points in a preset period, the radar target is detected to be a multipath false target.

Further, the speed meeting the preset condition includes that the speeds of the first radar target and the second radar target are close or in a 2-fold relation.

Further, the traversing all the radar targets aiming at the first radar target and the second radar target with the speed meeting the preset condition, and the detecting whether the first radar target and/or the second radar target have the multipath reflection points includes:

determining a connecting line between the radar and the first radar target and the second radar target as a reflection path;

when the speeds of the first radar target and the second radar target are approximate, if a third radar target exists in a preset distance interval on two sides of one reflection path, determining the third radar target as a multipath reflection point;

when the speeds of the first radar target and the second radar target are in a 2-time relation, if the radar, the first radar target and the second radar target are positioned on the same straight line, determining a third radar target which is in a preset distance interval at two sides of one reflection path and is close to the radar as a multi-path reflection point;

and when the speeds of the first radar target and the second radar target are equal but the directions of the first radar target and the second radar target are opposite, if a third radar target exists in a preset distance interval at two sides of one reflection path, determining the third radar target as a multipath reflection point.

Further, when the speeds of the first radar target and the second radar target are approximate, determining a radar target corresponding to a reflection path with a third radar target as a multipath false target;

when the speeds of the first radar target and the second radar target are in a 2-time relation, determining the radar target far away from the radar as a multipath false target;

and when the speeds of the first radar target and the second radar target are equal but the directions of the first radar target and the second radar target are opposite, determining the radar target corresponding to the reflection path with the third radar target as a multipath false target.

Further, when detecting that the at least one radar target has the multipath false target, adjusting the confidence level of the trajectory of the multipath false target within a preset period includes:

when detecting whether a first radar target and/or a second radar target have multipath reflection points, reducing the confidence coefficient of the multipath false target track;

and when the existence of the multipath reflection point of the first radar target and/or the second radar target is not detected, the confidence coefficient of the multipath false target track is improved.

In a second aspect, an embodiment of the present invention provides an apparatus for suppressing a multipath false target in a radar detection scenario, where the apparatus includes:

the clustering module is used for clustering point clouds of the radar frames to obtain at least one radar target;

the detection module is used for detecting whether a multipath false target exists in the at least one radar target according to the track information of the at least one radar target;

the adjusting module is used for adjusting the confidence coefficient of the track of the multipath false target in a preset period when the at least one radar target is detected to have the multipath false target;

and the deleting module is used for deleting the multipath false target with the adjusted confidence coefficient lower than the set threshold value in the detection period.

Further, the trajectory information of the at least one radar target includes a velocity of each radar target, and the detection module includes:

the screening unit is used for screening out a first radar target and a second radar target with the speed meeting a preset condition according to the track information of the at least one radar target;

the traversing unit is used for traversing all radar targets aiming at the first radar target and the second radar target with the speed meeting the preset condition and detecting whether multipath reflection points exist in the first radar target and/or the second radar target;

and the detection unit is used for detecting that one radar target is a multipath false target when multipath reflection points exist in the radar target in a preset period.

In a third aspect, an embodiment of the present invention provides a storage medium, in which a computer program is stored, where the computer program is configured to, when executed, perform the method according to the first aspect.

In a fourth aspect, an embodiment of the present invention provides an apparatus, including a memory and a processor, where the memory stores a computer program, and the processor is configured to execute the computer program to perform the method according to the first aspect.

According to the technical scheme provided by the invention, whether multipath false targets exist in the radar targets pre-input into the radar detection scene is detected by utilizing the track information of the radar targets pre-input into the radar detection scene, when the multipath false targets are detected, the confidence coefficient of the tracks of the multipath false targets is adjusted in a preset period, and finally the multipath false targets with the confidence coefficient lower than a preset threshold value are deleted. Therefore, the real radar target track loss caused by direct deletion can be avoided, and the accuracy and stability of the detection result are ensured by adjusting the confidence coefficient of the multipath false target track in the preset period.

Drawings

Fig. 1 is a flowchart of a method for suppressing a multipath false target in radar detection according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a multipath false target in a method for suppressing a multipath false target in radar detection according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of detecting a multi-path false target in a method for suppressing the multi-path false target in radar detection according to an embodiment of the present invention

Fig. 4 is a schematic diagram illustrating detection of another multipath false target in a method for suppressing multipath false targets in radar detection according to an embodiment of the present invention;

fig. 5 is a schematic diagram illustrating detection of another multipath false target in a method for suppressing multipath false targets in radar detection according to an embodiment of the present invention;

fig. 6 is a flowchart of a method for suppressing multipath false targets in radar detection according to another embodiment of the present invention;

fig. 7 is a schematic structural diagram of an apparatus for suppressing a multipath false target in radar detection according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the field of electromagnetism, electronic equipment such as radars can emit electromagnetic waves, the electromagnetic waves are refracted and reflected for many times in the natural environment and then received by electronic equipment such as a receiver, and information carried by the electromagnetic waves can be extracted and analyzed through various signal processing and data processing methods. From these pieces of information, information such as the distance and angle to the radar-transmitted or the environmental target can be known. In a relatively open environment, electromagnetic waves can be received by the radar after being reflected by a space target, and at the moment, a receiving system of the radar can demodulate and resolve target information normally. If the space of the target is complex, such as urban areas, tunnels and the like, the receiving system of the radar receives not only the electromagnetic wave directly reflected by the target, but also the echo generated by multiple combined reflections of the target and the surrounding complex reflecting surfaces. Generally, an echo received by a receiving system of a radar through a primary reflection of a target is called a direct wave, and an echo received by the receiving system through a multiple reflection of the target and a spatial reflection object is called a multipath wave.

Taking radar as an example, due to multiple reflections of multipath signals, the radar will detect a false target at a position in space where no target exists, and the false target may be referred to as a multipath target corresponding to a real target.

Since multipath objects are often a negative target, they are often suppressed or culled after they are found.

The execution main body of the method for suppressing the multipath false target in the radar detection provided by the embodiment of the application can be a multipath false target suppression device in the radar detection, and the multipath false target suppression device in the radar detection can be an electronic device with data processing capacity, for example: microwave radar, vehicle-mounted radar, traffic radar, security radar and the like, which are not limited in the embodiment of the present invention.

As shown in fig. 1, fig. 1 is a flowchart of a method for suppressing a multipath false target in radar detection according to an embodiment of the present invention, which may include the following steps:

s101, clustering point clouds of the radar frames to obtain at least one radar target.

In this step, the radar frame may be a radar frame currently performing radar detection, and the radar frame may include a large number of points reflecting information such as target distance, speed, and the like, and the sum of the points may be referred to as a point cloud.

After forming the radar frame, the point clouds of the radar frame may be clustered, whereby at least one radar target may be obtained, which may include a plurality of real radar targets and a plurality of multi-path false targets. And then, obtaining the track information of each radar target according to the tracking condition of each radar target by the radar. Such as distance, velocity, azimuth, pitch, etc.

The algorithm for clustering the point cloud of the radar frame may be a DBSCAN algorithm. The DBSCAN algorithm is a density-based clustering algorithm, the final clustering result is obtained by searching the maximum set connected with the data point density, the DBSCAN algorithm has the advantages of high clustering speed, capability of effectively processing noise points, capability of effectively finding spatial clusters of any shape, no need of inputting the number of clusters and the like, and can be better applied to radar data processing.

S102, detecting whether a multipath false target exists in the at least one radar target according to the track information of the at least one radar target.

In this step, the multipath reflection path of the multipath false target may be a track obtained by processing a reflection path of a radar echo of a multipath signal in a radar frame, and the multipath reflection point of the multipath false target may be a specific form of data obtained by processing an object, such as a vehicle, reflecting a radar echo in the real world in the radar frame. For the targets with a certain height, such as vehicles and the like, the pitching area of the targets is large, and the targets are easy to generate multiple paths as reflecting surface objects, and the vehicles are the multipath reflecting points. In the embodiment of the present invention, a radar target is taken as an example of a vehicle.

In the field of radar data processing, an important factor in the generation of multipath false targets is the presence of specular reflections, which may be stationary targets, such as the guideboard shown in fig. 2 having a certain height, or the sides of other vehicles in motion. Meanwhile, when the heights of the multipath false target and the real radar target are the same or similar, if the speeds are the same or similar or are in a 2-time relation, searching whether the mirror reflection exists at the theoretical mirror position in the geometric space. And when the multi-period stable trace of the mirror reflection exists, the detected radar target is considered as a multipath false target.

Specifically, one possible implementation of step 102 is realized by the following steps:

s1021, screening out a first radar target and a second radar target with the speed and the height meeting preset conditions according to the track information of the at least one radar target.

In this step, because the points existing in the radar frame can reflect the distance, height, speed and other information of the radar target, the first radar target and the second radar target, the speed and the height of which meet the preset conditions, are screened out according to the track information of at least one radar target.

The first radar target and the second radar target may both be real targets, or the first radar target and the second radar target may both be multipath false targets, or the first radar target is a real target, the second radar target is a multipath false target, or the first radar target is a multipath false target, the second radar target is a real target, and it is necessary to further determine which of the screened radar targets are multipath false targets.

Preferably, the preset condition may be that the heights of the first radar target and the second radar target are the same or similar, and the speeds of the first radar target and the second radar target are the same or similar or in a 2-fold relationship.

Step S1022, traversing all radar targets, and detecting whether multipath reflection points exist in the first radar target and/or the second radar target.

In this step, after the radar target meeting the preset condition is screened out in the current period, whether the radar target with the mirror reflection exists or not needs to be searched in a space range.

The method comprises the following specific steps:

determining a connecting line between the radar and the first radar target and the second radar target as a reflection path, as shown in fig. 3, one possible implementation is: and when the speeds of the first radar target and the second radar target are similar or identical, if a third radar target exists in a preset distance interval at two sides of one reflection path, determining the third radar target as a multipath reflection point. If the speeds of the first radar target and the second radar target are equal and the speed value difference between the first radar target and the second radar target is small, mirror reflection exists and is located between the real radar target and the radar. At this time, the radar target corresponding to the reflection path in which the third radar target exists is determined as a multipath false target, and the other radar target is determined as a real radar target. As shown in fig. 3, the speed of the real vehicle and the dummy vehicle are similar or the same, and the reflecting vehicle is located on the reflecting path of the radar and the dummy vehicle.

As shown in fig. 4, another possible implementation is: and when the speeds of the first radar target and the second radar target are in a 2-time relation, if the radar, the first radar target and the second radar target are positioned on the same straight line, determining a third radar target which is in a preset distance interval at two sides of one reflection path and is close to the radar as a multi-path reflection point. When the speed between the multipath false target and the real target is 2 times, and the multipath false target, the real radar target and the radar are located on the same straight line, a static mirror reflection should exist in a scene. As shown in fig. 4, since the reflection course change of the dummy vehicle is 2 times that of the real vehicle, the speed is also 2 times that of the real vehicle. At this time, a radar target far from the radar is determined as a multipath false target.

As shown in fig. 5, yet another possible implementation is: and when the speeds of the first radar target and the second radar target are equal but the directions of the first radar target and the second radar target are opposite, if a third radar target exists in a preset distance interval at two sides of one reflection path, determining the third radar target as a multipath reflection point. When the two radar targets are equal in speed but opposite in direction, then a stationary mirror surface should be present. As shown in fig. 5, the real vehicle is far from the radar, the dummy vehicle is close to the radar, and a stationary mirror surface exists on the reflection path between the radar and the dummy vehicle.

And S1023, when one of the radar targets has a multipath reflection point in a preset period, detecting that the radar target is a multipath false target.

In this step, when the first radar target or the second radar target has multipath reflection points in a plurality of periods, the radar target is detected to be a multipath false target. For example, when a first radar target has multipath reflection points in a plurality of cycles, the first radar target is determined to be a multipath false target, and when a second radar target has multipath reflection points in a plurality of cycles, the second radar target is determined to be a multipath false target.

Step S103, when the at least one radar target is detected to have the multipath false target, the confidence coefficient of the track of the multipath false target is adjusted in a preset period.

In this step, when a multipath false target is detected, the confidence level of the multipath false target is lowered, and when a multipath false target is not detected, the confidence level of the multipath false target is raised. For example, when the first radar target is detected as the multipath false target within the preset period, the confidence level of the first radar target is reduced, and when the first radar target is not detected as the multipath false target within the preset period, the confidence level of the first radar target is increased.

The advantage of adjusting the confidence of the multipath false target within the preset period is that the act of directly deleting the target and the trajectory results in the trajectory of the real radar target being lost due to the randomness and uncertainty of the identification of the multipath false target. And finally, deleting the multipath false target according to the adjusted confidence coefficient, thereby ensuring the correctness and stability of the track detection.

And step S104, deleting the multipath false target with the adjusted confidence coefficient lower than the set threshold value in the detection period.

In the step, after the multi-period is identified as the multi-path false target, the confidence coefficient of the multi-path false target is adjusted, and the false target track is deleted according to the adjusted confidence coefficient. For example, when the adjusted confidence level is lower than the set threshold, the multipath false object corresponding to the confidence level is deleted.

According to the technical scheme provided by the invention, whether multipath false targets exist in the radar targets pre-input into the radar detection scene is detected by utilizing the track information of the radar targets pre-input into the radar detection scene, when the multipath false targets are detected, the confidence coefficient of the tracks of the multipath false targets is adjusted in a preset period, and finally the multipath false targets with the confidence coefficient lower than a preset threshold value are deleted. Therefore, the real radar target track loss caused by direct deletion can be avoided, and the accuracy and stability of the detection result are ensured by adjusting the confidence coefficient of the multipath false target track in the preset period.

As shown in fig. 6, a flowchart of a method for suppressing multipath false target in radar detection according to another embodiment of the present invention in fig. 6 may include the following steps:

step S201, clustering point clouds of the radar frames to obtain at least one radar target.

Step S202, screening out a first radar target and a second radar target with the speed and the height meeting preset conditions according to the track information of the at least one radar target.

In this step, the preset condition may be that the heights of the first radar target and the second radar target are the same or similar, and the speeds of the first radar target and the second radar target are the same or similar or in a 2-fold relationship.

Step S203, traversing all radar targets, detecting whether multipath reflection points exist on the first radar target and/or the second radar target, if the multipath reflection points exist in multiple periods, executing step S204, otherwise executing step S202.

Determining a connecting line between the radar and the first radar target and the second radar target as a reflection path, as shown in fig. 3, one possible implementation is: and when the speeds of the first radar target and the second radar target are similar or identical, if a third radar target exists in a preset distance interval at two sides of one reflection path, determining the third radar target as a multipath reflection point. If the speeds of the first radar target and the second radar target are equal and the speed value difference between the first radar target and the second radar target is small, mirror reflection exists and is located between the real radar target and the radar. At this time, the radar target corresponding to the reflection path in which the third radar target exists is determined as a multipath false target, and the other radar target is determined as a real radar target. As shown in fig. 3, the speed of the real vehicle and the dummy vehicle are similar or the same, and the reflecting vehicle is located on the reflecting path of the radar and the dummy vehicle.

As shown in fig. 4, another possible implementation is: and when the speeds of the first radar target and the second radar target are in a 2-time relation, if the radar, the first radar target and the second radar target are positioned on the same straight line, determining a third radar target which is in a preset distance interval at two sides of one reflection path and is close to the radar as a multi-path reflection point. When the speed between the multipath false target and the real target is 2 times, and the multipath false target, the real radar target and the radar are located on the same straight line, a static mirror reflection should exist in a scene. As shown in fig. 4, since the reflection course change of the dummy vehicle is 2 times that of the real vehicle, the speed is also 2 times that of the real vehicle. At this time, a radar target far from the radar is determined as a multipath false target.

As shown in fig. 5, yet another possible implementation is: and when the speeds of the first radar target and the second radar target are equal but the directions of the first radar target and the second radar target are opposite, if a third radar target exists in a preset distance interval at two sides of one reflection path, determining the third radar target as a multipath reflection point. When the two radar targets are equal in speed but opposite in direction, then a stationary mirror surface should be present. As shown in fig. 5, the real vehicle is far from the radar, the dummy vehicle is close to the radar, and a stationary mirror surface exists on the reflection path between the radar and the dummy vehicle.

In this step, when the first radar target or the second radar target has multipath reflection points in a plurality of cycles, it is detected that the radar target is a multipath false target, step S204 is executed, otherwise, step S202 is executed again. For example, when a first radar target has multipath reflection points in a plurality of cycles, the first radar target is determined to be a multipath false target, and when a second radar target has multipath reflection points in a plurality of cycles, the second radar target is determined to be a multipath false target.

Step S204, when the at least one radar target is detected to have the multipath false target, the confidence coefficient of the track of the multipath false target is adjusted in a preset period.

In this step, when a multipath false target is detected, the confidence level of the multipath false target is lowered, and when a multipath false target is not detected, the confidence level of the multipath false target is raised. For example, when the first radar target is detected as the multipath false target within the preset period, the confidence level of the first radar target is reduced, and when the first radar target is not detected as the multipath false target within the preset period, the confidence level of the first radar target is increased.

The advantage of adjusting the confidence of the multipath false target within the preset period is that the act of directly deleting the target and the trajectory results in the trajectory of the real radar target being lost due to the randomness and uncertainty of the identification of the multipath false target. And finally, deleting the multipath false target according to the adjusted confidence coefficient, thereby ensuring the correctness and stability of the track detection.

And S205, deleting the multipath false target with the adjusted confidence coefficient lower than the set threshold value in the detection period.

In the step, after the multi-period is identified as the multi-path false target, the confidence coefficient of the multi-path false target is adjusted, and the false target track is deleted according to the adjusted confidence coefficient. For example, when the adjusted confidence level is lower than the set threshold, the multipath false object corresponding to the confidence level is deleted.

According to the technical scheme provided by the invention, whether multipath false targets exist in the radar targets pre-input into the radar detection scene is detected by utilizing the track information of the radar targets pre-input into the radar detection scene, when the multipath false targets are detected, the confidence coefficient of the tracks of the multipath false targets is adjusted in a preset period, and finally the multipath false targets with the confidence coefficient lower than a preset threshold value are deleted. Therefore, the real radar target track loss caused by direct deletion can be avoided, and the accuracy and stability of the detection result are ensured by adjusting the confidence coefficient of the multipath false target track in the preset period.

Correspondingly, an embodiment of the present invention further provides an apparatus for suppressing multipath false target in radar detection, referring to fig. 7, where the apparatus includes:

a clustering module 301, configured to cluster point clouds of radar frames to obtain at least one radar target;

a detecting module 302, configured to detect whether a multipath false target exists in the at least one radar target according to the trajectory information of the at least one radar target;

an adjusting module 303, configured to, when it is detected that the at least one radar target has a multipath false target, adjust a confidence of a trajectory of the multipath false target in a preset period;

and the deleting module 304 is used for deleting the multipath false target with the adjusted confidence coefficient lower than the set threshold value in the detection period.

Further, the trajectory information of the at least one radar target includes a speed of each radar target, and the detection module 302 includes:

the screening unit 3021 is configured to screen out a first radar target and a second radar target, of which speeds meet a preset condition, according to the trajectory information of the at least one radar target;

the traversing unit 3022 is configured to traverse all radar targets, and detect whether a multipath reflection point exists in the first radar target and/or the second radar target;

the detecting unit 3023 is configured to detect that one of the radar targets is a multipath false target when the radar target has multipath reflection points in a preset period.

Further, the speed meeting the preset condition includes that the heights of the first radar target and the second radar target are the same and the speeds are close or in a 2-time relationship.

Further, determining a connection line between the radar and the first and second radar targets as a reflection path, the traversal unit 3022 may include:

a first traversal subunit 30221, configured to, when the speeds of the first radar target and the second radar target are similar or the same, determine a third radar target as a multipath reflection point if the third radar target exists in a preset distance interval on both sides of one of the reflection paths;

a second traversal subunit 30222, configured to, when the speeds of the first radar target and the second radar target are in a 2-fold relationship, determine, as a multipath reflection point, a third radar target that is within a preset distance interval on both sides of one of the reflection paths and is close to the radar if the radar is located on the same straight line as the first radar target and the second radar target;

a third traversal subunit 30223, configured to, when the speeds of the first radar target and the second radar target are equal and the directions of the first radar target and the second radar target are opposite, determine that a third radar target is a multipath reflection point if the third radar target exists in a preset distance interval on both sides of one of the reflection paths.

Further, the detecting unit 3023 is configured to determine, as a multipath false target, a radar target corresponding to a reflection path where a third radar target exists when the speeds of the first radar target and the second radar target are approximate; when the speeds of the first radar target and the second radar target are in a 2-time relation, determining the radar target far away from the radar as a multipath false target; and when the speeds of the first radar target and the second radar target are equal but the directions of the first radar target and the second radar target are opposite, determining the radar target corresponding to the reflection path with the third radar target as a multipath false target.

Further, the adjusting module 303 is configured to reduce the confidence of the multipath false target trajectory when detecting that there is a multipath reflection point in the first radar target and/or the second radar target; and when the existence of the multipath reflection points in the first radar target and/or the second radar target is not detected, the confidence coefficient of the multipath false target track is improved.

According to the technical scheme provided by the invention, whether multipath false targets exist in the radar targets pre-input into the radar detection scene is detected by utilizing the track information of the radar targets pre-input into the radar detection scene, when the multipath false targets are detected, the confidence coefficient of the tracks of the multipath false targets is adjusted in a preset period, and finally the multipath false targets with the confidence coefficient lower than a preset threshold value are deleted. Therefore, the real radar target track loss caused by direct deletion can be avoided, and the accuracy and stability of the detection result are ensured by adjusting the confidence coefficient of the multipath false target track in the preset period.

It should be noted that the apparatus for suppressing multipath false target in radar detection scene in the embodiment of the present invention belongs to the same inventive concept as the above method, and details of the technique not described in detail in the apparatus may be referred to the related description of the method, and are not described herein again.

Furthermore, an embodiment of the present invention further provides a storage medium, in which a computer program is stored, where the computer program is configured to execute the foregoing method when running.

An embodiment of the present invention further provides an electronic apparatus, which includes a memory and a processor, where the memory stores a computer program, and the processor is configured to execute the computer program to perform the foregoing method.

It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by a program instructing associated hardware (e.g., a processor) to perform the steps, and the program may be stored in a computer readable storage medium, such as a read only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiments may be implemented in hardware, for example, by an integrated circuit to implement its corresponding function, or in software, for example, by a processor executing a program/instruction stored in a memory to implement its corresponding function. The present invention is not limited to any specific form of combination of hardware and software.

Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.