阅读说明：本技术 一种车载毫米波雷达点云数据动静分离过滤方法和装置 (Vehicle-mounted millimeter wave radar point cloud data dynamic and static separation filtering method and device ) 是由 仇世豪 顾超 许孝勇 于 2021-08-30 设计创作，主要内容包括：本发明提供一种车载毫米波雷达点云数据动静分离过滤方法和装置,首先将车辆上安装的传感器的运动速度由车载坐标系转换到雷达坐标系下,获取量测点在雷达坐标系下的测量速度,计算所述车辆上安装的传感器在雷达坐标系下的运动速度,在量测点在雷达坐标系中的坐标向量上的投影,计算投影向量与量测点在雷达坐标系中的速度向量之和,记为第一测量速度向量；最后基于所述第一速度向量判断所述量测点是否静止,所述量测点即为所述点云数据中的点,从而实现了点云数据中静止状态的点云数据的识别。(The invention provides a vehicle-mounted millimeter wave radar point cloud data dynamic and static separation filtering method and a device, firstly, the moving speed of a sensor mounted on a vehicle is converted from a vehicle-mounted coordinate system to a radar coordinate system, the measuring speed of a measuring point in the radar coordinate system is obtained, the moving speed of the sensor mounted on the vehicle in the radar coordinate system is calculated, the projection of the measuring point on a coordinate vector in the radar coordinate system is performed, the sum of the projection vector and the speed vector of the measuring point in the radar coordinate system is calculated and recorded as a first measuring speed vector; and finally, judging whether the measuring points are static or not based on the first speed vector, wherein the measuring points are the points in the point cloud data, so that the static point cloud data in the point cloud data can be identified.)

1. A vehicle-mounted millimeter wave radar point cloud data dynamic and static separation filtering method is characterized by comprising the following steps:

acquiring a calibration position of the millimeter wave radar in the vehicle model;

acquiring the running speed and the steering angular speed of a vehicle;

acquiring point cloud data detected by a millimeter wave radar;

converting the movement speed of a sensor arranged on a vehicle from a vehicle-mounted coordinate system to a radar coordinate system;

acquiring the measuring speed of a measuring point in a radar coordinate system;

calculating the motion speed of a sensor installed on the vehicle under a radar coordinate system, projecting the sensor on a coordinate vector of a measuring point in the radar coordinate system, calculating the sum of the projection vector and the speed vector of the measuring point in the radar coordinate system, and recording the sum as a first measuring speed vector;

determining whether the measurement site is stationary based on the first velocity vector.

2. The vehicle-mounted millimeter wave radar point cloud data dynamic-static separation filtering method according to claim 1, wherein the origin of the coordinate system of the vehicle model is the midpoint of a rear axle of the vehicle;

the horizontal axis of the coordinate system of the vehicle model is a straight line from the center point of the left wheel to the center point of the right wheel:

the longitudinal axis of the coordinate system of the vehicle model is a straight line from the coordinate origin to the midpoint of the vehicle head;

the positive direction of a transverse axis of a coordinate system of the vehicle model is the direction from the left rear wheel to the right rear wheel;

the positive direction of the longitudinal axis of the coordinate system of the vehicle model is the advancing direction of the vehicle;

the calibration position of the millimeter wave radar in the vehicle model comprises a horizontal axis coordinate x and a vertical axis coordinate y of the millimeter wave radar in a coordinate system of the vehicle model and an included angle between a normal direction of the millimeter wave radar and a vehicle advancing direction.

3. The vehicle-mounted millimeter wave radar point cloud data dynamic-static separation and filtering method according to claim 1, wherein the step of obtaining the driving speed and the steering angular speed of a vehicle comprises the following steps:

the running speed of the vehicle and the steering angular speed are obtained through a vehicle central control or vehicle-mounted integrated navigation device.

4. The vehicle-mounted millimeter wave radar point cloud data dynamic-static separation and filtering method according to claim 1, wherein the point cloud data comprises:

measuring the polar coordinates of the points under the radar coordinate system;

the radial velocity of the measuring point relative to the millimeter wave radar.

5. The vehicle-mounted millimeter wave radar point cloud data dynamic-static separation and filtration method according to claim 1, characterized in that the motion speed of a sensor mounted on a vehicle is converted from a vehicle-mounted coordinate system to a radar coordinate system;

acquiring the movement speed of a sensor installed on a vehicle under a vehicle-mounted coordinate system: vel_normalAnd vel_linearWherein, the vel_normalFor the speed of the sensor in the direction of the central axis of the vehicle, said vel_linearLinear velocity generated for the angular velocity at which the vehicle is turning;the method comprises the following steps that omega is the angular speed of vehicle steering, x is the horizontal axis coordinate of a millimeter wave radar in a vehicle model, and y is the vertical axis coordinate of the millimeter wave radar in the vehicle model;

moving speed vel of the sensor under a vehicle-mounted coordinate system_normalAnd vel_linearAnd converting into a radar coordinate system.

6. The vehicle-mounted millimeter wave radar point cloud data dynamic-static separation and filtering method according to claim 5, wherein the moving speed of a sensor mounted on the vehicle under a radar coordinate system is calculated, the projection of the measuring point on the coordinate vector in the radar coordinate system is calculated, and the sum of the projection vector and the speed vector of the measuring point in the radar coordinate system is calculated and recorded as a first measuring speed vector; the method comprises the following steps:

acquiring the running speed of the sensor in a radar coordinate system and the projection of the linear speed generated on the millimeter wave radar installation position in the vehicle coordinate system on the coordinate vector of the measuring point in the radar coordinate system, wherein the projection is caused by the angular speed of vehicle steering;

and calculating the sum of the speed of the linear velocity generated on the millimeter wave radar mounting position in the vehicle coordinate system caused by the angular velocity of the vehicle steering and the driving speed of the sensor in the radar coordinate system and the speed of the measuring point in the radar coordinate system, and recording the sum as a first measuring speed vector.

7. The vehicle-mounted millimeter wave radar point cloud data dynamic-static separation and filtering method according to claim 3, wherein judging whether the measuring point is static based on the first measuring speed vector comprises:

when the first measured velocity vector is less than a preset velocity scalar threshold, the point of measurement is indicated to be stationary.

8. The utility model provides a vehicle-mounted millimeter wave radar point cloud data sound-static separation filter equipment which characterized in that includes:

the data acquisition unit is used for acquiring the calibration position of the millimeter wave radar in the vehicle model; acquiring the running speed and the steering angular speed of a vehicle; acquiring point cloud data detected by a millimeter wave radar; acquiring the measuring speed of a measuring point in a radar coordinate system;

the coordinate system conversion unit is used for converting the movement speed of the sensor mounted on the vehicle from a vehicle-mounted coordinate system to a radar coordinate system;

a speed calculation unit, configured to calculate a sum of a projection of a movement speed of a sensor mounted on the vehicle on a coordinate vector of a measurement point in a radar coordinate system and the coordinate vector of the measurement point in the radar coordinate system, and record the sum as a first measurement speed vector;

a determination unit configured to determine whether the measurement point is stationary based on the first velocity vector.

9. The vehicle-mounted millimeter wave radar point cloud data dynamic-static separation and filtration device as claimed in claim 8, wherein the origin of the coordinate system of the vehicle model is the midpoint of the rear axle of the vehicle;

the horizontal axis of the coordinate system of the vehicle model is a straight line from the center point of the left wheel to the center point of the right wheel:

the longitudinal axis of the coordinate system of the vehicle model is a straight line from the coordinate origin to the midpoint of the vehicle head;

the positive direction of a transverse axis of a coordinate system of the vehicle model is the direction from the left rear wheel to the right rear wheel;

the positive direction of the longitudinal axis of the coordinate system of the vehicle model is the advancing direction of the vehicle;

the calibration position of the millimeter wave radar in the vehicle model comprises a horizontal axis coordinate x and a vertical axis coordinate y of the millimeter wave radar in a coordinate system of the vehicle model and an included angle between a normal direction of the millimeter wave radar and a vehicle advancing direction.

10. The vehicle-mounted millimeter wave radar point cloud data dynamic-static separation and filtration device according to claim 8, wherein the obtaining of the driving speed and the steering angular speed of the vehicle comprises:

the running speed of the vehicle and the steering angular speed are obtained through a vehicle central control or vehicle-mounted integrated navigation device.

Technical Field

The invention relates to the technical field of automatic driving, in particular to a method and a device for separating and filtering dynamic and static point cloud data of a vehicle-mounted millimeter wave radar.

Background

In the fields of millimeter wave radar and automatic driving, a filtering algorithm of point cloud data is always one of the core problems. In the past, point cloud filtering and noise removal are usually performed through algorithms such as Kalman filtering and extended Kalman, but the flight path generated in the method is usually greatly influenced by noise, so that the flight path is easy to be unstable.

Dynamic and static data of point clouds in a vehicle-mounted scene are mixed together and are difficult to process. Static point clouds can become noise influence results in application scenes such as track tracking and the like; in application scenarios such as grid mapping, dynamic data can become noise.

Disclosure of Invention

In view of this, embodiments of the present invention provide a method and an apparatus for filtering stationary and static point cloud data of a vehicle-mounted millimeter wave radar, so as to accurately identify a stationary point cloud in the point cloud data.

In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:

a dynamic and static separation and filtration method for point cloud data of a vehicle-mounted millimeter wave radar comprises the following steps:

acquiring a calibration position of the millimeter wave radar in the vehicle model;

acquiring the running speed and the steering angular speed of a vehicle;

acquiring point cloud data detected by a millimeter wave radar;

converting the movement speed of a sensor arranged on a vehicle from a vehicle-mounted coordinate system to a radar coordinate system;

acquiring the measuring speed of a measuring point in a radar coordinate system;

calculating the motion speed of a sensor installed on the vehicle under a radar coordinate system, projecting the sensor on a coordinate vector of a measuring point in the radar coordinate system, calculating the sum of the projection vector and the speed vector of the measuring point in the radar coordinate system, and recording the sum as a first measuring speed vector;

determining whether the measurement site is stationary based on the first velocity vector.

Optionally, in the vehicle-mounted millimeter wave radar point cloud data dynamic-static separation filtering method, an origin of a coordinate system of the vehicle model is a midpoint of a rear axle of the vehicle;

the horizontal axis of the coordinate system of the vehicle model is a straight line from the center point of the left wheel to the center point of the right wheel:

the longitudinal axis of the coordinate system of the vehicle model is a straight line from the coordinate origin to the midpoint of the vehicle head;

the positive direction of a transverse axis of a coordinate system of the vehicle model is the direction from the left rear wheel to the right rear wheel;

the positive direction of the longitudinal axis of the coordinate system of the vehicle model is the advancing direction of the vehicle;

the calibration position of the millimeter wave radar in the vehicle model comprises a horizontal axis coordinate x and a vertical axis coordinate y of the millimeter wave radar in a coordinate system of the vehicle model and an included angle between a normal direction of the millimeter wave radar and a vehicle advancing direction.

Optionally, in the method for filtering dynamic and static point cloud data of the vehicle-mounted millimeter wave radar, obtaining the driving speed and the steering angular speed of the vehicle includes:

the running speed of the vehicle and the steering angular speed are obtained through a vehicle central control or vehicle-mounted integrated navigation device.

Optionally, in the above method for filtering dynamic and static point cloud data of the vehicle-mounted millimeter wave radar, the point cloud data includes:

measuring the polar coordinates of the points under the radar coordinate system;

the radial velocity of the measuring point relative to the millimeter wave radar.

Optionally, in the method for filtering dynamic and static point cloud data of the vehicle-mounted millimeter wave radar, the moving speed of a sensor mounted on a vehicle is converted from a vehicle-mounted coordinate system to a radar coordinate system;

acquiring the movement speed of a sensor installed on a vehicle under a vehicle-mounted coordinate system: vel_normalAnd vel_linearWherein, the vel_normalFor the speed of the sensor in the direction of the central axis of the vehicle, said vel_linearLinear velocity generated for the angular velocity at which the vehicle is turning;the method comprises the following steps that omega is the angular speed of vehicle steering, x is the horizontal axis coordinate of a millimeter wave radar in a vehicle model, and y is the vertical axis coordinate of the millimeter wave radar in the vehicle model;

moving speed vel of the sensor under a vehicle-mounted coordinate system_normalAnd vel_linearAnd converting into a radar coordinate system.

Optionally, in the vehicle-mounted millimeter wave radar point cloud data dynamic-static separation filtering method, the moving speed of a sensor mounted on the vehicle in a radar coordinate system is calculated, the projection of the measuring point on the coordinate vector in the radar coordinate system is performed, and the sum of the projection vector and the speed vector of the measuring point in the radar coordinate system is calculated and recorded as a first measuring speed vector; the method comprises the following steps:

acquiring the running speed of the sensor in a radar coordinate system and the projection of the linear speed generated on the millimeter wave radar installation position in the vehicle coordinate system on the coordinate vector of the measuring point in the radar coordinate system, wherein the projection is caused by the angular speed of vehicle steering;

and calculating the sum of the speed of the linear velocity generated on the millimeter wave radar mounting position in the vehicle coordinate system caused by the angular velocity of the vehicle steering and the driving speed of the sensor in the radar coordinate system and the speed of the measuring point in the radar coordinate system, and recording the sum as a first measuring speed vector.

Optionally, in the above method for filtering dynamic and static separation of point cloud data of the vehicle-mounted millimeter wave radar, determining whether the measurement point is static based on the first measurement velocity vector includes:

when the first measured velocity vector is less than a preset velocity scalar threshold, the point of measurement is indicated to be stationary.

The utility model provides a vehicle-mounted millimeter wave radar point cloud data sound separation filter equipment, includes:

the data acquisition unit is used for acquiring the calibration position of the millimeter wave radar in the vehicle model; acquiring the running speed and the steering angular speed of a vehicle; acquiring point cloud data detected by a millimeter wave radar; acquiring the measuring speed of a measuring point in a radar coordinate system;

the coordinate system conversion unit is used for converting the movement speed of the sensor mounted on the vehicle from a vehicle-mounted coordinate system to a radar coordinate system;

a speed calculation unit, configured to calculate a sum of a projection of a movement speed of a sensor mounted on the vehicle on a coordinate vector of a measurement point in a radar coordinate system and the coordinate vector of the measurement point in the radar coordinate system, and record the sum as a first measurement speed vector;

a determination unit configured to determine whether the measurement point is stationary based on the first velocity vector.

Optionally, in the vehicle-mounted millimeter wave radar point cloud data dynamic-static separation and filtration device, an origin of a coordinate system of the vehicle model is a midpoint of a rear axle of the vehicle;

the horizontal axis of the coordinate system of the vehicle model is a straight line from the center point of the left wheel to the center point of the right wheel:

the longitudinal axis of the coordinate system of the vehicle model is a straight line from the coordinate origin to the midpoint of the vehicle head;

the positive direction of a transverse axis of a coordinate system of the vehicle model is the direction from the left rear wheel to the right rear wheel;

the positive direction of the longitudinal axis of the coordinate system of the vehicle model is the advancing direction of the vehicle;

the calibration position of the millimeter wave radar in the vehicle model comprises a horizontal axis coordinate x and a vertical axis coordinate y of the millimeter wave radar in a coordinate system of the vehicle model and an included angle between a normal direction of the millimeter wave radar and a vehicle advancing direction.

Optionally, in the above-mentioned vehicle-mounted millimeter wave radar point cloud data sound separation filter equipment, obtain the speed of going and the angular velocity who turns to of vehicle, include:

the running speed of the vehicle and the steering angular speed are obtained through a vehicle central control or vehicle-mounted integrated navigation device.

Based on the technical solution, in the solution provided by the embodiment of the present invention, first, a vehicle sensor converts a motion speed of a sensor mounted on a vehicle from a vehicle-mounted coordinate system to a radar coordinate system, obtains a measurement speed of a measurement point in the radar coordinate system, calculates the motion speed of the sensor mounted on the vehicle in the radar coordinate system, projects the measurement point on a coordinate vector in the radar coordinate system, calculates a sum of the projection vector and the velocity vector of the measurement point in the radar coordinate system, and records the sum as a first measurement velocity vector; and finally, judging whether the measuring points are static or not based on the first speed vector, wherein the measuring points are the points in the point cloud data, so that the static point cloud data in the point cloud data can be identified.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic flow chart of a method for filtering point cloud data of a vehicle-mounted millimeter wave radar in a dynamic and static separation manner, which is disclosed in the embodiment of the application;

fig. 2 is a schematic diagram of a millimeter wave radar disclosed in an embodiment of the present application in a vehicle-mounted coordinate system;

FIG. 3 is a schematic diagram of a measurement point in a radar coordinate system;

FIG. 4 is a schematic structural diagram of a vehicle-mounted millimeter wave radar point cloud data dynamic-static separation and filtration device disclosed in the embodiment of the application.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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 order to effectively distinguish dynamic and static data in point cloud data in a vehicle-mounted scene, the application discloses a method for filtering dynamic and static separation of point cloud data of a vehicle-mounted millimeter wave radar, and referring to fig. 1, the method may include:

step S101: and acquiring the calibration position of the millimeter wave radar in the vehicle model.

In this step, the method is mainly used for positioning the vehicle-mounted millimeter wave radar, and mainly includes measuring and obtaining a calibration position (x, y, angle) of the millimeter wave radar in a coordinate system corresponding to a vehicle model, where the angle refers to an included angle between a normal direction of the radar and a vehicle advancing direction, and the coordinate system corresponding to the vehicle model refers to a vehicle-mounted coordinate system, and as shown in fig. 2, in the vehicle-mounted coordinate system, coordinates (x, y) in the coordinate system use a central point of a rear axle of the vehicle as a coordinate origin, a straight line from a central point of a left wheel to a central point of a right wheel as a horizontal axis, and a straight line from the coordinate origin to a central point of a head of the vehicle as a longitudinal axis, and use a direction from the left rear wheel to the right rear wheel as a positive direction of the horizontal axis, and use the vehicle advancing direction as a positive direction of the longitudinal axis.

Referring to fig. 2, the radar refers to a millimeter wave radar (millimeter wave radar), the radar normal direction refers to a radar normal, and the angle refers to an angle between a radar normal direction of the millimeter wave radar and a vehicle advancing direction.

In the scheme, calibration parameters of the millimeter wave radar in a vehicle-mounted coordinate system are set as follows:

radar_cali＝(x_radar，y_radar，angle_radar)。

step S102: the running speed of the vehicle and the angular speed of the steering are acquired.

In this step, the running speed vel of the vehicle running can be obtained through the vehicle central control or vehicle-mounted integrated navigation equipment_normalAnd the angular velocity ω at which the vehicle is turning.

Step S103: and acquiring point cloud data detected by the millimeter wave radar.

Referring to fig. 3, in this step, the point cloud data detected by the millimeter wave radar is acquired as measurement, wherein the radar point cloud data (range, azimuth) is a polar coordinate of the measurement point in the radar coordinate system, and the measurement is a radial velocity of the measurement point relative to the radar.

Referring to fig. 3, the radar coordinate system is a polar coordinate system, the center point of the radar antenna is a pole (O), the normal (normal direction) of the radar is a polar axis,the clockwise direction is positive. In fig. 3, the measurement point (measurement) has a coordinate (range) in the coordinate system. The velocity vector (vel) of the measuring point can be decomposed into radial velocity (vel) and tangential velocity (tangent)_redial) And tangential velocity (vel)_tangential). In the scheme, the speed (velocity) in the radar point cloud data is radial speed (vel)_redial). I.e. the velocity of two side points is vel_radialWhen the equivalent measuring point moves far away from the radar_radialPositive, and negative otherwise.

Step S104: and converting the motion speed of a sensor mounted on the vehicle from the vehicle-mounted coordinate system to the radar coordinate system.

In the technical solution disclosed in the embodiment of the present application, in the vehicle-mounted coordinate system, the moving speed of the sensor mounted on the vehicle is synthesized by two speeds: one is the speed vel along the central axis of the vehicle_normal(ii) a The second is the linear velocity vel generated by the angular velocity of the vehicle steering_linear. Wherein:

the x and y are coordinate data of the sensor in a coordinate system of the vehicle;

and the vel _ linear direction is perpendicular to the normal direction of the radar:

that is to say that the first and second electrodes,

in determining the velocity vector vel_linearAnd vel_normalLater, the velocity vector vel_linearAnd vel_normalAnd converting the vehicle-mounted coordinate system into the radar coordinate system.

The specific conversion process can refer to the following processes:

step S105: and acquiring the measuring speed of the measuring point in a radar coordinate system.

In the step, polar coordinate information of a measuring point in a radar coordinate system is obtained through a millimeter wave radar, and m is (r)_m，v_m，a_m) Wherein, the (r) is_m，v_m，a_m) It is understood as an abbreviation of (range, velocity, azimuth), which is abbreviated herein with the initials of (range, velocity, azimuth).

Step S106: calculating the motion speed of a sensor installed on the vehicle in a radar coordinate system, projecting the measuring point on a coordinate vector in the radar coordinate system, and calculating the sum of the projection vector and a speed vector of the measuring point in the radar coordinate system to be recorded as a first measuring speed vector.

In this step, the speed of movement (vel) of the sensor on the vehicle_normalAnd vel_linear) After the conversion to the radar coordinate system, the motion speed (vel) of the sensor in the radar coordinate system is converted_normalAnd vel_linear) Coordinate vector (r) projected in radar coordinate system of measuring point_m，a_m) The method comprises the following steps:

at this time, the moving speed vel of the sensor in the radar coordinate system_normalAnd vel_linearIn (r)_m，a_m) Projection of (c) and velocity direction v of measurement point m_mIn the same direction, calculating the resultant speed of three speeds in the direction, and taking the resultant speed as a first measurement speed vector vel_combination：

Step S107: determining whether the measurement site is stationary based on the first velocity vector.

In this step, it may be determined whether the measurement point is stationary based on the first velocity vector, for example, in a standard state, if the value of the first velocity vector is 0, it indicates that the measurement point is stationary.

This is because:

under the geodetic coordinate system, the normal vector of the radar isThe true velocity vector of the radar measurement point m isIf the ideal situation is the situation where all measurements are absolutely accurate:

that is, if the product of the radar normal vector and the real velocity vector of the measurement point m is 0, at this time, the value of the first measurement velocity vector is 0, and the measurement point m is in a stationary state.

In this step, the measurement point m can be determined to be in a static state based on the above determination method.

In the technical solution disclosed in another embodiment of the present application, in consideration that various measurement results are not absolutely accurate in an application scenario, a preset speed scalar threshold value vel may be preset in the present application_thresholdWhen it is_combination＜vel_thresholdIn this case, the measurement point is considered as a stationary target.

The following describes the dynamic and static separation and filtration device for the point cloud data of the vehicle-mounted millimeter wave radar provided by the embodiment of the invention, and the dynamic and static separation and filtration device for the point cloud data of the vehicle-mounted millimeter wave radar described below and the dynamic and static separation and filtration method for the point cloud data of the vehicle-mounted millimeter wave radar described above can be referred to correspondingly.

Referring to fig. 4, the vehicle-mounted millimeter wave radar point cloud data dynamic-static separation and filtration device disclosed in the embodiment of the present application may include:

the data acquisition unit 100 corresponds to the method and is used for acquiring the calibration position of the millimeter wave radar in the vehicle model; acquiring the running speed and the steering angular speed of a vehicle; acquiring point cloud data detected by a millimeter wave radar; acquiring the measuring speed of a measuring point in a radar coordinate system;

a coordinate system conversion unit 200 corresponding to the above method for converting the moving speed of the sensor mounted on the vehicle from the vehicle-mounted coordinate system to the radar coordinate system;

a speed calculation unit 300 corresponding to the above method, for calculating a moving speed of a sensor mounted on the vehicle in a radar coordinate system, projecting a measurement point on a coordinate vector in the radar coordinate system, calculating a sum of the projection vector and the coordinate vector of the measurement point in the radar coordinate system, and recording the sum as a first measurement speed vector;

a determining unit 400, corresponding to the method described above, for determining whether the measuring point is stationary based on the first velocity vector.

Corresponding to the method, the origin of the coordinate system of the vehicle model is the midpoint of the rear wheel shaft of the vehicle;

the horizontal axis of the coordinate system of the vehicle model is a straight line from the center point of the left wheel to the center point of the right wheel:

the longitudinal axis of the coordinate system of the vehicle model is a straight line from the coordinate origin to the midpoint of the vehicle head;

the positive direction of a transverse axis of a coordinate system of the vehicle model is the direction from the left rear wheel to the right rear wheel;

the positive direction of the longitudinal axis of the coordinate system of the vehicle model is the advancing direction of the vehicle;

the calibration position of the millimeter wave radar in the vehicle model comprises a horizontal axis coordinate x and a vertical axis coordinate y of the millimeter wave radar in a coordinate system of the vehicle model and an included angle between a normal direction of the millimeter wave radar and a vehicle advancing direction.

Corresponding to the method, the device for acquiring the running speed of the vehicle and the steering angular speed comprises the following steps:

the running speed of the vehicle and the steering angular speed are obtained through a vehicle central control or vehicle-mounted integrated navigation device.

Corresponding to the above method, the point cloud data comprises:

measuring the polar coordinates of the points under the radar coordinate system;

the radial velocity of the measuring point relative to the millimeter wave radar.

Corresponding to the method, the movement speed of a sensor arranged on a vehicle is converted from a vehicle-mounted coordinate system to a radar coordinate system;

acquiring the movement speed of a sensor mounted on a vehicle: the method comprises the steps of (1) a, obtaining a sensor value, and obtaining a vehicle steering angle value, wherein the sensor value is a vehicle steering angle value, and the sensor value is a vehicle steering angle value;the method comprises the following steps that omega is the angular speed of vehicle steering, x is the horizontal axis coordinate of a millimeter wave radar in a vehicle model, and y is the vertical axis coordinate of the millimeter wave radar in the vehicle model;

and converting the moving speeds vel _ normal and vel _ linear of the sensors in the vehicle-mounted coordinate system into a radar coordinate system.

Corresponding to the above method, the calculating a moving speed of a sensor mounted on the vehicle in a radar coordinate system, projecting a measuring point on a coordinate vector in the radar coordinate system, and calculating a sum of the projection vector and the coordinate vector of the measuring point in the radar coordinate system as a first measuring speed vector includes:

acquiring the running speed of the sensor in a radar coordinate system and the projection of the linear speed generated on the millimeter wave radar installation position in the vehicle coordinate system on the coordinate vector of the measuring point in the radar coordinate system, wherein the projection is caused by the angular speed of vehicle steering;

and calculating the sum of the speed of the linear velocity generated on the millimeter wave radar mounting position in the vehicle coordinate system caused by the angular velocity of the vehicle steering and the driving speed of the sensor in the radar coordinate system and the speed of the measuring point in the radar coordinate system, and recording the sum as a first measuring speed vector.

Corresponding to the above method, the determining whether the measurement point is stationary based on the first measurement velocity vector includes:

when the first measured velocity vector is less than a velocity scalar threshold, the sensing point is indicated to be stationary.

Through verification, the scheme disclosed by the embodiment of the application can effectively identify the point cloud data in a static state in the point cloud data.

For convenience of description, the above system is described with the functions divided into various modules, which are described separately. Of course, the functionality of the various modules may be implemented in the same one or more software and/or hardware implementations of the invention.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.