阅读说明：本技术 一种探测被测车辆的方法、装置以及电子设备 (Method and device for detecting detected vehicle and electronic equipment ) 是由 陈承文 周珂 朱涛 王矩华 于 2020-12-28 设计创作，主要内容包括：本发明实施例涉及聚类技术领域,特别是涉及一种探测被测车辆的方法、装置以及电子设备。该方法包括：获取所述被测车辆在当前时刻的第一航向角；获取目标车辆在当前时刻的第二航向角；计算所述第一航向角与第二航向角的差值,得到所述被测车辆相对于所述目标车辆的角度差；根据所述角度差,修正用于探测所述被测车辆的聚类区域；获取所述目标车辆的车载雷达所探测到的被测车辆所在位置的多个目标点；采用修正后的所述聚类区域,从所述多个目标点选取归属于所述被测车辆的目标点；根据所选取到的目标点,探测所述被测车辆。通过上述方法,可实现使用修正后的聚类区域对被测车辆进行探测,则对被测车辆的探测准确。(The embodiment of the invention relates to the technical field of clustering, in particular to a method and a device for detecting a detected vehicle and electronic equipment. The method comprises the following steps: acquiring a first course angle of the detected vehicle at the current moment; acquiring a second course angle of the target vehicle at the current moment; calculating the difference value between the first course angle and the second course angle to obtain the angle difference of the measured vehicle relative to the target vehicle; correcting a clustering region for detecting the detected vehicle according to the angle difference; acquiring a plurality of target points of the position of the detected vehicle detected by the vehicle-mounted radar of the target vehicle; selecting target points belonging to the tested vehicle from the target points by adopting the corrected clustering area; and detecting the detected vehicle according to the selected target point. By the method, the detected vehicle can be detected by using the corrected clustering area, and the detected vehicle can be accurately detected.)

1. A method of detecting a vehicle under test, comprising:

acquiring a first course angle of the detected vehicle at the current moment;

acquiring a second course angle of the target vehicle at the current moment;

calculating the difference value between the first course angle and the second course angle to obtain the angle difference of the measured vehicle relative to the target vehicle;

correcting a clustering region for detecting the detected vehicle according to the angle difference;

acquiring a plurality of target points of the position of the detected vehicle detected by the vehicle-mounted radar of the target vehicle;

selecting target points belonging to the tested vehicle from the target points by adopting the corrected clustering area;

and detecting the detected vehicle according to the selected target point.

2. The method of claim 1, wherein the step of obtaining the first heading angle of the vehicle under test at the current time further comprises:

according to the position of the measured vehicle measured previously, establishing a curve equation of the motion track of the measured vehicle;

and obtaining a derivative of the curve equation so as to obtain a first heading angle of the measured vehicle at the current moment.

3. The method according to claim 2, wherein the target vehicle coordinate system in which the target vehicle is located has an x-axis and a y-axis, and the step of modifying the cluster region for detecting the vehicle under test according to the angle difference further comprises:

rotating the clustering region to enable the central line of the clustering region in the length direction to be the same as the driving direction of the tested vehicle, wherein the rotating angle of the clustering region is equal to the angle difference, and the driving direction of the tested vehicle is the tangential direction of the curve equation;

acquiring a first condition which needs to be met by the rotated clustering region in the x-axis direction;

acquiring a second condition which needs to be met by the rotated clustering region in the y-axis direction;

and correcting the clustering region according to the first condition and the second condition.

4. The method of claim 3, wherein the first condition satisfies the following equation:

wherein, the x_centerIs the abscissa of the center of the clustering region, b is the original width of the clustering region, theta is the angle difference, and x₀Is the abscissa of the point within the clustering region.

5. The method of claim 3, wherein the first condition satisfies the following equation:

wherein, the x_centerIs the abscissa of the center of the clustering region, b is the original width of the clustering region, theta is the angle difference, and x₀As the abscissa of a point within the clustering region, the t_xAre empirical values.

6. The method of claim 3, wherein the second condition satisfies the following equation:

，

and

wherein, the x₀Is the abscissa of a point within the clustering region, the θ is the angular difference, and the m satisfies y_center＝x_centerTan theta + m, said n satisfying y_center-xcenter tan θ + n, wherein said ycenter is the ordinate of the center of said clustering region, and said x_centerIs the abscissa of the center of the clustering region, the y₀The length of the clustering region is the vertical coordinate of a point in the clustering region, the b is the original width of the clustering region, and the a is the original length of the clustering region.

7. The method of claim 3, wherein the second condition satisfies the following equation:

，

and

wherein, the x₀Is the abscissa of a point within the clustering region, the θ is the angular difference, and the m satisfies y_center＝x_centerTan theta + m, said n satisfying y_center-xcenter tan θ + n, wherein said ycenter is the ordinate of the center of said clustering region, and said x_centerIs the abscissa of the center of the clustering region, the y₀Is the ordinate of the point in the clustering region, b is the original width of the clustering region, a is the original length of the clustering region, t_y1And t_y2Are empirical values.

8. The method of claim 1, wherein the target vehicle is provided with an IMU device and the second heading angle is obtained by integrating an angular velocity of the target vehicle in a Z-axis direction acquired by the IMU device.

9. An apparatus for detecting a vehicle under test, comprising:

the first acquisition module is used for acquiring a first course angle of the detected vehicle at the current moment;

the second acquisition module is used for acquiring a second course angle of the target vehicle at the current moment;

the calculation module is used for calculating the difference value between the first course angle and the second course angle to obtain the angle difference of the measured vehicle relative to the target vehicle;

the correcting module is used for correcting the clustering area used for detecting the detected vehicle according to the angle difference;

the third acquisition module is used for acquiring a plurality of target points of the position of the detected vehicle, which are detected by the vehicle-mounted radar of the target vehicle;

the clustering module is used for selecting target points belonging to the tested vehicle from the target points by adopting the modified clustering area;

and the detection module is used for detecting the detected vehicle according to the selected target point.

10. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method of any of claims 1-8.

Technical Field

The embodiment of the invention relates to the technical field of clustering, in particular to a method and a device for detecting a detected vehicle and electronic equipment.

Background

Due to the characteristics of the millimeter wave radar in the vehicle-mounted radar, when the same detected vehicle is detected, different echo reflection points exist, that is, the same detected vehicle has a plurality of millimeter wave radar targets, so that filtering and clustering processing are required to be performed on the echo data of the millimeter waves.

However, in implementing the embodiments of the present invention, the inventors found that: the current clustering process is to detect in a fixed clustering area direction and a fixed clustering area size, so that the detection of the detected vehicle is inaccurate.

Disclosure of Invention

In view of the above problems, embodiments of the present invention provide a method, an apparatus, and an electronic device for detecting a vehicle under test, which overcome or at least partially solve the above problems.

According to an aspect of an embodiment of the present invention, there is provided a method of detecting a vehicle under test, including: acquiring a first course angle of the detected vehicle at the current moment; acquiring a second course angle of the target vehicle at the current moment; calculating the difference value between the first course angle and the second course angle to obtain the angle difference of the measured vehicle relative to the target vehicle; correcting a clustering region for detecting the detected vehicle according to the angle difference; acquiring a plurality of target points of the position of the detected vehicle detected by the vehicle-mounted radar of the target vehicle; selecting target points belonging to the tested vehicle from the target points by adopting the corrected clustering area; and detecting the detected vehicle according to the selected target point.

In an optional manner, the step of obtaining the first heading angle of the vehicle under test at the current time further includes: according to the position of the measured vehicle measured previously, establishing a curve equation of the motion track of the measured vehicle; and obtaining a derivative of the curve equation so as to obtain a first heading angle of the measured vehicle at the current moment.

In an optional manner, a target vehicle coordinate system in which the target vehicle is located has an x-axis and a y-axis, and the step of correcting the cluster region for detecting the vehicle under test according to the angle difference further includes: rotating the clustering region to enable the central line of the clustering region in the length direction to be the same as the driving direction of the tested vehicle, wherein the rotating angle of the clustering region is equal to the angle difference, and the driving direction of the tested vehicle is the tangential direction of the curve equation; acquiring a first condition which needs to be met by the rotated clustering region in the x-axis direction; acquiring a second condition which needs to be met by the rotated clustering region in the y-axis direction; and correcting the clustering region according to the first condition and the second condition.

In an alternative, the first condition satisfies the following equation:

wherein, the x_centerIs the abscissa of the center of the clustering region, b is the original width of the clustering region, theta is the angle difference, and x₀Is the abscissa of the point within the clustering region.

In an alternative, the first condition satisfies the following equation:

wherein, the x_centerIs the abscissa of the center of the clustering region, b is the original width of the clustering region, theta is the angle difference, and x₀As the abscissa of a point within the clustering region, the t_xAre empirical values.

In an alternative manner, the second condition satisfies the following formula:

and an

Wherein, the x₀Is the abscissa of a point within the clustering region, the θ is the angular difference, and the m satisfies y_center＝x_centerTan theta + m, said n satisfying y_center＝-x_centerTan θ + n, wherein y_centerIs the ordinate of the center of the clustering region, the x_centerIs the abscissa of the center of the clustering region, the y₀The length of the clustering region is the vertical coordinate of a point in the clustering region, the b is the original width of the clustering region, and the a is the original length of the clustering region.

In an alternative manner, the second condition satisfies the following formula:

and an

Wherein, the x₀Is the abscissa of a point within the clustering region, the θ is the angular difference, and the m satisfies y_center＝x_centerTan theta + m, said n satisfying y_center-xcenter tan θ + n, wherein said ycenter is the ordinate of the center of said clustering region, and said x_centerIs the abscissa of the center of the clustering region, the y₀Is the ordinate of the point in the clustering region, b is the original width of the clustering region, a is the original length of the clustering region, t_y1And t_y2Are empirical values.

In an optional mode, the target vehicle is provided with an IMU device, and the second heading angle is obtained by integrating the angular velocity of the target vehicle in the Z-axis direction, which is obtained by the IMU device.

According to an aspect of an embodiment of the present invention, there is provided an apparatus for detecting a vehicle under test, including: the first acquisition module is used for acquiring a first course angle of the detected vehicle at the current moment; the second acquisition module is used for acquiring a second course angle of the target vehicle at the current moment; the calculation module is used for calculating the difference value between the first course angle and the second course angle to obtain the angle difference of the measured vehicle relative to the target vehicle; the correcting module is used for correcting the clustering area used for detecting the detected vehicle according to the angle difference; the third acquisition module is used for acquiring a plurality of target points of the position of the detected vehicle, which are detected by the vehicle-mounted radar of the target vehicle; the clustering module is used for selecting target points belonging to the tested vehicle from the target points by adopting the modified clustering area; and the detection module is used for detecting the detected vehicle according to the selected target point.

In an optional manner, the first obtaining module includes: the building unit is used for building a curve equation of the motion trail of the measured vehicle according to the position of the measured vehicle measured previously; and the first acquisition unit is used for obtaining a derivative of the curve equation so as to obtain a first heading angle of the measured vehicle at the current moment.

In an alternative form, the target vehicle coordinate system in which the target vehicle is located has an x-axis and a y-axis, and the correction module includes: the rotating unit is used for rotating the clustering region so that the central line of the clustering region in the length direction is the same as the driving direction of the tested vehicle, wherein the rotating angle of the clustering region is equal to the angle difference, and the driving direction of the tested vehicle is the tangential direction of the curve equation; the second acquisition unit is used for acquiring a first condition which needs to be met by the rotated clustering region in the x-axis direction; the third acquisition unit is used for acquiring a second condition which needs to be met by the rotated clustering region in the y-axis direction; and the correcting unit is used for correcting the clustering area according to the first condition and the second condition.

In an alternative, the first condition satisfies the following equation:

wherein, the x_centerIs the abscissa of the center of the clustering region, b is the original width of the clustering region, theta is the angle difference, and x₀Is the abscissa of the point within the clustering region.

In an alternative, the first condition satisfies the following equation:

wherein, the x_centerIs the abscissa of the center of the clustering region, b is the original width of the clustering region, theta is the angle difference, and x₀As the abscissa of a point within the clustering region, the t_xAre empirical values.

In an alternative manner, the second condition satisfies the following formula:

and an

Wherein, the x₀Is the abscissa of a point within the clustering region, the θ is the angular difference, and the m satisfies y_center＝x_centerTan theta + m, said n satisfying y_center＝-x_centerTan θ + n, wherein y_centerIs the ordinate of the center of the clustering region, the x_centerIs the abscissa of the center of the clustering region, the y₀The length of the clustering region is the vertical coordinate of a point in the clustering region, the b is the original width of the clustering region, and the a is the original length of the clustering region.

In an alternative manner, the second condition satisfies the following formula:

and an

Wherein, the x₀Is the abscissa of a point within the clustering region, the θ is the angular difference, and the m satisfies y_center＝x_centerTan theta + m, said n satisfying y_center-xcenter tan θ + n, wherein said ycenter is the ordinate of the center of said clustering region, and said x_centerIs the abscissa of the center of the clustering region, the y₀Is the ordinate of the point in the clustering region, b is the original width of the clustering region, a is the original length of the clustering region, t_y1And t_y2Are empirical values.

In an optional mode, the target vehicle is provided with an IMU device, and the second heading angle is obtained by integrating the angular velocity of the target vehicle in the Z-axis direction, which is obtained by the IMU device.

According to an aspect of an embodiment of the present invention, there is provided an electronic apparatus including: at least one processor, and a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform a method as described above.

The embodiment of the invention has the beneficial effects that: the method is different from the conventional method for detecting the detected vehicle agent, the clustering region for detecting the detected vehicle is corrected according to the angle difference between the first course angle of the detected vehicle and the second course angle of the target vehicle, and the detected vehicle is detected according to the corrected clustering region, so that the detected vehicle can be accurately detected.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

FIG. 1 is a schematic flow chart of a method for detecting a vehicle under test according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a method for obtaining a first heading angle of a vehicle under test at a current time according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart of another method for modifying a cluster region for detecting a vehicle under test according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a cluster region before modification and a cluster region after modification according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a rectangular area provided by an embodiment of the present invention;

FIG. 6 is a schematic diagram of an apparatus for detecting a vehicle under test according to an embodiment of the present invention

Fig. 7 is a hardware structural diagram of an electronic device for executing a method for detecting a vehicle under test according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. 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.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.

In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Example one

Referring to fig. 1, fig. 1 is a schematic flow chart of a method for detecting a vehicle under test according to an embodiment of the present invention, the method includes the following steps:

and S101, acquiring a first course angle of the detected vehicle at the current moment.

The vehicle to be detected is a vehicle detected by a vehicle-mounted radar on the target vehicle, and the vehicle-mounted radar on the target vehicle can detect the position of the vehicle to be detected, the speed of the vehicle to be detected and the like.

The first course angle is the running angle of the measured vehicle under the global coordinate system.

In some embodiments, for example, the first-time global coordinate system may be selected as a target vehicle coordinate system where the target vehicle is located, and the second-time global coordinate system is the location where the target vehicle is located at the first time, that is, the location of the global coordinate system is unchanged although the vehicle to be measured and the target vehicle are in motion.

In some embodiments, the global coordinate system needs to be reselected after a period of time in order to eliminate the accumulated error.

Referring to fig. 2, in some embodiments, step S101 includes the following steps:

step S1011, establishing a curve equation of the motion trail of the measured vehicle according to the position of the measured vehicle measured previously.

The vehicle-mounted radar on the target vehicle can measure the position and the speed of the measured vehicle, and the position of the measured vehicle measured previously is the position of the measured vehicle measured by the target vehicle in a period of time before the current time relative to the current time.

And according to the positions of the detected vehicle at different moments, obtaining the motion trail of the detected vehicle, and fitting the motion trail to obtain the curve equation.

Step S1012, a derivative is obtained on the curve equation, so as to obtain a first heading angle of the vehicle under test at the current time.

And step S102, acquiring a second heading angle of the target vehicle at the current moment.

The second course angle is the running angle of the target vehicle under the global coordinate system.

In some embodiments, the target vehicle is provided with an IMU device, and the second heading angle is obtained by integrating the angular velocity of the target vehicle in the Z-axis direction acquired by the IMU device.

Wherein the Z-axis direction is a direction perpendicular to a plane in which the target vehicle is located.

And step S103, calculating the difference value between the first course angle and the second course angle to obtain the angle difference of the detected vehicle relative to the target vehicle.

It should be noted that the calculation of the difference between the first heading angle and the second heading angle is performed at the same time, that is, both are performed at the current time.

And step S104, correcting a clustering area for detecting the detected vehicle according to the angle difference.

The target vehicle coordinate system where the target vehicle is located has an x-axis and a y-axis, please refer to fig. 3, and step S104 includes the following steps:

step S1041, rotating the clustering region to make a center line of the clustering region in a length direction the same as a driving direction of the vehicle to be tested, wherein an angle of rotation of the clustering region is equal to the angle difference, and the driving direction of the vehicle to be tested is a tangential direction of the curve equation.

Referring to fig. 4, when the clustering region is not rotated, the clustering region corresponds to the dashed box in fig. 4, i.e. the unmodified clustering region, and the target point (i) in fig. 4 is in the dashed box, but the target point (ii) is not in the dashed box. The cluster region after rotation corresponds to the solid line frame in fig. 4, i.e., the cluster region after correction, and the target point (i) in fig. 4 is not in the solid line frame, but is in the solid line frame. According to the running direction of the detected vehicle, it is obvious that the target point II belongs to the detected vehicle, so that the target point of the data detected vehicle can be accurately obtained after the clustering area is rotated.

Step S1042, a first condition that the rotated clustering region needs to satisfy in the x-axis direction is obtained.

Referring to fig. 5, the first condition satisfies the following formula:

wherein, the x_centerIs the abscissa of the center of the clustering region, b is the original width of the clustering region, theta is the angle difference, and x₀Is the abscissa of the point within the clustering region.

The radar carried on the target vehicle can detect a plurality of target points of the detected vehicle and detect the coordinate values of the target points in the coordinate system of the target vehicle, in some embodiments, the x_centerThe coordinate values of the plurality of target points are averaged in the x-axis direction.

In some embodiments, the original width of the clustering region, i.e., the b, does not exceed the width of the lane.

In some embodiments, after the first condition corresponding to multiple times is obtained, the first condition may be modified, and the first condition needs to satisfy the following formula:

wherein, the x_centerIs the abscissa of the center of the clustering region, b is the original width of the clustering region, theta is the angle difference, and x₀As the abscissa of a point within the clustering region, the t_xAre empirical values.

In some embodiments, if the detected vehicle is detected, x is₀Is continuously less thanThenAnd said x₀Is said t_x。

Of course, the t_xCan also be according to said x₀Is obtained from the minimum value of (a).

Step S1043, obtaining a second condition that the rotated clustering region needs to satisfy in the y-axis direction.

The clustering region is generally a rectangular region, and referring again to fig. 5, the second condition satisfies the following formula:

and an

Wherein, thex₀Is the abscissa of a point within the clustering region, the θ is the angular difference, and the m satisfies y_center＝x_centerTan theta + m, said n satisfying y_center＝-x_centerTan θ + n, wherein y_centerIs the ordinate of the center of the clustering region, the x_centerIs the abscissa of the center of the clustering region, the y₀The length of the clustering region is the vertical coordinate of a point in the clustering region, the b is the original width of the clustering region, and the a is the original length of the clustering region.

The radar carried on the target vehicle can detect a plurality of target points of the detected vehicle and detect coordinate values of the target points in the target vehicle coordinate system, in some embodiments, y_centerThe average value of the coordinate values of the plurality of target points in the y-axis direction is obtained.

It will be appreciated that the Andand a linear equation representing the straight line where the four sides of the rectangular area are located.

In some embodiments, the original length of the clustering region, i.e. the length a, does not exceed the length of the vehicle under test, typically between 3 and 10 meters.

In some embodiments, after the second condition corresponding to multiple time instants is obtained, the second condition may be modified, where the second condition needs to satisfy the following formula:

and an

Wherein, the x₀Is the abscissa of a point within the clustering region, the θ is the angular difference, and the m satisfies y_center＝x_centerTan theta + m, said n satisfying y_center-xcenter tan θ + n, wherein said ycenter is the ordinate of the center of said clustering region, and said x_centerIs the abscissa of the center of the clustering region, the y₀Is the ordinate of the point in the clustering region, b is the original width of the clustering region, a is the original length of the clustering region, t_y1And t_y2Are empirical values.

In some embodiments, when detecting a vehicle under test, y₀When in the range of the following formula,

if said y₀Is continuously less thanThenAnd said y₀Is said t_y1。

Of course, the t_y1Can also be according to said y₀Is obtained as the minimum value of (a).

In the same way, the t can be obtained_y2。

And step S1044, correcting the clustering area according to the first condition and the second condition.

And step S105, acquiring a plurality of target points of the position of the detected vehicle detected by the vehicle-mounted radar of the target vehicle.

And step S106, selecting target points belonging to the detected vehicle from the target points by adopting the corrected clustering areas.

And step S107, detecting the detected vehicle according to the selected target point.

In the embodiment of the invention, a first course angle of the detected vehicle at the current moment is obtained; acquiring a second course angle of the target vehicle at the current moment; calculating the difference value between the first course angle and the second course angle to obtain the angle difference of the measured vehicle relative to the target vehicle; correcting a clustering region for detecting the detected vehicle according to the angle difference; acquiring a plurality of target points of the position of the detected vehicle detected by the vehicle-mounted radar of the target vehicle; selecting target points belonging to the tested vehicle from the target points by adopting the corrected clustering area; and detecting the detected vehicle according to the selected target point, so that the detected vehicle can be detected by using the corrected clustering area, and the detected vehicle can be accurately detected.

Example two

Referring to fig. 6, fig. 6 is a schematic diagram of an apparatus for detecting a vehicle under test according to an embodiment of the present invention, where the apparatus 400 includes: a first obtaining module 401, configured to obtain a first heading angle of the vehicle under test at the current time; a second obtaining module 402, configured to obtain a second heading angle of the target vehicle at the current time; a calculating module 403, configured to calculate a difference between the first heading angle and the second heading angle, so as to obtain an angle difference between the vehicle to be measured and the target vehicle; a correcting module 404, configured to correct a clustering region for detecting the vehicle under test according to the angle difference; a third obtaining module 405, configured to obtain multiple target points of the position where the detected vehicle is located, where the multiple target points are detected by a vehicle-mounted radar of the target vehicle; a clustering module 406, configured to select, from the multiple target points, a target point that belongs to the vehicle to be tested, using the modified clustering region; and the detection module 407 is configured to detect the vehicle under test according to the selected target point.

In some embodiments, the first obtaining module 401 includes: the building unit 4011 is configured to build a curve equation of a motion trajectory of the vehicle to be tested according to a previously measured position of the vehicle to be tested; the first obtaining unit 4012 is configured to apply a derivative to the curve equation to obtain a first heading angle of the vehicle under test at the current time.

In some embodiments, the target vehicle coordinate system in which the target vehicle is located has an x-axis and a y-axis, and the modification module 404 includes: a rotating unit 4041, configured to rotate the clustering region so that a center line of the clustering region in a length direction is the same as a driving direction of the vehicle under test, where an angle of rotation of the clustering region is equal to the angle difference, and the driving direction of the vehicle under test is a tangential direction of the curve equation; a second obtaining unit 4042, configured to obtain a first condition that the clustered region needs to meet in the x-axis direction after rotation; a third obtaining unit 4043, configured to obtain a second condition that the clustered region needs to meet in the y-axis direction after rotation; a correcting unit 4044, configured to correct the clustering region according to the first condition and the second condition.

In some embodiments, the first condition satisfies the following formula:

wherein, the x_centerIs the abscissa of the center of the clustering region, b is the original width of the clustering region, theta is the angle difference, and x₀Is the abscissa of the point within the clustering region.

In some embodiments, the first condition satisfies the following formula:

wherein, the x_centerIs the abscissa of the center of the clustering region, b is the original width of the clustering region, theta is the angle difference, and x₀As a cross of points within the clustering regionCoordinates of, said t_xAre empirical values.

In some embodiments, the second condition satisfies the following equation:

and an

Wherein, the x₀Is the abscissa of a point within the clustering region, the θ is the angular difference, and the m satisfies y_center＝x_centerTan theta + m, said n satisfying y_center＝-x_centerTan θ + n, wherein y_centerIs the ordinate of the center of the clustering region, the x_centerIs the abscissa of the center of the clustering region, the y₀The length of the clustering region is the vertical coordinate of a point in the clustering region, the b is the original width of the clustering region, and the a is the original length of the clustering region.

In some embodiments, the second condition satisfies the following equation:

and an

Wherein, the x₀Is the abscissa of a point within the clustering region, the θ is the angular difference, and the m satisfies y_center＝x_centerTan theta + m, said n satisfying y_center-xcenter tan θ + n, wherein said ycenter is the ordinate of the center of said clustering region, and said x_centerAs the abscissa of the center of the cluster regionSaid y is₀Is the ordinate of the point in the clustering region, b is the original width of the clustering region, a is the original length of the clustering region, t_y1And t_y2Are empirical values.

In some embodiments, the target vehicle is provided with an IMU device, and the second heading angle is obtained by integrating the angular velocity of the target vehicle in the Z-axis direction acquired by the IMU device.

In the embodiment of the invention, a first heading angle of the vehicle to be detected at the current moment is acquired through a first acquisition module 401; the second obtaining module 402 obtains a second course angle of the target vehicle at the current moment; the calculation module 403 calculates a difference between the first heading angle and the second heading angle to obtain an angle difference between the measured vehicle and the target vehicle; the correcting module 404 corrects the clustering area for detecting the detected vehicle according to the angle difference; the third obtaining module 405 obtains a plurality of target points of the position of the detected vehicle detected by the vehicle-mounted radar of the target vehicle; the clustering module 406 selects target points belonging to the vehicle to be tested from the target points by using the modified clustering areas; the detection module 407 detects the vehicle to be detected according to the selected target point, and can detect the vehicle to be detected by using the modified clustering region, so that the vehicle to be detected is accurately detected.

EXAMPLE III

Referring to fig. 7, fig. 7 is a schematic hardware structure diagram of an electronic device for executing a method for detecting a vehicle under test according to an embodiment of the present invention. The electronic device 50 includes: one or more processors 51 and a memory 52, one for example in fig. 7.

The processor 51 and the memory 52 may be connected by a bus or other means, and the bus connection is taken as an example in the embodiment of the present invention.

The memory 52 is a non-volatile computer-readable storage medium and can be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules (for example, the modules shown in fig. 6) corresponding to the method for detecting the vehicle under test in the embodiment of the present invention. The processor 51 executes various functional applications of the device for detecting the vehicle under test and data processing, namely, implements the method for detecting the vehicle under test of the above-described method embodiment, by executing the nonvolatile software program, instructions and modules stored in the memory 52.

The memory 52 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of a device that detects the vehicle under test, and the like. Further, the memory 52 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 52 optionally includes memory located remotely from the processor 51, and these remote memories may be connected to the probe vehicle device under test via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 52 and, when executed by the one or more processors 51, perform a method of detecting a vehicle under test in any of the method embodiments described above.

The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.

Embodiments of the present invention provide a non-volatile computer-readable storage medium, where computer-executable instructions are stored, and the computer-executable instructions are executed by an electronic device to perform a method for detecting a vehicle under test in any of the above method embodiments.

Embodiments of the present invention provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform a method of detecting a vehicle under test in any of the method embodiments described above.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and 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.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present 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 solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.