The invention discloses a target anti-collision early warning method, device and equipment and a storage medium, and the method comprises the steps: obtaining the point cloud data of at least one radar, completing the coordinate conversion, and obtaining the first radar point cloud data of a to-be-confirmed region; setting an RCS filtering threshold, eliminating clutter point cloud data, and retaining second radar point cloud data; further filtering clutter point cloud data by using a Kalman filtering algorithm to obtain third radar point cloud data with a stable target; performing first clustering on the third radar point cloud data to obtain first target information; second-layer clustering is carried out on the radar point cloud data under the first target information, a target linear direction is determined according to the number of point cloud clustering result clusters, and then second target information is determined; and target information is extracted, and all targets are visually displayed to realize anti-collision early warning. According to the invention, clutter point cloud data is doubly filtered; and in combination with two-layer clustering of the distance, the linear direction of the target is determined, and the accuracy of the clustering result is improved.
本申请公开了一种目标防撞预警方法、装置、设备及存储介质,方法包括:获取至少一台雷达的点云数据并完成坐标转换,得到待确认区域的第一雷达点云数据;设置RCS过滤阈值,消除杂波点云数据,保留第二雷达点云数据;使用卡尔曼滤波算法进一步滤除杂波点云数据,得到目标稳定的第三雷达点云数据;对第三雷达点云数据进行第一次聚类,获取第一目标信息;对第一目标信息下的雷达点云数据进行第二层聚类,根据点云聚类结果簇数量确定目标线性方向,继而确定第二目标信息;提取目标信息,对所有目标可视化显示实现防碰撞预警。本申请使用双重过滤杂波点云数据;结合对距离的二层聚类,确认目标的线性方向,提升了聚类结果的准确性。
Target anti-collision early warning method, device and equipment and storage medium
一种目标防撞预警方法、装置、设备及存储介质
2023-11-24
Patent
Electronic Resource
Chinese
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