Patent ID: 11915470
Assignee: QUANZHOU EQUIPMENT MANUFACTURING RESEARCH INSTITUTE
Field: Measurement (Instruments)
Classification: CPC G  Y | IPC G

Claim 3:
4. The target detection method based on fusion of vision, lidar, and millimeter wave radar according to claim 1, wherein:
the step 3 comprises:
generating the first region of interest, which is three-dimensional, based on the original data detected by the millimeter wave radar that has been calculated;
using the position as the first anchor point to generate the first region of interest that is cuboid;
using a direction of a vector velocity as a direction of the first region of interest;
determining a size of the first region of interest according to a size of a Radar Cross Section (RCS);
determining a size of a three-dimensional (3D) frame according to the following table and formula:

Target
RCS[m2]
RCS[dB]

Pedestrian
0.01
−20

Car
100
20

Truck
200
23

Corner reflection
20379
43

RCSdB=10 log(RCSm2); and

determining a direction and an angle of the 3D frame according to a speed (Vx, Vy) of a millimeter wave radar point and compensation speed information (V x_comp, V y_comp) and according to the formula:, θ
  =
  
   
    tan
    
     -
     1
    
   
   ⁢
   
    
     
      
       V
       x
      
      -
      
       V
       
        x
        
         _
         ⁢
         comp
        
       
      
     
     
      
       V
       y
      
      -
      
       V
       y_comp
      
     
    
    .