《智能传感器装调与测试（双语）》课件-17.目标识别（TR）功能

目标识别（TR）功能TargetRecognition(TR)Function课程导入：识别难题与RCS价值CourseIntroduction:IdentifyDifficultiesandRCSValue自动驾驶系统需在毫秒级仅凭雷达回波区分车辆与行人；分类错误导致的事故占比高达35%。RCS提供不依赖光照与地图的电磁身份标识，是保障感知-决策-控制链路安全的前提，也是后续融合算法的基石。Autonomousdrivingsystemsneedtodistinguishvehiclesfrompedestriansbasedsolelyonradarechoesatthemillisecondlevel;accidentscausedbymisclassificationaccountforupto35%.RCSprovideselectromagneticidentificationthatdoesnotrelyonlightingandmaps.Itisthepremiseforensuringthesecurityoftheperception-decision-controllinkandthecornerstoneofsubsequentfusionalgorithms.问题与意义

Issuesandsignificance目标识别

TargetRecognitionPART01雷达散射截面（RCS）的本质与核心特性TheEssenceandCoreCharacteristicsofRadarCrossSection(RCS)RCS本质：电磁反射有效面积Essence:ElectromagneticReflectionEffectiveArea理论定义TheoreticaldefinitionRCS是无量纲物理量，表征目标把雷达波反射回接收器的等效面积，单位平方米。RCSisadimensionlessphysicalquantitythatcharacterizestheequivalentareaofthetargetreflectingradarwavesbacktothereceiver,insquaremeters.三大特性Threemajorfeatures方向性：同一目标不同照射角RCS差异显著；

材质相关性：金属反射率远高于非金属；

波长依赖性：24GHz与77GHz毫米波频段测量结果不同，需匹配车载雷达。Directivity:TheRCSofthesametargetatdifferentirradiationanglesissignificantlydifferent;

Materialcorrelation:Metalreflectivityismuchhigherthannon-metal;

Wavelengthdependence:Themeasurementresultsof24GHzand77GHzmillimeterwavefrequencybandsaredifferent,andvehicle-mountedradarneedstobematched.PART02车辆与行人RCS特性差异分析AnalysisofDifferencesinRCSCharacteristicsBetweenVehiclesandPedestrians人车RCS差异：数值与稳定性Pedestrian-vehicleRCSdifferences:numericalvalueandstability数值对比Comparisonofvalues车辆RCS10-100平方米，行人仅0.1-1平方米，相差一至两个数量级，无重叠区间。RCSofvehicleis10-100squaremeters,andpedestriansonly0.1-1squaremeters,adifferenceofonetotwoordersofmagnitude,nooverlap.稳定性与成因Stabilityandcause车辆刚性金属车身姿态固定，波动≤±5%；行人柔性肢体摆动导致照射角突变，波动≥±50%，形成可验证的‘特征标签’。rigidmetalbodypostureofthevehicleisfixed,withafluctuation≤±5%;theswingofthepedestrian'sflexiblelimbscausesasuddenchangeintheirradiationangle,withafluctuation≥±50%,formingaverifiable"characteristiclabel".PART03RCS识别流程与理论机制RCSIdentificationProcessandTheoreticalMechanismRCS值计算与信号量化RCSvaluecalculationandsignalquantization核心公式

CoreformulaRCS=4πR²Pr/(PtG²λ²)，把回波功率转化为量化散射面积。RCS=4πR2Pr/(PtG2λ2),convertingtheechopowerintoaquantizedscatteringarea.参数R

ParameterR雷达与目标的距离（由雷达测距原理计算得出）Thedistancebetweentheradarandthetarget(calculatedbytheprincipleofradarranging)参数Pr

ParameterPr接收回波功率，随目标材质与方向瞬时变化。Thereceivedechopowerchangesinstantaneouslywiththetargetmaterialanddirection.参数Pt、G、λ

ParametersPt,Gandλ发射功率、天线增益、波长，均为雷达已知常量，保证计算一致性。Thetransmissionpower,antennagainandwavelengthareallknownconstantsoftheradartoensurecalculationconsistency.阈值判定与特性验证逻辑ThresholdDeterminationandCharacteristicVerification1.阈值判定

Thresholddetermination当计算得到的RCS值≥5m²

时，根据理论数值范围，判定为“车辆类目标”。WhenthecalculatedRCSvalueis≥5m²,itisjudgedasa"vehicletarget"basedonthetheoreticalvaluerange.当计算得到的RCS值≤2m²时，判定为“行人类目标”。WhenthecalculatedRCSvalueis≤2m²,itisjudgedasa"pedestriantarget".若RCS值在2-5m²之间，则进入下一步二次验证，避免误判。IftheRCSvalueisbetween2-5m²,proceedtothenextstepofsecondaryverificationtoavoidmisjudgment.2.特性验证

Characteristicverification对初步判定的“车辆类目标”：验证其RCS值的波动范围是否≤±5%（符合车辆RCS稳定性的理论特性），若满足则确认分类；Forthe"vehicletarget"preliminarilyjudged:verifywhetherthefluctuationrangeofitsRCSvalueis≤±5%(conformingtothetheoreticalcharacteristicsofvehicleRCSstability).Ifso,confirmtheclassification;对初步判定的“行人类目标”：验证其RCS值的波动范围是否≥±30%（符合行人姿态变化导致的稳定性差异），若满足则确认分类；Forthe"pedestriantarget"preliminarilyjudged:verifywhetherthefluctuationrangeofitsRCSvalueis≥±30%(conformingtothestabilitydifferencecausedbypedestrianposturechange).Ifso,confirmtheclassification;双目摄像头工作原理的三个关键步骤ThreeKeyStepsintheWorkingPrincipleofBinocularCamera▶第一，RCS