Distance measurement method and distance measurement apparatus

1. A distance measurement method, comprising:

receiving a plurality of first echo signals generated within a detection range by a plurality of first radar signals transmitted in a first time segment;

determining, based on the plurality of first echo signals, a plurality of first spectrum data groups corresponding to the plurality of first echo signals, wherein each of the plurality of first spectrum data groups comprises a plurality of pieces of first spectrum data representing a plurality of obstacle points on a to-be-measured object within the detection range, each of the plurality of pieces of first spectrum data comprises a distance value and a signal strength value, the distance value in each piece of the plurality of pieces of first spectrum data represents a distance between an obstacle point represented by each piece of the plurality of pieces of first spectrum data and a transmitting origin of the plurality of first radar signals, the signal strength value in each piece of the plurality of pieces of first spectrum data represents signal reflection strength at the obstacle point represented by each piece of the plurality of pieces of first spectrum data, and a plurality of distance values comprised in each of the plurality of first spectrum data groups are the same;

performing normalization processing on a signal strength value corresponding to each distance value comprised in each of the plurality of first spectrum data groups to obtain a normalized signal strength value corresponding to each distance value comprised in each of the plurality of first spectrum data groups;

determining, based on a normalized signal strength value corresponding to a same distance value in the plurality of first spectrum data groups, a variance value of a signal strength value corresponding to each distance value comprised in the plurality of first spectrum data groups; and

determining a distance between a target obstacle on the to-be-measured object and the transmitting origin based on the variance value of the signal strength value corresponding to each distance value comprised in the plurality of first spectrum data groups, wherein the target obstacle comprises at least one obstacle point, and signal reflection strength at obstacle points in different motion statuses are different.

2. The method according to claim 1 , wherein determining the distance between the target obstacle on the to-be-measured object and the transmitting origin comprises:

determining the distance between the target obstacle and the transmitting origin based on the variance value of the signal strength value corresponding to each distance value comprised in the plurality of first spectrum data groups and a first variance threshold, wherein the first variance threshold is determined based on signal strength at the at least one obstacle point that forms the target obstacle.

3. The method according to claim 1 , wherein the method further comprises:

before performing the normalization processing, receiving a plurality of second echo signals generated within the detection range by a plurality of second radar signals transmitted in a second time segment, wherein an end time point of the second time segment is not later than an end time point of the first time segment;

determining, based on the plurality of second echo signals, a plurality of second spectrum data groups corresponding to the plurality of second echo signals, wherein each of the plurality of second spectrum data groups comprises a plurality of pieces of second spectrum data representing the plurality of obstacle points within the detection range, each of the plurality of pieces of second spectrum data comprises a distance value and a signal strength value, the distance value in each piece of second spectrum data represents a distance between an obstacle point represented by each piece of second spectrum data and the transmitting origin, the signal strength value in each piece of second spectrum data represents signal reflection strength at the obstacle point represented by each piece of second spectrum data, and a plurality of distance values comprised in each second spectrum data group are the same;

determining, based on the distance value and the signal strength value that are in each piece of second spectrum data, whether a position of the to-be-measured object meets a measurement condition; and

in response to determining that the position of the to-be-measured object meets the measurement condition, performing normalization processing on the signal strength value corresponding to each distance value comprised in each of the plurality of first spectrum data groups.

4. The method according to claim 3 , wherein determining whether the position of the to-be-measured object meets the measurement condition comprises:

performing normalization processing on a signal strength value corresponding to each distance value comprised in each second spectrum data group to obtain a normalized signal strength value corresponding to each distance value comprised in each second spectrum data group;

determining, based on a normalized signal strength value corresponding to a same distance value in the plurality of second spectrum data groups, a variance value of a signal strength value corresponding to each distance value comprised in the plurality of second spectrum data groups; and

determining, based on the variance value of the signal strength value corresponding to each distance value comprised in the plurality of second spectrum data groups, whether the position of the to-be-measured object meets the measurement condition.

5. The method according to claim 4 , wherein determining whether the position of the to-be-measured object meets the measurement condition comprises:

in response to determining that a quantity of variance values, greater than a second variance threshold, of signal strength values corresponding to all distance values comprised in the plurality of second spectrum data groups is greater than or equal to a quantity threshold, determining that the position of the to-be-measured object meets the measurement condition; or

in response to determining that the quantity of variance values, greater than the second variance threshold, of signal strength values corresponding to all distance values comprised in the plurality of second spectrum data groups is less than the quantity threshold, determining that the position of the to-be-measured object does not meet the measurement condition.

6. A distance measurement apparatus, comprising at least one processor, a memory, and a transceiver, wherein the at least one processor is coupled to the transceiver, and the memory stores programming instructions for execution by the at least one processor to perform operations comprising:

receiving a plurality of first echo signals generated within a detection range by a plurality of first radar signals transmitted in a first tire segment;

determining, based on the plurality of first echo signals, a plurality of first spectrum data groups corresponding to the plurality of first echo signals, wherein each of the plurality of first spectrum data groups comprises a plurality of pieces of first spectrum data representing a plurality of obstacle points on a to-be-measured object within the detection range, each of the plurality of pieces of first spectrum data comprises a distance value and a signal strength value, the distance value in each piece of the plurality of pieces of first spectrum data represents a distance between an obstacle point represented by each piece of the plurality of pieces of first spectrum data and a transmitting origin of the plurality of first radar signals, the signal strength value in each piece of the plurality of pieces of first spectrum data represents signal reflection strength at the obstacle point represented by each piece of the plurality of pieces of first spectrum data, and a plurality of distance values comprised in each of the plurality of first spectrum data groups are the same;

performing normalization processing on a signal strength value corresponding to each distance value comprised in each of the plurality of first spectrum data groups to obtain a normalized signal strength value corresponding to each distance value comprised in each of the plurality of first spectrum data groups;

determining, based on a normalized signal strength value corresponding to a same distance value in the plurality of first spectrum data groups, a variance value of a signal strength value corresponding to each distance value comprised in the plurality of first spectrum data groups; and

determining a distance between a target obstacle on the to-be-measured object and the transmitting origin based on the variance value of the signal strength value corresponding to each distance value comprised in the plurality of first spectrum data groups, wherein the target obstacle comprises at least one obstacle point, and signal reflection strength at obstacle points in different motion statuses are different.

7. The apparatus according to claim 6 , wherein determining the distance between the target obstacle on the to-be-measured object and the transmitting origin comprises:

determining the distance between the target obstacle and the transmitting origin based on the variance value of the signal strength value corresponding to each distance value comprised in the plurality of first spectrum data groups and a first variance threshold, wherein the first variance threshold is determined based on signal strength at the at least one obstacle point that forms the target obstacle.

8. The apparatus according to claim 6 , wherein the operations further comprise:

receiving a plurality of second echo signals generated within the detection range by a plurality of second radar signals transmitted in a second time segment, wherein an end time point of the second time segment is not later than an end time point of the first time segment;

determining, based on the plurality of second echo signals, a plurality of second spectrum data groups corresponding to the plurality of second echo signals, wherein each of the plurality of second spectrum data groups comprises a plurality of pieces of second spectrum data representing the plurality of obstacle points within the detection range, each of the plurality of pieces of second spectrum data comprises a distance value and a signal strength value, the distance value in each piece of second spectrum data represents a distance between an obstacle point represented by each piece of second spectrum data and the transmitting origin, the signal strength value in each piece of second spectrum data represents signal reflection strength at the obstacle point represented by each piece of second spectrum data, and a plurality of distance values comprised in each second spectrum data group are the same;

determining, based on the distance value and the signal strength value that are in each piece of second spectrum data, whether a position of the to-be-measured object meets a measurement condition; and

in response to determining that the position of the to-be-measured object meets the measurement condition, performing normalization processing on the signal strength value corresponding to each distance value comprised in each of the plurality of first spectrum data groups.

9. The apparatus according to claim 8 , wherein the operations comprise:

performing normalization processing on a signal strength value corresponding to each distance value comprised in each second spectrum data group to obtain a normalized signal strength value corresponding to each distance value comprised in each second spectrum data group;

determining, based on a normalized signal strength value corresponding to a same distance value in the plurality of second spectrum data groups, a variance value of a signal strength value corresponding to each distance value comprised in the plurality of second spectrum data groups; and

determining, based on the variance value of the signal strength value corresponding to each distance value comprised in the plurality of second spectrum data groups, whether the position of the to-be-measured object meets the measurement condition.

10. The apparatus according to claim 9 , wherein the operations comprise:

in response to determining that a quantity of variance values, greater than a second variance threshold, of signal strength values corresponding to all distance values comprised in the plurality of second spectrum data groups is greater than or equal to a quantity threshold, determining that the position of the to-be-measured object meets the measurement condition; or

in response to determining that the quantity of variance values, greater than the second variance threshold, of signal strength values corresponding to all distance values comprised in the plurality of second spectrum data groups is less than the quantity threshold, determining that the position of the to-be-measured object does not meet the measurement condition.

11. A non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores program code which, when executed by a device, causes the devise to perform operations comprising:

receiving a plurality of first echo signals generated within a detection range by a plurality of first radar signals transmitted in a first time segment;

determining, based on the plurality of first echo signals, a plurality of first spectrum data groups corresponding to the plurality of first echo signals, wherein each of the plurality of first spectrum data groups comprises a plurality of pieces of first spectrum data representing a plurality of obstacle points on a to-be-measured object within the detection range, each of the plurality of pieces of first spectrum data comprises a distance value and a signal strength value, the distance value in each piece of the plurality of pieces of first spectrum data represents a distance between an obstacle point represented by each piece of the plurality of pieces of first spectrum data and a transmitting origin of the plurality of first radar signals, the signal strength value in each piece of the plurality of pieces of first spectrum data represents signal reflection strength at the obstacle point represented by each piece of the plurality of pieces of first spectrum data, and a plurality of distance values comprised in each of the plurality of first spectrum data groups are the same;

performing normalization processing on a signal strength value corresponding to each distance value comprised in each of the plurality of first spectrum data groups to obtain a normalized signal strength value corresponding to each distance value comprised in each of the plurality of first spectrum data groups;

determining, based on a normalized signal strength value corresponding to a same distance value in the plurality of first spectrum data groups, a variance value of a signal strength value corresponding to each distance value comprised in the plurality of first spectrum data groups; and

determining a distance between a target obstacle on the to-be-measured object and the transmitting origin based on the variance value of the signal strength value corresponding to each distance value comprised in the plurality of first spectrum data groups, wherein the target obstacle comprises at least one obstacle point, and signal reflection strength at obstacle points in different motion statuses are different.

12. The non-transitory computer-readable storage medium according to claim 11 , wherein determining the distance between the target obstacle on the to-be-measured object and the transmitting origin comprises:

determining the distance between the target obstacle and the transmitting origin based on the variance value of the signal strength value corresponding to each distance value comprised in the plurality of first spectrum data groups and a first variance threshold, wherein the first variance threshold is determined based on signal strength at the at least one obstacle point that forms the target obstacle.

13. The non-transitory computer-readable storage medium according to claim 11 , wherein the operations further comprise:

receiving a plurality of second echo signals generated within the detection range by a plurality of second radar signals transmitted in a second time segment, wherein an end time point of the second time segment is not later than an end time point of the first time segment;

determining, based on the plurality of second echo signals, a plurality of second spectrum data groups corresponding to the plurality of second echo signals, wherein each of the plurality of second spectrum data groups comprises a plurality of pieces of second spectrum data representing the plurality of obstacle points within the detection range, each of the plurality of pieces of second spectrum data comprises a distance value and a signal strength value, the distance value in each piece of second spectrum data represents a distance between an obstacle point represented by each piece of second spectrum data and the transmitting origin, the signal strength value in each piece of second spectrum data represents signal reflection strength at the obstacle point represented by each piece of second spectrum data, and a plurality of distance values comprised in each second spectrum data group are the same;

determining, based on the distance value and the signal strength value that are in each piece of second spectrum data, whether a position of the to-be-measured object meets a measurement condition; and

in response to determining that the position of the to-be-measured object meets the measurement condition, performing normalization processing on the signal strength value corresponding to each distance value comprised in each of the plurality of first spectrum data groups.

14. The non-transitory computer-readable storage medium according to claim 13 , wherein the operations comprise:

performing normalization processing on a signal strength value corresponding to each distance value comprised in each second spectrum data group, to obtain a normalized signal strength value corresponding to each distance value comprised in each second spectrum data group;

determining, based on a normalized signal strength value corresponding to a same distance value in the plurality of second spectrum data groups, a variance value of a signal strength value corresponding to each distance value comprised in the plurality of second spectrum data groups; and

determining, based on the variance value of the signal strength value corresponding to each distance value comprised in the plurality of second spectrum data groups, whether the position of the to-be-measured object meets the measurement condition.

15. The non-transitory computer-readable storage medium according to claim 14 , wherein the operations comprise:

in response to determining that a quantity of variance values, greater than a second variance threshold, of signal strength values corresponding to all distance values comprised in the plurality of second spectrum data groups is greater than or equal to a quantity threshold, determining that the position of the to-be-measured object meets the measurement condition; or

in response to determining that the quantity of variance values, greater than the second variance threshold, of signal strength values corresponding to all distance values comprised in the plurality of second spectrum data groups is less than the quantity threshold, determining that the position of the to-be-measured object does not meet the measurement condition.