目標識別（TR）功能TargetRecognition(TR)Function課程導入：識別難題與RCS價值CourseIntroduction:IdentifyDifficultiesandRCSValue自動駕駛系統(tǒng)需在毫秒級僅憑雷達回波區(qū)分車輛與行人；分類錯誤導致的事故占比高達35%。RCS提供不依賴光照與地圖的電磁身份標識，是保障感知-決策-控制鏈路安全的前提，也是后續(xù)融合算法的基石。Autonomousdrivingsystemsneedtodistinguishvehiclesfrompedestriansbasedsolelyonradarechoesatthemillisecondlevel;accidentscausedbymisclassificationaccountforupto35%.RCSprovideselectromagneticidentificationthatdoesnotrelyonlightingandmaps.Itisthepremiseforensuringthesecurityoftheperception-decision-controllinkandthecornerstoneofsubsequentfusionalgorithms.問題與意義

Issuesandsignificance目標識別

TargetRecognitionPART01雷達散射截面（RCS）的本質與核心特性TheEssenceandCoreCharacteristicsofRadarCrossSection(RCS)RCS本質：電磁反射有效面積Essence:ElectromagneticReflectionEffectiveArea理論定義TheoreticaldefinitionRCS是無量綱物理量，表征目標把雷達波反射回接收器的等效面積，單位平方米。RCSisadimensionlessphysicalquantitythatcharacterizestheequivalentareaofthetargetreflectingradarwavesbacktothereceiver,insquaremeters.三大特性Threemajorfeatures方向性：同一目標不同照射角RCS差異顯著；

材質相關性：金屬反射率遠高于非金屬；

波長依賴性：24GHz與77GHz毫米波頻段測量結果不同，需匹配車載雷達。Directivity:TheRCSofthesametargetatdifferentirradiationanglesissignificantlydifferent;

Materialcorrelation:Metalreflectivityismuchhigherthannon-metal;

Wavelengthdependence:Themeasurementresultsof24GHzand77GHzmillimeterwavefrequencybandsaredifferent,andvehicle-mountedradarneedstobematched.PART02車輛與行人RCS特性差異分析AnalysisofDifferencesinRCSCharacteristicsBetweenVehiclesandPedestrians人車RCS差異：數值與穩(wěn)定性Pedestrian-vehicleRCSdifferences:numericalvalueandstability數值對比Comparisonofvalues車輛RCS10-100平方米，行人僅0.1-1平方米，相差一至兩個數量級，無重疊區(qū)間。RCSofvehicleis10-100squaremeters,andpedestriansonly0.1-1squaremeters,adifferenceofonetotwoordersofmagnitude,nooverlap.穩(wěn)定性與成因Stabilityandcause車輛剛性金屬車身姿態(tài)固定，波動≤±5%；行人柔性肢體擺動導致照射角突變，波動≥±50%，形成可驗證的‘特征標簽’。rigidmetalbodypostureofthevehicleisfixed,withafluctuation≤±5%;theswingofthepedestrian'sflexiblelimbscausesasuddenchangeintheirradiationangle,withafluctuation≥±50%,formingaverifiable"characteristiclabel".PART03RCS識別流程與理論機制RCSIdentificationProcessandTheoreticalMechanismRCS值計算與信號量化RCSvaluecalculationandsignalquantization核心公式

CoreformulaRCS=4πR2Pr/(PtG2λ2)，把回波功率轉化為量化散射面積。RCS=4πR2Pr/(PtG2λ2),convertingtheechopowerintoaquantizedscatteringarea.參數R

ParameterR雷達與目標的距離（由雷達測距原理計算得出）Thedistancebetweentheradarandthetarget(calculatedbytheprincipleofradarranging)參數Pr

ParameterPr接收回波功率，隨目標材質與方向瞬時變化。Thereceivedechopowerchangesinstantaneouslywiththetargetmaterialanddirection.參數Pt、G、λ

ParametersPt,Gandλ發(fā)射功率、天線增益、波長，均為雷達已知常量，保證計算一致性。Thetransmissionpower,antennagainandwavelengthareallknownconstantsoftheradartoensurecalculationconsistency.閾值判定與特性驗證邏輯ThresholdDeterminationandCharacteristicVerification1.閾值判定

Thresholddetermination當計算得到的RCS值≥5m2

時，根據理論數值范圍，判定為“車輛類目標”。WhenthecalculatedRCSvalueis≥5m2,itisjudgedasa"vehicletarget"basedonthetheoreticalvaluerange.當計算得到的RCS值≤2m2時，判定為“行人類目標”。WhenthecalculatedRCSvalueis≤2m2,itisjudgedasa"pedestriantarget".若RCS值在2-5m2之間，則進入下一步二次驗證，避免誤判。IftheRCSvalueisbetween2-5m2,proceedtothenextstepofsecondaryverificationtoavoidmisjudgment.2.特性驗證

Characteristicverification對初步判定的“車輛類目標”：驗證其RCS值的波動范圍是否≤±5%（符合車輛RCS穩(wěn)定性的理論特性），若滿足則確認分類；Forthe"vehicletarget"preliminarilyjudged:verifywhetherthefluctuationrangeofitsRCSvalueis≤±5%(conformingtothetheoreticalcharacteristicsofvehicleRCSstability).Ifso,confirmtheclassification;對初步判定的“行人類目標”：驗證其RCS值的波動范圍是否≥±30%（符合行人姿態(tài)變化導致的穩(wěn)定性差異），若滿足則確認分類；Forthe"pedestriantarget"preliminarilyjudged:verifywhetherthefluctuationrangeofitsRCSvalueis≥±30%(conformingtothestabilitydifferencecausedbypedestrianposturechange).Ifso,confirmtheclassification;雙目攝像頭工作原理的三個關鍵步驟ThreeKeyStepsintheWorkingPrincipleofBinocularCamera?第一，RCS