Target tracking method reflecting restriction condition

Abstract

One aspect of the invention provides a target tracking method, which is used for reflecting a restriction condition, to be specific is used for reflecting the relative distance of the opposite vehicle or the relative speed of the opposite vehicle, and other restriction condition. N samples having state variable can be generated on the target area, represented by the mathematical expression 1, and the performance index function of the compensation factor is additionally provided, and the optimal solution can be found out by using the Newton Laphson algorithm. The target tracking method can be used to reflect the relative distance and the relative speed of the opposite vehicle in order to reflect the radar system of the vehicle, and therefore the target can be tracked accurately, and the unnecessary calculation can be reduced. The target tracking method is advantageous in that the convenience of the driver can be improved because of the excellent radar performance.

Description

Technical field [0001] The present invention relates to a radar signal processing method of a vehicle, and in particular to a target tracking method that reflects restriction conditions such as the distance to the vehicle and the speed of the relative vehicle. Background technique [0002] Generally, radar (RADAR: Radio Detection And Ranging) is a sensing device that radiates electromagnetic waves and receives reflected waves reflected by objects in the corresponding area to detect the existence and distance of the target. Its advantage is that it is related to weather conditions or day and night. Irrelevant, with all-weather function, able to detect short-distance or even long-distance objects on the other side of the earth beyond the horizon. [0003] The radar system for vehicles, as a technology necessary for the realization of an intelligent transportation system, is to sense the movement of other vehicles or objects that are moving or stationary to prevent accidents that may ...

AI Technical Summary

Problems solved by technology

For example, in the case of radar tracking, although the position, velocity, acceleration, etc. of a specific object can be measured, the measured value may contain errors, in which case the position of the corresponding object can be inferred from continuously measured values ​​using the Kalman filter algorithm

[0006] However, the problem with the Kalman filter algorithm is that it cannot reflect the constraints such as the distance from the relative vehicle or the speed of the relative vehicle.

That is to say, as far as the radar applied to the vehicle system is concerned, when reflecting various constraints such as the relative distance or relative speed of the target and the opposite vehicle, although it is possible to estimate a relatively accurate target, as described above, the Kalman filter algorithm From this point of view, the problem is that the target cannot be tracked more accurately

Images