Intelligent vehicle target tracking system and method based on dsrc and vehicle sensor fusion

Abstract

The invention claims protection of an intelligent vehicle target tracking system and method that integrates DSRC and vehicle sensors, and relates to the technical fields of intelligent vehicle target tracking and vehicle communication. Including target detection module based on vehicle sensor, DSRC communication module, target tracking module and vehicle positioning module. The target detection module detects the location information of vehicles and pedestrians around the main vehicle through the on-board sensors; the DSRC communication module receives the target vehicle's own motion status and identity information issued by the target vehicle with the DSRC-based information release function within the communication range; the target tracking module Data association is performed according to the detected target observation data, and the association result is corrected according to the received state and identity information of the target vehicle, and then the corrected correlation result is tracked and filtered to obtain a more accurate movement state of the surrounding targets. The vehicle positioning module is used to obtain the motion state of the main vehicle for release. The invention improves the target tracking precision of the intelligent vehicle.

Description

technical field [0001] The invention belongs to computer and automation technology, especially the field of intelligent vehicle target tracking technology, and specifically relates to a multi-target tracking method using DSRC (Dedicated Short Range Communications, dedicated short-range wireless communication) communication technology combined with vehicle-mounted sensor observation. Background technique [0002] The target tracking system is an important part of intelligent vehicles. In order to realize collision warning and vehicle automatic driving control, it is necessary to accurately detect and estimate various targets in the surrounding environment of intelligent vehicles, including accurate position and motion state information of vehicles and pedestrians. [0003] Chinese Patent Application: Vehicle Control Equipment, Target Guidance Vehicle Designation Equipment, and Vehicle Control Method (Application No.: 201180017118.X) discloses a vehicle communication unit and a...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the current intelligent vehicle target tracking system in the scene where the target vehicle publishes its own information within the communication range of the main vehicle, the traditional target tracking method fails to make full use of the identity information and status information released by the target vehicle, resulting in data loss during the target tracking process. The correlation results are not accurate enough and the tracking accuracy is not high. The present invention proposes an intelligent vehicle target tracking system and method using DSRC and vehicle sensor fusion

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