A kind of target motion state discrimination method and system

Abstract

The invention discloses a method and system for discriminating the motion state of a target, which are applied to vehicle-mounted radars. The method includes: calculating and obtaining the scalar motion velocity of the radar detection point relative to the vehicle according to a pre-established unary relational expression, and the unary relational expression is used to represent the scalar motion The calculation relationship between speed and Doppler speed, azimuth, and the radar installation angle of the vehicle radar; perform histogram statistics on the scalar motion speed, and use the frequency statistics to calculate the scalar estimated speed of the stationary radar detection point relative to the vehicle; according to the scalar The estimated velocity is used to discriminate the motion state of each radar detection point. The present invention realizes the self-adaptive discrimination of the motion state of the radar detection point of the vehicle radar on the premise that the intelligent driving system does not need to input the movement speed of the vehicle body to the vehicle radar, and has stable computing performance and high engineering practical value.

Description

Technical field[0001]The present invention relates to the field of vehicle radar technology, and more particularly to a target motion state discrimination method and system.Background technique[0002]The car radar has become an irreplaceable sensor selection in a smart driving scheme due to its penetration capability for the target speed and the penetration ability of the rain fog. For smart driving decisions, the motion state of the object detected by radar is the main consideration factor in decision. Since it is often considered to be more dangerous than the target of motion, a large number of stationary targets, as radar "clutter" is usually detected by radar, forming interference on moving target, and also occupying a limited handle of limited vehicle radar Resource. Therefore, the main job that needs to be completed in the vehicle radar is to discriminate the motion state of the detected target, including motion and stationary.[0003]The traditional radar is typically fixed, whi...

AI Technical Summary

Problems solved by technology

However, the above-mentioned scheme is no longer applicable to the vehicle-mounted radar because it moves with the vehicle itself.

The current application method is that the intelligent driving control system outputs the vehicle's own motion state to the radar sensor. The radar sensor compares and judges the existing prior information and the measurement information of the target, but this requires two-way communication between the intelligent driving control system and the radar. , will increase the complexity of the system and occupy signal transmission resources

In view of the above problems, in the prior art, the estimated speed of the stationary target is calculated based on the random sampling consensus algorithm or the matrix in the sense of least squares, and the motion state is judged according to the estimated speed and the measurement information of the target. Parameter estimation, the operation performance is very unstable, and the practical value is low

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