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Extended target tracking method based on automobile radar

An extended target and automotive radar technology, applied in the field of intelligent driving, can solve the problems of low tracking efficiency and low tracking accuracy of extended targets, and achieve the effects of improving tracking efficiency and tracking accuracy, reducing calculation amount, and improving calculation accuracy

Active Publication Date: 2020-04-14
GUILIN UNIV OF ELECTRONIC TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides an extended target tracking method based on automotive radar, which solves the problems of low tracking efficiency and low tracking accuracy of the extended target in the prior art

Method used

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  • Extended target tracking method based on automobile radar
  • Extended target tracking method based on automobile radar
  • Extended target tracking method based on automobile radar

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Embodiment Construction

[0049] The present invention will be further described below in conjunction with examples, but the present invention is not limited to these examples.

[0050] An extended target tracking method based on automotive radar, its flow chart is as follows figure 1 shown, including the following steps:

[0051] (1) Obtain the detection data of the car radar

[0052] Receive the radar detection data of the smart car at each time in real time, the radar detection data includes the radial distance, angle and Doppler velocity of the smart car relative to each measurement target vehicle at each time, and obtain the measurement target vehicle the measurement set;

[0053] (2) Establish an extended target model

[0054] Establish a random finite set model of the actual target vehicle according to the state sets of each actual target vehicle at each moment, and establish a random finite set model of the measurement target vehicle according to the measurement sets of each measurement targ...

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Abstract

The invention discloses an extended target tracking method based on an automobile radar. The method comprises the following steps: establishing a random finite set model of an actual target automobileaccording to a state set; establishing a random finite set model of a measurement target automobile according to the measurement set; correcting abnormal Doppler velocities; after azimuth-Doppler velocity pre-partitioning processing, using Gibbs sampling for data association; under the condition of successful association, updating the posterior density of multi-target PMBM; predicting the multi-target PMBM prior density at the next moment; determining whether a new target enters under the condition of unsuccessful association, predicting the multi-target PMBM priori density of the new targetat the next moment; calculating an output result by combining a complete state vector; otherwise, removing the clutter. Therefore, the tracking efficiency and the tracking precision are substantiallyimproved by increasing a small amount of time complexity.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to an extended target tracking method based on automotive radar. Background technique [0002] Intelligent driving refers to the detection of driving road conditions through radar, laser rangefinder, video camera and other devices, and the navigation of the road ahead through maps. In the process of intelligent driving, the intelligent car can provide assistance to the driver, can automatically intervene when the driver receives a warning but fails to take corresponding actions in time, and can replace the driver to control the vehicle for a long or short period of time . [0003] The field of intelligent driving involves a multi-target tracking system. The multi-target tracking system detects, tracks and recognizes targets in scenes containing clutter, false alarms and targets, where the number of targets is variable. The extended target refers to the target that prod...

Claims

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Application Information

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IPC IPC(8): G05D1/12G05D1/02
CPCG05D1/12G05D1/0257Y02T10/40
Inventor 蒋留兵温和鑫车俐杨凯魏光萌
Owner GUILIN UNIV OF ELECTRONIC TECH
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