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Single-target tracking method and system based on vehicle-mounted millimeter-wave radar

A millimeter-wave radar, single-target technology, applied in the field of data processing, can solve the problems of missed detection, false detection, impact of car tracking, etc.

Active Publication Date: 2021-02-09
合肥中科智驰科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the radar data is not processed, there will be missed detection and false detection, which will have a great impact on the tracking of the car

Method used

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  • Single-target tracking method and system based on vehicle-mounted millimeter-wave radar
  • Single-target tracking method and system based on vehicle-mounted millimeter-wave radar

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Embodiment Construction

[0059] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, so as to define the protection scope of the present invention more clearly.

[0060] see figure 1 , the embodiment of the present invention includes:

[0061] A single target tracking method based on vehicle-mounted millimeter-wave radar, comprising the following steps:

[0062] S1: Obtain all target point data of the vehicle-mounted millimeter-wave radar within its detection range, and store the acquired data in container A after parsing; the specific steps include:

[0063] S1.1: Obtain the data of all target points of the vehicle-mounted millimeter-wave radar within its detection range, and analyze the acquired data according to the CAN message interface protocol defined by the radar manufacturer. The obtained data of ...

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Abstract

The invention discloses a single-target tracking method based on a vehicle-mounted millimeter-wave radar. The method comprises steps of obtaining all target point data detected by the vehicle-mountedmillimeter-wave radar, and storing the target point data after analysis; preliminarily screening the stored target point information, and storing the target point data meeting the condition; screeningthe obtained target point data, comparing the screened target point data with an output previous frame of target point or a last frame of non-zero target point, and deleting a point which is greatlydifferent from a target point to be tracked; selecting the target point data with the minimum longitudinal distance of the front measurement object relative to the radar from the obtained target pointdata; and screening the obtained target point data, comparing the screened target point data with the target point data output by the previous frame, judging whether the difference value of the target point data and the target point data meets a preset threshold value or not, if not, ensuring stable output through frame supplementation, and if yes, taking the temporary data as final tracking target point data. According to the method, the data of the unique target point can be stably outputted, and information accuracy is improved.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a single target tracking method and system based on a vehicle-mounted millimeter-wave radar. Background technique [0002] As people pay more and more attention to the safety of automobiles and the development trend of automobile intelligence, the advanced driving assistance system based on radar sensing technology has become a hot research topic in the field of international automobile active safety in recent years. Accurate environment perception is a key issue and core technology of driver assistance systems, which will have a significant impact on subsequent driving decisions, planning and control of autonomous vehicles. Accurate perception of the vehicle's surroundings is essential for stable and efficient tracking of the vehicle. [0003] At present, many tracking methods for objects around the car use multi-sensors for tracking, such as using on-board millimeter-w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/72G01S13/92G01S7/41
CPCG01S13/723G01S13/92G01S7/415
Inventor 彭稹张羊阳江如海刘跃
Owner 合肥中科智驰科技有限公司
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