Vehicle track smoothing method and device based on millimeter wave radar

Abstract

The invention discloses a vehicle track smoothing method and device based on a millimeter-wave radar, belongs to the technical field of traffic systems and radio detection, and is used for solving the technical problem that an existing millimeter-wave radar cannot truly reflect a vehicle driving track under the influence of internal and external data noise and interference signals. The method comprises the following steps: carrying out noise reduction processing on traffic information to obtain preliminary filtering data; carrying out correction processing to obtain corrected target vehicle coordinates; constructing a one-dimensional plane vehicle motion state space model; carrying out two-dimensional conversion to obtain a two-dimensional plane vehicle motion state space model; performing updating prediction to obtain a target two-dimensional plane vehicle motion state space model; and through the preset trajectory smoothing gain matrix after the measurement error transformation function is substituted, correcting the target two-dimensional plane vehicle motion state space model after the measurement error transformation function is substituted to obtain a final state equation so as to realize smoothing processing of the vehicle motion trajectory detected by the millimeter wave radar.

Description

technical field [0001] The present application relates to the fields of traffic systems and radio detection, and in particular, to a vehicle trajectory smoothing method and device based on millimeter-wave radar. Background technique [0002] Radar detection has the characteristics of rich information, real-time output of target data, and strong traceability. More and more experts and scholars choose to use data analysis technology to extract traffic information from radar data. In the radar data, it includes the multi-lane occupancy rate, queue length, headway, traffic flow, average speed and whether it overflows and other information detected in the positive direction. , occupancy time, queue length and other passing information, which is very accurate for moving vehicle detection. [0003] Existing millimeter-wave radar detection methods have the characteristics of stable performance, all-weather, and rich information. However, in the process of detecting vehicle targets...

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a vehicle trajectory smoothing method and device based on a millimeter-wave radar, which is used to solve the following technical problem: under the influence of internal and external data noise and interference signals in the existing millimeter-wave radar, there are measurement errors, The stability, accuracy and authenticity are low, and it cannot truly reflect the vehicle's driving trajectory

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