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Road multi-target tracking method based on automobile anti-collision radar

A multi-target tracking and anti-collision radar technology, applied in the direction of radio wave reflection/re-radiation, using re-radiation, measuring devices, etc., can solve problems that are difficult to adapt to movement, multiple road targets, and tracking problems that are nonlinear and cannot be solved Multiple moving target tracking issues, etc.

Inactive Publication Date: 2016-06-22
WUXI NANLIGONG TECH DEV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Zhang Yu, Song Liping, and Hu Xiaolong proposed to use the multi-model GMPHD method for road target tracking in the paper "Multiple Target Tracking of Vehicle Collision Avoidance Radar Based on Probabilistic Hypothesis Density" (Modern Radar, 2014,36(6):82-87.) , but this method has the following defects: First, the GMPHD method is only suitable for linear conditions, and the measurement equation in the form of radar polar coordinates causes the tracking problem in Cartesian coordinates to be nonlinear; second, the tracking method based on a small number of models is difficult to adapt to the actual Complex, moving, multiple road objects in situations
Chinese patent 105261036A discloses a matching-based target tracking method, which uses FPGA circuits to perform de-average normalized product calculations to achieve target tracking. However, this patent involves tracking images and mainly relies on hardware implementation, which cannot solve practical problems. complex multiple moving target tracking problem in the situation

Method used

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  • Road multi-target tracking method based on automobile anti-collision radar
  • Road multi-target tracking method based on automobile anti-collision radar
  • Road multi-target tracking method based on automobile anti-collision radar

Examples

Experimental program
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Embodiment 1

[0104] A road multi-target tracking method based on automobile collision avoidance radar, the specific steps are as follows:

[0105] Step 1. Obtain prior information and establish the first observation and motion model. The prior information is the target state information obtained through the automobile collision avoidance radar.

[0106] Determine the equation of state measurement equation and various models of its road goals. Different models are selected according to the actual situation, and the state equation is established as:

[0107] in, is the state transition matrix of the target model, the subscript m represents different target models, the subscript k represents time k, and the subscript i represents different targets. Assuming that the noise follows a Gaussian distribution, we have

[0108] Vehicle Collision Avoidance Radar Observation Vector θ k is the observation azimuth, r k is the distance between the target and the observation point.

[01...

Embodiment 2

[0181] This embodiment verifies Embodiment 1 based on computer simulation, and the verification environment is MatlabR2014a. The specific implementation plan is as follows:

[0182] 1. Simulation scene setting:

[0183] In the two-dimensional plane area [150m, 150m] 2 Inside, the two-way four-lane road environment is simulated, the first lane to the fourth lane are from left to right, and the positive direction of the y-axis is the flow direction of the first and second lanes. During the description process, the velocity and acceleration directions are consistent with the flow direction by default. Assuming that the detection range of the car anti-collision radar is within 120m, the position of the vehicle carrying the car anti-collision radar is (40,0)m, and it moves at a constant speed in the positive direction of the y-axis at a speed of 25m / s. The x coordinate is the lane position of each target, and the y coordinate is the relative position of the target detected by th...

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Abstract

The present invention discloses a road multi-target tracking method based on automobile anti-collision radar. The road multi-target tracking method based on the automobile anti-collision radar is realized through adoption of a DS-UKGMPHD method. The method mainly comprises: obtaining prior information, establishing an observation and motion model, building a digraph [Phi], establishing an adaptive digraph switching criterion, initializing and calculating hybrid parameters, performing UKGMPHD filtering of each target model, estimating fusion, outputting the estimation locus and the like. The road multi-target tracking method based on the automobile anti-collision radar is suitable for a plurality of non-linear targets with complex motion states, and takes target tracking real-time capability and reliability into account so as to further improve the real-time capability and reliability of an automobile anti-collision radar system, guarantee the road safety and have wide application prospects in the field of the automobile anti-collision radar signal processing.

Description

technical field [0001] The invention relates to the field of automobile anti-collision radar signal processing, in particular to a method for road multi-target tracking based on automobile anti-collision radar. Background technique [0002] With the increase of the number of automobiles in my country and the increase of the driving speed of automobiles, there are more and more collision accidents of automobiles. In recent years, automotive early warning technology has become a hot spot in research and development. As an active anti-collision measure, automotive anti-collision radar can track a single or multiple targets within a certain distance in front of the vehicle, and obtain its distance, speed and azimuth from the vehicle. and other information, and according to the early warning system, an alarm signal can be issued in a dangerous situation to prompt the driver to take measures to avoid a crash due to insufficient field of view of the exterior rearview mirror or driv...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/66G01S13/93
CPCG01S13/66G01S13/931
Inventor 肖泽龙龚迅许建中
Owner WUXI NANLIGONG TECH DEV