Intelligent vehicle target tracking system and method based on fusion of roadside equipment and vehicle sensors

Abstract

The invention provides an intelligent vehicle target tracking system through integration of road side equipment and a vehicle sensor and a method thereof. Vehicle-mounted equipment comprises a target detection module, a vehicle positioning module, a DSRC communication module and a target tracking module. The road side equipment comprises a DSRC communication module and a vehicle tracking module. The target detection module of the vehicle-mounted equipment detects position information of vehicles, pedestrians and targets around a vehicle owner through a vehicle-mounted sensor. The DSRC communication module transmits position and identity information of the vehicle to the road side equipment and receives the position and identity information of the nearby target vehicles transmitted by the road side equipment. The target tracking module performs data association according to target observation data detected by the target detection module, then corrects the association result according to the information transmitted by the road side equipment and finally performs tracking filtering on the corrected association result. The DSRC communication module of the road side equipment receives the position and identity information from various vehicles and transmits the position and identity information to all the vehicles through correction of the vehicle tracking module. Intelligent vehicle target tracking precision can be enhanced by the intelligent vehicle target tracking system through integration of the road side equipment and the vehicle sensor and the method thereof.

Description

technical field [0001] The invention belongs to computer and automation technology, especially the field of intelligent vehicle target tracking technology, and specifically relates to an intelligent vehicle utilizing vehicle-road communication technology based on DSRC (Dedicated Short Range Communications) and vehicle-mounted sensor observation multi-target tracking method. Background technique [0002] Object tracking system is an important part of intelligent vehicles. In order to achieve collision warning and vehicle automatic driving control, it is necessary to accurately detect and estimate various targets in the surrounding environment of intelligent vehicles, including accurate position and motion state information of vehicles and pedestrians. [0003] Chinese Patent Application: Vehicle Control Equipment, Target Guidance Vehicle Designation Equipment, and Vehicle Control Method (Application No.: 201180017118.X) discloses a vehicle communication unit and a radar devi...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problem that the target tracking method of the current intelligent vehicle target tracking system fails to effectively use the information provided by the vehicle-road communication, resulting in inaccurate data association results and low tracking accuracy during the target tracking process, the present invention proposes a roadside device The intelligent vehicle target tracking system and method integrated with the vehicle sensor uses the roadside equipment to receive the vehicle's own position and identity information issued by nearby vehicles through DSRC communication, and then releases after processing; the intelligent vehicle receives the nearby vehicles issued by the roadside equipment The location and identity information of the vehicle is fused with the target location data detected by the vehicle sensor to improve the tracking accuracy of the intelligent vehicle target

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