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Multi-target data matching and tracking method and system

A multi-target and data technology, applied in the field of multi-target data matching and tracking, can solve the problems of inaccurate target matching and large calculation amount of the joint probability data association method.

Inactive Publication Date: 2016-12-07
DALIAN ROILAND SCI & TECH CO LTD
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Problems solved by technology

[0005] In view of the above shortcomings and deficiencies in the nearest neighbor method and the joint probability data association method, the present invention provides a method and system for multi-target data matching and tracking, which not only solves the problem of inaccurate target matching in the nearest neighbor method, but also solves the problem of Solved the problem of large amount of computation in the joint probability data association method

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  • Multi-target data matching and tracking method and system

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Embodiment 1

[0036] A method for multi-target data matching and tracking, comprising:

[0037] Step 1. Save the data of the first frame obtained by radar scanning to the track list opened in advance as the initial track;

[0038] Step 2. Design a ring wave gate, and use the minimum value and maximum value of the speed of the target as the basis for judging whether to carry out correlation matching;

[0039] ΔV=a*ΔT, where a represents the acceleration, ΔT represents the time interval, and ΔV represents the speed difference; take the maximum acceleration of the object’s motion, and get the maximum speed difference in the unit time interval, and then according to the acceleration and deceleration, and according to the previous The speed at the moment, the minimum and maximum value of the predicted speed at the current moment.

[0040] Let the acceleration be a, the time interval be ΔT, the velocity value of a target track to be updated at k-1 at the last moment is v(k-1), and the predicted ...

Embodiment 2

[0059] A method for multi-target data matching and tracking, comprising:

[0060] Step 1. Save the data of the first frame scanned by the millimeter-wave radar to the track list opened in advance as the initial track;

[0061] Step 2. Design a ring wave gate, and use the minimum value and maximum value of the speed of the target as the basis for judging whether to carry out correlation matching;

[0062] ΔV=a*ΔT, where a represents the acceleration, ΔT represents the time interval, and ΔV represents the speed difference; take the maximum acceleration of the object’s motion, and get the maximum speed difference in the unit time interval, and then according to the acceleration and deceleration, and according to the previous The speed at the moment, the minimum and maximum value of the predicted speed at the current moment.

[0063] For example, assuming that the acceleration is 6 and the time interval is 0.05s, the velocity value of a target track to be updated at k-1 at the la...

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Abstract

A multi-target data matching and tracking method and system are provided. The data of a first frame obtained from radar scanning is stored in a pre-opened track list and is used as a starting track. The minimum value and the maximum value of the speed of the target are taken as the basis for judging whether the matching is performed or not. Each target track of the n target tracks to be updated at K-1 moment is considered as a column vector element and each measurement data of the current m measurement targets at k moment is considered as a row vector element to form a matrix. When the values of each element in the matrix are obtained, a normalization process is carried out; the maximum value of the matrix element after updating is acquired and its column and row are recorded, followed by the process of seeking the maximum values of the rest elements of the matrix and the recording of the columns and rows of these elements. With this process, the maximum values of the rest elements can be obtained in addition to the seeking of the column and row indicating the maximum value of the matrix element. According to the invention, it is possible to solve not only the problem of inaccuracy in target matching in a nearest neighbor method, but also the problem of large computation required in a joint probabilistic data association method.

Description

technical field [0001] The invention belongs to the technical field of vehicle-mounted millimeter-wave radar, in particular to a method and system for multi-target data matching and tracking. Background technique [0002] With the emphasis on car safety driving and assisted driving and the development of intelligent products, the current application of on-board millimeter-wave radar has attracted more and more attention. The problem of multi-target matching and tracking of millimeter-wave radar is an important aspect in the application of vehicle-mounted millimeter-wave radar. [0003] The problem of multi-target matching and tracking mainly involves matching and associating the n target tracks to be matched with the m measurement data at the current time k when there were n known target tracks at the last time k-1. The known target tracks below are all called target tracks to be updated. For example, it is known that there are 3 track targets to be updated at time k-1, and...

Claims

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Application Information

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IPC IPC(8): G01S13/72
CPCG01S13/726
Inventor 田雨农张磊
Owner DALIAN ROILAND SCI & TECH CO LTD
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