Intelligent vehicle laser radar maneuvering multi-target tracking method based on IMM-MHT algorithm

A multi-target tracking and lidar technology, applied in the field of intelligent vehicle lidar maneuvering multi-target tracking, can solve problems such as unpredictable motion, and achieve the effect of reducing the probability of joint assumptions and improving accuracy

Inactive Publication Date: 2017-09-22
JIANGSU UNIV
View PDF6 Cites 36 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the dynamic obstacles on the road are pedestrians and vehicles. Motor vehicles behave as maneuvering characteristics due to their unpredictable motion, and single-model filtering is no longer applicable.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Intelligent vehicle laser radar maneuvering multi-target tracking method based on IMM-MHT algorithm
  • Intelligent vehicle laser radar maneuvering multi-target tracking method based on IMM-MHT algorithm
  • Intelligent vehicle laser radar maneuvering multi-target tracking method based on IMM-MHT algorithm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0058] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0059] The technical solution of the present invention is: a kind of smart car lidar mobile multi-target tracking method based on IMM-MHT algorithm. The implementation steps are as follows: firstly generate a tracking gate; receive the measurement value and detect and identify it; then make a joint assumption of the trajectory and measurement; secondly simplify and manage the assumption; then detect and identify the trajectory; finally filter and predict the trajectory. Its implementation process is as follows figure 1 As shown, it specifically includes the following steps:

[0060] Described step (1) predicts track, forms tracking gate as follows:

[0061] Track initiation is the primary problem of multi-target tracking, and the correctness of initial track is an effective measure to reduce the computational burden brought by the inherent ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses an intelligent vehicle laser radar maneuvering multi-target tracking method based on an IMM-MHT algorithm, and the intelligent vehicle laser radar maneuvering multi-target tracking method belongs to the technical field of intelligent vehicles. The intelligent vehicle laser radar maneuvering multi-target tracking method is implemented by generating a tracking gate firstly, receiving a measurement value and performing detection and identification on the measurement value, making a joint hypothesis of a flight path and measurement, simplifying and managing the hypothesis, performing detection and identification on the flight path, and finally filtering and predicting the flight path. The intelligent vehicle laser radar maneuvering multi-target tracking method comprises the steps of: step (1), forming a flight path tracking gate; step (2), receiving a t-moment measurement value and identifying the t-moment measurement value by adopting an image processing method; step (3), generating an association hypothesis of measurement and a flight path in the tracking gate; step (4), managing the hypothesis; step (5), calculating information such as speed and angular speed of the flight path, and identifying the flight path; step (6), and filtering and predicting the flight path by adopting an interactive multi-model algorithm. Through integrating the interactive multi-model algorithm and a multi-hypothesis tracking algorithm, the intelligent vehicle laser radar maneuvering multi-target tracking method can better deal with the intelligent vehicle maneuvering multi-target tracking problem in a complex environment.

Description

technical field [0001] The invention belongs to the technical field of intelligent vehicles, and in particular relates to an intelligent vehicle lidar mobile multi-target tracking method based on the IMM-MHT algorithm. Background technique [0002] Because lidar has the advantages of high precision and little environmental impact, it is more and more widely used in intelligent driving technology. Smart cars use lidar to track obstacles on the road, which is a kind of mobile multi-target tracking. Most of the dynamic obstacles on the road are pedestrians and vehicles. Because of the unpredictable movement of motor vehicles, they behave as maneuvering characteristics, and single-model filtering is no longer applicable. The number of obstacles in the radar scanning range cannot be determined, and the tracking process includes the generation and elimination of tracking tracks. [0003] Interactive multi-model algorithm (IMM) is an algorithm to solve maneuvering target tracking...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/66
CPCG01S17/66
Inventor 王海郑正扬蔡英凤孙晓强何友国陈龙
Owner JIANGSU UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap