Data transmission, data fusion and continuous tracking and positioning method for multiple targets among radars

A radar data and data fusion technology, applied in the field of transportation, can solve the problems of continuous target tracking, data transmission and data fusion, etc.

Active Publication Date: 2019-01-15
河北德冠隆电子科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The purpose of the embodiments of the present invention is to provide multi-target data transfer, data fusion and continuous tracking and positioning methods between radars, so as to solve t

Method used

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  • Data transmission, data fusion and continuous tracking and positioning method for multiple targets among radars
  • Data transmission, data fusion and continuous tracking and positioning method for multiple targets among radars
  • Data transmission, data fusion and continuous tracking and positioning method for multiple targets among radars

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Embodiment 1

[0029] According to an embodiment of the present invention, a method for data transfer, data fusion and continuous tracking and positioning of multiple targets between radars is provided, such as figure 1 As shown, it is a schematic flowchart of the multi-target inter-radar data transfer, data fusion and continuous tracking and positioning method provided by Embodiment 1 of the present invention. The method at least includes the following steps:

[0030] S101. At least two radar sensors collect the original radar data of driving vehicles, pedestrians and other target objects in the corresponding detection areas within the coverage of each radar wave, and transmit the original radar data to the corresponding radar data processor;

[0031] S102, each radar data processor performs data analysis and processing, target judgment, and data transmission first data processing on each original radar data collected, so that data transmission can be performed between each original radar d...

Embodiment 2

[0062] like Figure 6 As shown, it is a schematic flowchart of the continuous tracking method provided by Embodiment 2 of the present invention. like Figure 6 As shown, the detection area, lane area and partition are shown

[0063] like Figure 6 As shown, the detection areas include detection area 1 and detection area 2.

[0064] like Figure 6 As shown, the radar data processor A includes matching channel 0 and channel 1, wherein channel 0 corresponds to the west tracking parameter, and channel 1 corresponds to the east tracking parameter.

[0065] like Figure 6 As shown, the radar data processor B includes matching channel 0 and channel 1, wherein channel 0 corresponds to the west tracking parameter, and channel 1 corresponds to the east tracking parameter.

[0066]It should be noted that the detection area is used to represent the outermost boundaries on both sides of the road. Generally speaking, a direction of traffic flow defines a detection area.

[0067] A t...

Embodiment 3

[0070] Radar, Tracker and Tracking Parameters

[0071] The position of the radar is installed in the middle of the road or on the side of the road, and its detection area covers all detected lanes, and some detection areas overlap between the two radars. In the overlapping detection area, two radars will detect the same vehicle at the same time, but due to the algorithm rules adopted, these rules are analyzed, compared and matched by obtaining the radar data generated by the vehicle between two different radars, To confirm whether the vehicles detected by the two radars belong to the same car, if they belong to the same car, the radar data processor will exchange, transfer and fuse the two data, avoiding double counting and wrong tracking. Each radar monitors two-way lanes. Each radar sensor is directly connected to its own data processor, whose role is to process the raw radar data into effective tracking targets. Each data processor includes two channels, making it possibl...

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Abstract

The invention discloses a data transmission, data fusion and continuous tracking and positioning method for multiple targets among radars. The method comprises the following steps that: at least two radar sensors collect each piece of original radar data in each radar detection area; each radar data processor carries out data analysis processing, target judgment, data transmission or data fusion processing on each piece of original radar data; and each radar data processor processes the corresponding processed radar data according to a preset multi-target cross-radar continuous tracking and real-time positioning model and a corresponding algorithm to obtain a corresponding effective tracking target, and each determined effective tracking target is tracked. By use of the scheme of the invention, each piece of original radar data collected by each radar sensor can carry out data transmission or data fusion, and in addition, each radar data processor can determine each effective trackingtarget according to each piece of processed radar data, and can carry out continuous tracking and real-time positioning.

Description

technical field [0001] The invention relates to the field of traffic and the technical fields of radar data processing, analysis, tracking and fusion, in particular to methods for data transmission, data fusion and continuous tracking and positioning of multiple targets between radars. Background technique [0002] The existing technical radar technology often only uses a radar sensor to collect the original radar data of the driving vehicle within the radar wave coverage corresponding to the radar, and the collected original radar data is often random data. The radar data cannot determine the driving direction of the vehicle in the current monitoring lane. In this way, the process of processing the collected raw radar data by the radar data processor corresponding to the radar sensor is disordered. First, it is necessary to judge the original Which data in the radar data is the data of the forward driving direction and which data is the data of the reverse driving direction...

Claims

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Application Information

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IPC IPC(8): G01S13/00G01S13/72
CPCG01S13/006G01S13/726
Inventor 冯保国
Owner 河北德冠隆电子科技有限公司
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