Target tracking method based on fusion of forward looking camera and millimeter wave radar

A millimeter-wave radar and target tracking technology, applied in the reflection/re-radiation of radio waves, radio wave measurement systems, utilization of re-radiation, etc., can solve the problems of traffic accidents, sensor tracking lost tracking, casualties and property, etc. Security, the effect of reducing the amount of calculation

Active Publication Date: 2019-01-15
TONGJI UNIV
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Problems solved by technology

The camera can obtain rich environmental information like the human eye, and the shape and size of the object can be obtained through the algorithm, but the single feature algorithm is greatly affected by factors such as weather and light, and the obtained pixel information cannot reflect the distance
Millimeter wave radar c

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  • Target tracking method based on fusion of forward looking camera and millimeter wave radar
  • Target tracking method based on fusion of forward looking camera and millimeter wave radar
  • Target tracking method based on fusion of forward looking camera and millimeter wave radar

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[0046] Examples:

[0047] The sensors mainly used in this example are front-view camera and millimeter-wave radar, which are respectively installed at the position of the vehicle windshield rearview mirror and the front air intake grille. A distributed fusion method is adopted to fuse the objects tracked by the two sensors separately. The key of the present invention is how to use a single sensor to track multiple targets, and how to fuse the tracking target of the camera and the tracking target of the radar.

[0048] The present invention provides a tracking method of joint probability data association based on space division. Kalman filter is used for state estimation to generate the local tracking track of a single sensor to the target, and then the Mahalanobis distance is calculated for the two local tracks. Fusion, such as figure 1 with figure 2 As shown, it specifically includes the following steps:

[0049] Step 1: Jointly calibrate the front-view camera at the rear-view ...

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Abstract

The invention relates to a target tracking method based on the fusion of a forward looking camera and a millimeter wave radar. The method comprises the following steps: 1) jointly calibrating the forward looking camera and the millimeter wave radar; 2) tracking the dynamic target according to the millimeter wave radar measurement, using the Kalman filter to update the state of a detected target state, and obtaining the tracking track of the millimeter wave radar to the target; 3) obtaining the position and the speed information of the target through the forward looking camera, tracking the dynamic target, using the Kalman filter to update the state of the detected target state, and obtaining the tracking track of the forward-looking camera to the target; 4) fusing the tracking target stateof the millimeter wave radar and the forward looking camera. According to the target tracking method based on the fusion of the forward looking camera and the millimeter wave radar, compared with theprior art, the defects of single sensor miss detection, false detection, tracking failure, and state detection inaccuracy are compensated by tracking the targets detected by two different sensors, and the safety of an intelligent car is increased by using the redundant information.

Description

technical field [0001] The invention relates to the technical field of smart cars, in particular to a target tracking method based on fusion of a forward-looking camera and a millimeter-wave radar. Background technique [0002] Smart car is a comprehensive system, which can be divided into environment perception, decision planning and motion control as a whole. As a key link in the information exchange between smart cars and the surrounding environment, environmental perception allows smart cars to better understand their environment, which is crucial for subsequent decision-making, planning and control. [0003] Traditional tracking methods are mostly based on a single sensor. As the main sensors of smart cars, forward-looking cameras and millimeter-wave radars have their own advantages and disadvantages. Like the human eye, the camera can obtain rich environmental information, and the shape and size of the object can be obtained through the algorithm, but the single feat...

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Application Information

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IPC IPC(8): G01S13/86
CPCG01S13/867
Inventor 陈文博余卓平熊璐张培志严森炜夏浪
Owner TONGJI UNIV
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