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 can accurately measure the distance and relative speed of objects, and has strong anti-interference ability, but it cannot measure the shape and size of objects
These problems may cause the sensor to lose tracking or track errors during the object tracking process, resulting in traffic accidents, casualties and property losses
Method used
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[0047] The main sensors used in this example are the forward-looking camera and the millimeter-wave radar, which are respectively installed at the position of the rearview mirror of the vehicle windshield and the position of the front grille. A distributed fusion method is used to fuse the objects tracked by the two sensors separately. The key of the present invention lies in how to use a single sensor to track multiple targets, and how to fuse the tracking targets of the camera and the tracking targets of the radar.
[0048] The present invention provides a tracking method based on joint probability data association of space division, which utilizes Kalman filter for state estimation, generates a single sensor's local tracking track for the target, and then calculates the Mahalanobis distance for the two local tracks to perform Fusion, such as figure 1 and figure 2 As shown, it specifically includes the following steps:
[0049] Step 1: Jointly calibrate the forward-looki...
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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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Login to View More 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