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Vehicle tracking method and device

A vehicle tracking and vehicle technology, which is applied in vehicle position/route/altitude control, two-dimensional position/channel control, non-electric variable control and other directions, which can solve the problems of potential safety hazards and low accuracy of final tracking results.

Active Publication Date: 2019-03-05
SAIC MOTOR
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Problems solved by technology

[0005] In view of this, the present invention provides a vehicle tracking method and device to solve the problem that the accuracy of the final tracking result caused by the correlation of the existing center point is not high, which brings potential safety hazards

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  • Vehicle tracking method and device
  • Vehicle tracking method and device

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Embodiment Construction

[0066] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0067] The embodiment of the present invention discloses a vehicle tracking method, the method flow chart of the method is as follows figure 1 shown, including the following steps:

[0068] S10, when the target detection information fed back by the vehicle sensor is received, the target vehicle is selected from the target detection information, and a target tracking model of the target vehicle in the vehicle coordinate system is generated according to the targ...

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Abstract

The invention provides a vehicle tracking method and device. The method comprises that when target detection information fed back by a vehicle-mounted sensor is received, a target vehicle is selected,and a target tracking model of the target vehicle in a self vehicle coordinate system is generated; a target effective association point of the target tracking model is calculated; and an associationscore between the target vehicle and each reference vehicle in a present target tracking list is calculated to update a reference tracking model or establish a new reference vehicle. On the basis ofthe method of the invention, the target models of different vehicle-mounted sensors are associated and tracked according to the effective association point, incorrect content can be eliminated from the detection information fed back by the vehicle-mounted sensors, and the subsequent associating efficiency and accuracy are improved.

Description

technical field [0001] The present invention relates to the technical field of automobile automatic driving, and more specifically, relates to a vehicle tracking method and device. Background technique [0002] With the development of ADAS (Advanced Driver Assistant System, Advanced Driver Assistance System) technology, advanced assisted driving functions such as adaptive cruise, lane keeping and automatic braking have been realized. In order to realize the automatic driving of the car, tracking the obstacles around the car body, mainly the vehicle, is very important for subsequent decision-making. [0003] At present, in order to track the target vehicle around the vehicle body, when the detection information fed back by multiple on-board sensors is fused, the center position point of the target vehicle is mainly associated. However, limited by the measurement principle of the on-board sensor itself, there are also differences in the feedback detection information. For exa...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/021G05D1/0257
Inventor 李星河宋歌张显宏徐向敏刘奋
Owner SAIC MOTOR
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