Front multi-vehicle tracking method integrating millimeter-wave radar and depth learning vision

Abstract

The invention relates to a front multi-vehicle tracking method integrating a millimeter radar and depth learning vision. The millimeter radar is used for obtaining front data information, according tothe echo reflection strength and width information, invalid information is removed, and only front vehicle information remains. According to the method integrating the millimeter radar and a camera,by filtering radar information and generating a motion trajectory through an online tracking model, and trajectory correlation is performed. The front vehicles related to the trajectory are recorded and numbered. According to the generated trajectory and the numbered front vehicles, the steps just need to be repeatedly executed on data of the next period, consistency checking is performed, and thedata is added into the numbered trajectory. For newly appearing vehicles, trajectory generation, trajectory collection and numbering are performed according to the beginning steps. By combining advantages of the millimeter radar and the vision depth learning, and the target tracking accuracy and robustness for front multiple vehicles can be effectively improved.

Description

technical field [0001] The invention belongs to the technical field of multi-target tracking, and relates to a method for assisting driving of an intelligent driving car, in particular to a method for tracking multi-vehicle targets ahead by information fusion, and in particular to a multi-vehicle ahead by fusion of millimeter-wave radar and deep learning vision tracking method. Background technique [0002] Unmanned vehicles have become a hot research field today, in which environmental perception is an important part of realizing intelligent driving. As an important part of environmental perception, tracking has been paid more and more attention by researchers. When using a single sensor for perceptual tracking, there are always problems of low accuracy, poor stability and high false alarm rate. Therefore, the fusion of multiple sensors to achieve tracking has become a research hotspot. Millimeter-wave radar has high working stability, can work reliably in various enviro...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a multi-vehicle tracking method in front of the millimeter-wave radar and deep learning vision fusion to address the shortcomings and defects of the single type of sensor in the prior art

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