Multi-target tracking method and system based on automobile radar

A multi-target tracking and automotive radar technology, applied in the field of automotive radar tracking, can solve the problem of low accuracy of nonlinear estimation

Active Publication Date: 2019-04-05
BEIJING INFORMATION SCI & TECH UNIV
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KF and the improved algorithm of KF have good real-time pe

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  • Multi-target tracking method and system based on automobile radar
  • Multi-target tracking method and system based on automobile radar
  • Multi-target tracking method and system based on automobile radar

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[0035] 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.

[0036] The terms "first", "second", ... etc. used in this application do not refer to the meaning of order or sequence, nor are they used to limit the present invention, but are only used to distinguish elements described with the same technical terms or operation.

[0037] As used in this application, "comprising", "comprising", "having", "comprising" and so on are all open terms, meaning including but not limited to.

[0038] As used in this application, "a...

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Abstract

The invention provides a multi-target tracking method and system based on an automobile radar. The method comprises the following steps of: using density clustering to generate each effective target for each detection target clustering; calculating the degree of correlation between each effective target and each previous cycle track and generating a first covariance matrix; generating an evaluation matrix by dynamic [alpha] filtering according to the first covariance matrix and a second covariance matrix of the previous cycle; performing Hungarian assignment based on each priority and evaluation matrix to generate matching track of each effective target; performing Kalman filtering according to an effective target state, previous cycle tracks, and a second covariance matrix of the previouscycle to generate a second covariance matrix in a current cycle; and according to each effective target state, matching track state corresponding to each effective target, the first covariance matrixand the second covariance matrix in the current cycle, generating each track and a resampled object set in the current cycle by Monte Carlo multivariate probability sampling. The multi-target tracking method and system based on the automobile radar has the beneficial effects of taking into account nonlinear estimation accuracy and real-time performance.

Description

technical field [0001] The invention relates to the technical field of automotive radar tracking, in particular to a multi-target tracking method and system based on automotive radar. Background technique [0002] Radar is an essential component of smart cars for object detection and object tracking. In the actual traffic environment, the environment of automotive radar is more complicated. In order to meet the needs of automotive radar, it is necessary to screen out effective targets from a large amount of target data, establish corresponding track management, and accurately obtain the state information of the target vehicle. Real-time multi-target tracking to meet the needs of early warning. [0003] Automotive radar tracking algorithms usually use track association methods such as Joint Probability Data Association (JPDA) and Multiple Hypothesis Tracking (MHT) together with Kalman Filter (KF) and Extended Kalman Filter (Extended Kalman Filter, EKF), unscented Kalman fi...

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Application Information

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IPC IPC(8): G01S13/66
CPCG01S13/66
Inventor 曹林李华楠王东峰杜康宁
Owner BEIJING INFORMATION SCI & TECH UNIV
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