Multi-target tracking method based on millimeter-wave radar

A millimeter-wave radar and multi-target tracking technology, which is applied in the field of radar signal processing, can solve the problems of relying on distance information, not using millimeter-wave radar velocity information, and being unable to distinguish point clouds of different targets, so as to improve accuracy and high High-precision multi-target tracking and the effect of reducing measurement errors

Inactive Publication Date: 2019-10-22
ZHEJIANG UNIV
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Problems solved by technology

The traditional DBSCAN (Density-Based Spatial Clustering of Applications with Noise) clustering algorithm divides the point cloud based on density, which requires that the number of points contained within a certain distance range is not less than the set number threshold, and does not need to be pre-set. Divide the number of clusters and the shape of clusters. This method can freely grow clusters of any shape in a noisy space, but this method is too dependent on distance information. When the targets meet, the point clouds of different targets are close to each other. DBSCAN The algorithm has the problem of being unable to distinguish the point clouds of different targets, and does not use the speed information of the millimeter wave radar

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  • Multi-target tracking method based on millimeter-wave radar
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[0042] The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the purpose and effect of the present invention will become clearer. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

[0043] like figure 1 Shown, the millimeter-wave radar multi-target tracking method of the present invention, it comprises the following steps:

[0044] S1: The millimeter-wave radar transmits millimeter-wave signals and selects points with higher energy in the echo signals as effective point clouds to obtain point cloud data including speed, angle and distance information, and convert them into spatial coordinate information and speed information;

[0045] S2: Use the improved DBSCAN clustering algorithm to cluster the point cloud data in step 1, such as figure 2 As shown, the details are as follows:

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Abstract

The invention discloses a multi-target tracking method based on millimeter-wave radar. The method comprises acquiring point cloud data by millimeter-wave radar; clustering the point cloud data to distinguish the echo signals of different targets; and estimating the state information of multiple observed targets according to a clustering result so as to track the multiple targets. The method improves a DBSCAN clustering algorithm according to the characteristics of the millimeter-wave radar, improves the accuracy of esimating the number of the targets and the states of the targets, and predictsand tracks the trajectories of the multiple targets in a complex environment by using a Kalman filter and data association algorithm.

Description

technical field [0001] The invention relates to the field of radar signal processing, in particular to a millimeter-wave radar multi-target tracking method. Background technique [0002] The arrival of the intelligent era will bring more and more convenience to people. As a part of intelligent life, intelligent perception will play an important role in pedestrian tracking, traffic control and other aspects by perceiving the surrounding environment at all times, understanding the status information of surrounding objects, and tracking the movement trajectory of surrounding objects. [0003] Currently commonly used sensors include visual sensors, laser radar, etc., but visual sensors cannot measure the distance information of the target. As a sensor with long detection distance, strong anti-interference ability and moderate price, wave radar will be widely used. [0004] Due to the characteristics of the millimeter-wave radar, a point cloud will be formed for the same target...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/72G01S7/41
CPCG01S13/726G01S7/418
Inventor 宋春毅崔富城赵自豪宋钰颖徐志伟
Owner ZHEJIANG UNIV
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