Millimeter wave radar target tracking method in complex traffic environment

Abstract

The invention discloses a millimeter wave radar target tracking method in a complex traffic environment. The method is suitable for tracking a radar target in the complex traffic environment. According to the method, a measurement selection mode and associated event generation conditions in a traditional JPDA algorithm are improved, so that the algorithm becomes simple, the calculation amount is greatly reduced, retention of an effective flight path is increased, the possibility that the flight path is a false alarm is lower, and meanwhile, tracking stability is also improved. The method mainly comprises the following steps: 1) updating the track state in a radar target library in real time; 2) generating a confirmation matrix according to the flight path and new measurement; 3) judging whether the flight path is associated with measurement or not through the confirmation matrix, updating the life state of the successfully associated flight path, not tracking the flight path, the lifestate Lt of which is smaller than or equal to 0, and continuously tracking the flight path, the life state Lt of which is larger than 0; 4) generating an incidence matrix according to the continuouslytracked track and the measurement, and calculating incidence probability, and 5) dynamically estimating the motion state of the track.

Description

technical field [0001] The invention relates to the technical field of active safety of intelligent driving vehicles, in particular to a vehicle target tracking technology using radar perception, in particular to a millimeter-wave radar target tracking method based on complex traffic environments. Background technique [0002] The intelligent technology of automobiles is an important means to solve traffic safety problems, and target detection is an important part of the intelligent driving system. The accuracy, consistency, and real-time performance of target detection are important factors that affect the performance of the system. [0003] In recent years, scholars at home and abroad have proposed a variety of target detection methods in the field of intelligent driving. Commonly used vehicle environment perception sensors include lidar, millimeter-wave radar, infrared radar, and cameras. Among them, compared with other sensors, millimeter-wave radar has strong anti-inter...

AI Technical Summary

Problems solved by technology

[0007] In view of the above problems, the present invention provides a vehicle-mounted millimeter-wave radar target tracking method suitable for complex traffic environments. This method ensures the accuracy of tracking while meeting the real-time and stability requirements of tracking, and solves the existing problems. The problem that the vehicle-mounted millimeter-wave radar tracking method cannot guarantee real-time performance, stability and accuracy at the same time

Images