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Complex environment radar multi-target tracking and road driving environment prediction method

A technology of multi-target tracking and prediction method, which is applied in the fields of complex environment radar multi-target tracking and road driving environment prediction, and can solve the problems of inaccurate identification, low robustness and accuracy of target tracking algorithm, etc.

Active Publication Date: 2019-12-20
中汽研软件测评(天津)有限公司
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AI Technical Summary

Problems solved by technology

[0003] The invention provides a radar multi-target tracking and road driving environment prediction method in a complex traffic environment, which solves the inaccurate recognition of the lane position relationship of the target vehicle based on the radar original target measurement value and the inaccurate robustness and precision of the target tracking algorithm. high problem

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  • Complex environment radar multi-target tracking and road driving environment prediction method
  • Complex environment radar multi-target tracking and road driving environment prediction method
  • Complex environment radar multi-target tracking and road driving environment prediction method

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Embodiment Construction

[0172] refer to figure 1 , the complex environment radar multi-target tracking and road driving environment prediction method proposed by the present invention consists of vehicle motion state estimation, millimeter wave radar signal conversion, time synchronization, data and rational judgment, target motion compensation, target measurement value noise reduction, road curvature Estimation, target aggregation, target motion attribute motion state recognition, improved adaptive extended Kalman filter algorithm tracking and data association, road driving environment prediction, and key target generation are completed together. The steps of the method are described below:

[0173] Step 1. Establish a two-degree-of-freedom dynamics model of the vehicle, the front wheel rotation angle δ, the longitudinal velocity v x As the input, use the Kalman filter to filter the longitudinal velocity and yaw rate and combine the vehicle two-degree-of-freedom dynamics model to observe the latera...

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Abstract

The invention belongs to the technical field of intelligent automobiles, specifically relates to a complex environment radar multi-target tracking and road driving environment prediction method, whichparticularly aims to solve the problems that the position relationship identification of a lane where a target vehicle locates is inaccurate and the robustness and precision of a target tracking algorithm are not high through determination based on a radar original target measurement value in the process that a vehicle having a self-adaptive control function drives in a curve or an intelligent vehicle having an autonomous valet parking function enters and exits from a curved ramp of an underground parking lot. The complex environment radar multi-target tracking and road driving environment prediction method is mainly implemented by present vehicle motion state estimation, millimeter wave radar signal conversion, time synchronization, target motion compensation, data rationality judgment,target measurement value noise reduction, road curvature estimation, target aggregation, target motion attribute and motion state identification, improved adaptive extended Kalman filtering algorithmtracking and data association, road driving environment prediction and key target generation.

Description

technical field [0001] The invention belongs to the technical field of automobiles, in particular to a complex environment radar multi-target tracking and road driving environment prediction method. Background technique [0002] Intelligent vehicles with adaptive cruise control and autonomous valet parking system functions usually use millimeter-wave radar as a sensor to perceive target movement status information such as distance and speed of obstacles ahead. In the real driving environment, the vehicle-mounted millimeter-wave radar will be interfered by the thermal noise of the sensor itself and the external environment, so that the detected target state information contains noise. The target state information polluted by noise is usually called the target measurement value. Since the raw radar target measurement information cannot reflect the historical state information of the target movement, it cannot directly track the target. At present, the vast majority of domest...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/72
CPCG01S13/726
Inventor 宋世平吴坚陈雪松李帅孟祥希
Owner 中汽研软件测评(天津)有限公司
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