Object tracking method and device based on millimeter-wave radar

A millimeter-wave radar and object technology, applied in the field of data processing, can solve problems such as casualties, property losses, and large impacts, and achieve the effects of avoiding traffic accidents, expanding the tracking range, and improving accuracy

Pending Publication Date: 2020-03-10
NEUSOFT REACH AUTOMOBILE TECH (SHENYANG) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, the inventor has found through research that at present, most of the tracking methods for objects around the vehicle use a single sensor for tracking. For example, vehicle-mounted millimeter-wave radars or laser radars can be used for object tracking. The method is greatly affected by factors such as weather, light, and shooting range. For example, for a vehicle-mounted forward electronically scanned array radar (ESR), it can only shoot within a certain angle range in front of the vehicle an

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  • Object tracking method and device based on millimeter-wave radar
  • Object tracking method and device based on millimeter-wave radar

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no. 1 example

[0054] see figure 1 , which is a schematic flowchart of an object tracking method based on millimeter-wave radar provided in this embodiment, the method includes the following steps:

[0055] S101: Obtain radar signal data of a forward electronically scanned array radar ESR on a target vehicle as first radar signal data.

[0056] In this embodiment, any vehicle that uses this embodiment to track surrounding objects is defined as a target vehicle. And define the object to be tracked as the target object. In order to realize real-time tracking of target objects around the target vehicle, it is first necessary to obtain the radar signal data of the forward electronically scanned array radar ESR on the target vehicle and use it as the first radar signal data.

[0057] Among them, the radar signal data of the millimeter wave radar mainly includes received signal data. The first radar signal data refers to the driving data of objects around the target vehicle detected by the forw...

no. 2 example

[0091] This embodiment will introduce an object tracking device based on a millimeter-wave radar. For related content, please refer to the above method embodiments.

[0092] see figure 2 , which is a schematic diagram of the composition of an object tracking device based on millimeter-wave radar provided in this embodiment, the device includes:

[0093] The first acquiring unit 201 is configured to acquire the radar signal data of the forward electronic scanning array radar ESR on the target vehicle as the first radar signal data;

[0094] The second acquiring unit 202 is configured to acquire the radar signal data of the two backward short-range millimeter-wave radars SRR on the target vehicle as the second radar signal data and the third radar signal data respectively;

[0095] a fusion unit 203, configured to fuse the first radar signal data, the second radar signal data and the third radar signal data to obtain fused radar signal data;

[0096] The first tracking unit 2...

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Abstract

The invention discloses an object tracking method and device based on a millimeter-wave radar, and the method and device can improve the tracking accuracy of objects around a vehicle, and avoid traffic accidents. The method comprises the following steps: firstly, acquiring radar signal data of forward electronic scanning array radar (ESR) on a target vehicle, wherein the radar signal data is takenas first radar signal data; meanwhile, obtaining radar signal data of two backward short-distance millimeter-wave radars SRR on the target vehicle, wherein the two radar signals are respectively usedas second radar signal data and third radar signal data; then fusing the obtained first radar signal data, the obtained second radar signal data and the obtained third radar signal data to obtain fused radar signal data, thus the fused radar signal data can be tracked to obtain a tracking trajectory of the target object.

Description

technical field [0001] The present application relates to the technical field of data processing, in particular to an object tracking method and device based on millimeter wave radar. Background technique [0002] Self-driving vehicles need to perceive the environment when driving, so that they can plan the driving path of the vehicle in real time according to the environmental information. , is very important, and it is also crucial to the driving decision-making, planning and control of the autonomous vehicle. [0003] However, the inventor has found through research that at present, most of the tracking methods for objects around the vehicle use a single sensor for tracking. For example, vehicle-mounted millimeter-wave radars or laser radars can be used for object tracking. The method is greatly affected by factors such as weather, light, and shooting range. For example, for a vehicle-mounted forward electronically scanned array radar (ESR), it can only shoot within a ce...

Claims

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Application Information

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IPC IPC(8): G06T7/277G06K9/62G01S13/66
CPCG06T7/277G01S13/66G06F18/25
Inventor 栾欣泽
Owner NEUSOFT REACH AUTOMOBILE TECH (SHENYANG) CO LTD
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