Object tracking method and device based on millimeter-wave radar

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...

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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 and in front of the side. However, the vehicle-mounted rear-facing short-range millimeter-wave radar (Short Range Rader, SRR) can only capture the vehicle's rear and side rear objects within a certain angle range. In this way, if only a single millimeter-wave radar is used For object tracking, due to the limited detection range, it is very likely that tracking loss or tracking error will occur during the object tracking process, which may cause traffic accidents, and even cause casualties and property losses

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