Object tracking method and device

An object and confidence probability technology, applied in character and pattern recognition, instruments, calculations, etc., can solve the problems of fluctuation of speed tracking results, loss of tracking information, large errors, etc.

Active Publication Date: 2020-05-15
SANY HEAVY IND CO LTD (CN)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The vehicle position and speed tracking results obtained by this method have large fluctuations and large errors. When the tracked vehicle is blocked or the tracked vehicle is far away, the tracking information will be lost, and the safety and reliability of unmanned driving cannot be guaranteed. sex

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  • Object tracking method and device
  • Object tracking method and device

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Embodiment Construction

[0041] In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of them. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] Currently, object tracking methods are generally used in the field of unmanned driving. For example, when an unmanned vehicle is driving past a row of parked vehicles, it can track whether a parked vehicle is about to enter the lane. Through the object tracking algorithm, the known position and velocity of the object in the future can be obtained.

[0043] Specifically, the three-...

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Abstract

The invention provides an object tracking method and device, and relates to the technical field of unmanned driving. The method comprises the steps: obtaining the three-dimensional observed quantity of a tracked object at a current moment; performing statistics on the three-dimensional observed quantity at the current moment in a two-dimensional grid form to obtain a target two-dimensional grid, wherein the target two-dimensional grid comprises a Bayesian network; performing dynamic updating according to the Bayesian network in the target two-dimensional grid and the three-dimensional observedquantity at the current moment; obtaining a three-dimensional state quantity and a confidence probability value of the tracked object at the next moment; by dynamically updating the state quantity ofthe tracked object, predicting the state quantity such as the position and the speed of the tracked object under the condition that the tracked vehicle is shielded or the tracked vehicle is far away,so the tracking is carried out more accurately, and the safe reliability of unmanned driving is guaranteed.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving, in particular to an object tracking method and device. Background technique [0002] With the development of vehicle transportation technology, driverless technology is also becoming more and more mature. In order to ensure the realization of unmanned technology, the vehicle is generally tracked to predict the position and speed of the vehicle within a certain period of time in the future. [0003] In the traditional tracking algorithm, the three-dimensional data of the vehicle is simplified, generally grabbing the center point of the three-dimensional data, or generating two-dimensional and three-dimensional frames according to the three-dimensional data, and then embedding them into the Kalman filter. The vehicle position and speed tracking results obtained by this method have large fluctuations and large errors. When the tracked vehicle is blocked or the tracked vehicle is fa...

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Application Information

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IPC IPC(8): G06K9/00G06K9/34G06K9/62
CPCG06V20/41G06V20/584G06V10/267G06F18/295
Inventor 年兴姜媛孙杰
Owner SANY HEAVY IND CO LTD (CN)
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