Machine vision and millimeter wave radar fused multi-vehicle target tracking method

Abstract

The invention provides a machine vision and millimeter-wave radar fused multi-vehicle target tracking method, which comprises the following steps of: acquiring road target information by using millimeter-wave radar, and screening vehicle targets according to a kinematics parameter related filtering model; detecting vehicles in front of the road by using the visual information, and performing multi-vehicle target tracking based on a detection result; projecting the vehicle target into the image by adopting a machine vision and millimeter wave radar fusion model, setting an association judgmentstrategy to associate the visual tracking target with the vehicle target, and correcting the position and the size of the visual tracking bounding box in the image based on distance information detected by the millimeter wave radar. The technical problem that in the prior art, when multiple vehicles in front are continuously tracked, after errors are accumulated due to the fact that the size of avisual tracking boundary frame is too large or too small, an effective target is lost can be solved.

Description

technical field [0001] The invention relates to the technical field of intelligent vehicle automatic driving environment perception, in particular to a multi-vehicle target tracking method based on the fusion of machine vision and millimeter-wave radar. Background technique [0002] With the improvement of intelligence, informatization, and automation, more and more enterprises and institutions are vigorously developing intelligent driving systems and advanced driver assistance systems for automobiles. As the "eyes" of self-driving cars, environmental perception plays a very important role in providing vehicles with road traffic information ahead. As an important part of environment perception, tracking has been paid more and more attention by researchers. [0003] At present, the fusion of multi-sensor information is a research hotspot in the field of tracking. The prior art provides a target recognition method based on the fusion of video images and millimeter-wave radar...

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Problems solved by technology

[0004] Aiming at the defects in the prior art, the present invention provides a multi-vehicle target tracking method based on the fusion of machine vision and millimeter-wave radar to solve the problem in the prior art that the size of the visual tracking bounding box is too large when multiple vehicles ahead are continuously tracked Or the technical problem that the effective target is lost after the error is accumulated due to too small

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