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Method and device for determining tracking threshold of target object

A technology of target object and tracking gate, which is applied in the direction of measuring device, radio wave reflection/re-radiation, utilization of re-radiation, etc., and can solve problems such as track interference

Pending Publication Date: 2021-07-02
HUAWEI TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

refer to Figure 2A and Figure 2B , in this scheme, a unified tracking threshold frame is used for framing, and different detection points corresponding to different objects are often framed into one threshold frame, so that the tracks of different objects interfere with each other, and there are a large number of false detections

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  • Method and device for determining tracking threshold of target object
  • Method and device for determining tracking threshold of target object
  • Method and device for determining tracking threshold of target object

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Embodiment Construction

[0061] The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments.

[0062] In the description of this specification, "one embodiment" or "some embodiments" etc. mean that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically stated otherwise.

[0063] Among them, in the description of this specification, unless otherwise specified, " / " means or means, for example, A / B can mean A ...

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Abstract

The embodiment of the invention relates to the technical field of automatic driving, in particular to a method and device for determining a target object tracking threshold. The method comprises the steps: determining at least one frame of radar point cloud, wherein the at least one frame of radar point cloud is a point data set obtained by measuring a target object, and the at least one frame of radar point cloud comprises a first frame of radar point cloud; determining n tracking thresholds corresponding to the first frame of radar point cloud, wherein the N tracking thresholds comprise a first threshold; determining K confidence coefficients according to point cloud data in the first threshold, wherein the K confidence coefficients are in one-to-one correspondence with K target categories; determining a first target category according to the K confidence coefficients; and determining a target threshold for tracking the target object from the N tracking thresholds according to the first target category. The type of the target object is determined, therefore, the target object can be tracked according to the category tracking threshold of the target object, inter-track interference of different target objects can be effectively reduced, and the false detection rate is reduced.

Description

technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a method and a device for determining a target object tracking threshold. Background technique [0002] During the automatic driving process of the vehicle, target classification technology can provide the vehicle with information about surrounding objects, which can help the vehicle to make subsequent driving decisions. Therefore, object recognition plays a crucial role in the vehicle's perception of the surrounding environment. Target recognition, which may also be referred to as a target category, may refer to determining a target object as a certain type of object, that is, to distinguish a target object from other objects. [0003] One solution is to use a clustering algorithm to cluster the detection points on the radar point cloud to obtain clusters. Then, classify according to the detection points in the same cluster as a target object. The accu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/72G01S13/06G01S13/931
CPCG01S13/66G01S13/06G01S13/931G01S13/72G01S13/93
Inventor 崔天翔刘兴业康文武
Owner HUAWEI TECH CO LTD
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