Cross-millimeter wave radar target tracking method based on space-time information

Abstract

According to the cross-millimeter-wave radar target tracking method based on the spatio-temporal information provided by the invention, the spatio-temporal information is introduced to match and splice target trajectories, and the influence of a time factor on trajectory similarity calculation is avoided by means of dynamic time warping, so the precision of a splicing algorithm is greatly improved; the time dimension information is applied to connection of a single radar interruption track, and splicing of radar target tracks in a single device is achieved. Meanwhile, in the splicing process, matching is completed by adopting a similarity algorithm based on dynamic time warping and PCA-KL divergence, and track splicing is performed on cross-equipment targets from two dimensions of track characteristics and probability distribution, so the effect of cross-millimeter-wave radar track splicing is greatly improved.

Description

technical field [0001] The invention relates to the field of vehicle-road coordination, in particular to a method for tracking targets across millimeter-wave radars based on spatio-temporal information. Background technique [0002] The deep integration of intelligence and networking is the key development direction in the field of smart cars. Intelligence is the main means of relying on autonomous driving technology at this stage, involving technical fields such as environmental perception, driving decision-making, and vehicle motion control. However, the technical path for automobiles to achieve intelligence only by relying on bicycle environment perception has certain limitations, and a networked and intelligent road is needed to assist bicycle intelligence. Smart roads need to achieve comprehensive perception of the traffic environment, digitization and structuring of traffic environment and road information, efficient, convenient, and intelligent control and management...

AI Technical Summary

Problems solved by technology

Due to the characteristics of millimeter-wave radar, a point cloud will be formed for the same target point. However, due to the height limitation of millimeter-wave radar deployment, mutual occlusion will inevitably occur in traffic target detection, resulting in the interruption of the target track during single millimeter-wave radar tracking.

At the same time, due to the limited coverage of a single millimeter-wave radar, it is impossible to realize the comprehensive perception of traffic environment information of the entire road section, to obtain lane-level traffic information of the road section, and to complete more refined traffic guidance and control.

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