Pedestrian target detection and tracking method based on millimeter wave radar

Abstract

The invention relates to the technical field of target detection, in particular to a pedestrian target detection and tracking method based on millimeter wave radar, which comprises the following steps: acquiring beat signals of each antenna array of a target radar for detecting a corresponding pedestrian target; filtering the beat signals to obtain a corresponding filtered beat signal; carrying out 3D-FFT processing on the filtering beat signal, so that the filtering beat signal is converted from a time domain to a frequency domain, and corresponding pedestrian target information is obtained; and carrying out PF-TBD algorithm processing on the pedestrian target information after 3D-FFT processing so as to realize continuous detection and tracking of the corresponding pedestrian target. According to the pedestrian target detection and tracking method, the pedestrian target detection reliability and accuracy can be considered, so that the pedestrian target detection and tracking effect is improved.

Description

technical field [0001] The invention relates to the technical field of moving target detection, in particular to a pedestrian target detection and tracking method based on millimeter wave radar. Background technique [0002] Autonomous driving is the ultimate direction of the development of intelligent automobiles. Many automobile manufacturers have carried out research and development and industrialization layout. Among them, multi-sensor fusion is an inevitable trend to realize automatic driving. For the motion detection of short-distance targets and stationary targets in the process of automatic driving, the existing technology has very mature sensor solutions and algorithms for processing and identification. However, according to statistics, it is found that traffic accidents are more likely to occur in severe weather environments, and traffic accidents involving pedestrians have a high mortality rate. Therefore, it is particularly important to study pedestrian target d...

AI Technical Summary

Problems solved by technology

However, the detection accuracy of pre-tracking detection technology is low, and once the single-frame detection threshold is set unreasonably, false alarms or missed detections will occur, which will affect the accuracy of data-associated trace calculation and pedestrian target detection

At the same time, in bad weather or when the vehicle is at high speed, pedestrians can only be regarded as weak targets. When pre-tracking detection is used, the signal reflected by weak targets is easily overwhelmed by interference information under single-frame processing, resulting in pedestrian targets The detection reliability is not good

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