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Millimeter wave radar target tracking method and system

A millimeter-wave radar and target tracking technology, which is applied in the radio wave measurement system, radio wave reflection/re-radiation, and re-radiation, can solve the problems of millimeter-wave radar missing targets and detecting target redundant marks, etc. Effects on the Multiple Object Tracking Problem

Pending Publication Date: 2022-03-15
ZHENGZHOU YUTONG BUS CO LTD
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Problems solved by technology

[0006] The object of the present invention is to provide a millimeter wave radar target tracking method and system to solve the problem of millimeter wave radar missing targets and redundant marking for detection targets

Method used

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  • Millimeter wave radar target tracking method and system
  • Millimeter wave radar target tracking method and system
  • Millimeter wave radar target tracking method and system

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Embodiment Construction

[0026] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0027] Method example:

[0028] The millimeter-wave radar includes multiple millimeter-wave radar probes, and the information collected by each probe is fused as the output data of the millimeter-wave radar. The method of the present invention needs to first set up the tracking frame target list (tracking frame target data), and in the first frame data output by the millimeter-wave radar, extract the target information of all targets after information fusion, and the target information includes the target ID of the target, Target position information and information such as speed, profile, type, etc. All the targets in the first frame are used as tracking frame targets, and the target information of the tracking frame targets forms a tracking frame target list. After the tracking frame target list is established, the millimeter-wave radar target tracking me...

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Abstract

The invention relates to a millimeter wave radar target tracking method and system, and belongs to the field of intelligent driving. According to the method, a target ID association and target position association combined processing method is adopted, so that the problem of transient frame loss of the target caused by deviation of detection information of multiple millimeter-wave radars and the problem of ID redundant marking caused by splitting of the target at the same position can be effectively avoided.

Description

technical field [0001] The invention relates to a millimeter-wave radar target tracking method and system, belonging to the field of intelligent driving. Background technique [0002] With the rapid development of economy and society, people have more and more options for travel, but comfortable and convenient cars are still one of the preferred means of transportation for people. A more comfortable driving environment, a smarter driving experience, and a higher standard of driving safety are the general requirements of people for the development of automobile technology in the era of smart transportation. Autonomous driving technology has emerged and flourished in response to the situation. [0003] The premise of automatic driving is to ensure driving safety. Therefore, it is necessary to use a variety of sensors to obtain target environment information around the vehicle to provide sufficient support for the safe driving decision of the vehicle. Whether it is a lidar, a ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/72G01S13/91
CPCG01S13/726G01S13/91
Inventor 郭小飞张昆帆杨文娟
Owner ZHENGZHOU YUTONG BUS CO LTD
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