Method and device for removing speed fuzzy false target, terminal and readable medium

Abstract

The invention provides a method and device for removing a speed fuzzy false target, and the method comprises the steps: obtaining the temporary track of continuous Q frames and a target trace point associated with the temporary track of each frame, and Q is a positive integer and is greater than or equal to 2; the distance R (i, j) between the target plots is calculated, i and j represent the number of frames, i and j belong to {1, 2, 3,..., Q}, and i is smaller than j; calculating a plurality of distance change rates V (i, j) based on the distances R (i, j) and the interval time T (i, j) between the distances R (i, j); performing data fusion on the plurality of distance change rates V (i, j) to obtain a real distance change rate of the corresponding temporary track; comparing the real distance change rate with a defuzzification speed parameter to obtain a speed difference value; and comparing the speed difference with a preset difference threshold parameter, and determining whether to upgrade the temporary track to a mature track or not according to a comparison result. According to the method, the false target with the ambiguity resolution error can be identified and eliminated, and false target output and temporary track false upgrading are avoided.

Description

technical field [0001] The invention mainly relates to the field of vehicle navigation, in particular to a method, device, terminal and readable medium for removing speed blurred false targets. Background technique [0002] With the continuous development of the demand for automatic driving of automobiles, the application requirements of vehicle radar are also continuously improved. When the vehicle is driving, during the tracking and filtering process of the target (such as pedestrians, vehicles or obstacles, etc.) by the vehicle radar, errors will inevitably occur due to factors such as the calculation of the target velocity measurement factor and line delay, and there is a certain probability that there will be continuous erroneous speed measurement, resulting in a false target being re-tracked near the real target. This has a serious impact on the later integration of vehicle radar and camera or other centralized applications, which can easily cause false alarms and is ...

AI Technical Summary

Problems solved by technology

This has a serious impact on the late-stage integration of vehicle radar and camera or other centralized applications, which can easily cause false alarms and is not conducive to the safe and convenient driving of vehicles

Therefore, if the temporary track obtained by the radar is directly upgraded to a mature track through continuous pairing, there will be the above-mentioned problems of false targets caused by continuous speed measurement errors and track error upgrades.

Images