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Vehicle track smoothing method and device based on millimeter wave radar

A millimeter-wave radar and vehicle trajectory technology, applied in the field of traffic system and radio detection, can solve problems such as low stability, accuracy and authenticity, measurement error, and inability to truly reflect the vehicle trajectory, and achieve adaptive improvement, Information-rich, speed-up effects

Inactive Publication Date: 2022-05-27
SHANDONG UNIV OF SCI & TECH
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a vehicle trajectory smoothing method and device based on a millimeter-wave radar, which is used to solve the following technical problem: under the influence of internal and external data noise and interference signals in the existing millimeter-wave radar, there are measurement errors, The stability, accuracy and authenticity are low, and it cannot truly reflect the vehicle's driving trajectory

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  • Vehicle track smoothing method and device based on millimeter wave radar
  • Vehicle track smoothing method and device based on millimeter wave radar
  • Vehicle track smoothing method and device based on millimeter wave radar

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Embodiment Construction

[0024] In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described The embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments of the present specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0025] The embodiment of the present application provides a vehicle trajectory smoothing method based on millimeter wave radar, such as figure 1 As shown, the vehicle trajectory smoothing method specifically includes steps 101-107:

[0026] Step 101: The millimeter-wave radar extracts the traffic inform...

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Abstract

The invention discloses a vehicle track smoothing method and device based on a millimeter-wave radar, belongs to the technical field of traffic systems and radio detection, and is used for solving the technical problem that an existing millimeter-wave radar cannot truly reflect a vehicle driving track under the influence of internal and external data noise and interference signals. The method comprises the following steps: carrying out noise reduction processing on traffic information to obtain preliminary filtering data; carrying out correction processing to obtain corrected target vehicle coordinates; constructing a one-dimensional plane vehicle motion state space model; carrying out two-dimensional conversion to obtain a two-dimensional plane vehicle motion state space model; performing updating prediction to obtain a target two-dimensional plane vehicle motion state space model; and through the preset trajectory smoothing gain matrix after the measurement error transformation function is substituted, correcting the target two-dimensional plane vehicle motion state space model after the measurement error transformation function is substituted to obtain a final state equation so as to realize smoothing processing of the vehicle motion trajectory detected by the millimeter wave radar.

Description

technical field [0001] The present application relates to the fields of traffic systems and radio detection, and in particular, to a vehicle trajectory smoothing method and device based on millimeter-wave radar. Background technique [0002] Radar detection has the characteristics of rich information, real-time output of target data, and strong traceability. More and more experts and scholars choose to use data analysis technology to extract traffic information from radar data. In the radar data, it includes the multi-lane occupancy rate, queue length, headway, traffic flow, average speed and whether it overflows and other information detected in the positive direction. , occupancy time, queue length and other passing information, which is very accurate for moving vehicle detection. [0003] Existing millimeter-wave radar detection methods have the characteristics of stable performance, all-weather, and rich information. However, in the process of detecting vehicle targets...

Claims

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Application Information

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IPC IPC(8): G01S13/58G01S13/72G06F17/11
CPCG01S13/58G01S13/726G06F17/11Y02T90/00
Inventor 卢晓史国峰刘海青李玉霞
Owner SHANDONG UNIV OF SCI & TECH
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