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Target tracking method of vehicle-mounted radar, vehicle-mounted radar and storage medium

A target tracking and vehicle-mounted radar technology, applied in the field of radar, can solve problems such as radar target tracking failure, and achieve the effect of improving target tracking accuracy and avoiding tracking failure.

Pending Publication Date: 2022-05-31
WHST CO LTD
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  • Abstract
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  • Claims
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Problems solved by technology

[0004] In view of this, the present invention provides a vehicle-mounted radar target tracking method, a vehicle-mounted radar and a storage medium, which can solve the problem that the radar fails to track the target during the turning process of the vehicle

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  • Target tracking method of vehicle-mounted radar, vehicle-mounted radar and storage medium
  • Target tracking method of vehicle-mounted radar, vehicle-mounted radar and storage medium
  • Target tracking method of vehicle-mounted radar, vehicle-mounted radar and storage medium

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Embodiment Construction

[0019] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0020] In order to illustrate this solution more clearly, this embodiment first explains the formula symbols mentioned below, and the details are as follows;

[0021] V t Indicates the vehicle speed at time t;

[0022] V k+1 Indicates the vehicle speed at time k+1;

[0023] f k Indicates the state transition matrix at time k;

[0024] v k Indicates the process noise at time k in the world c...

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Abstract

The invention provides a target tracking method of a vehicle-mounted radar, the vehicle-mounted radar and a storage medium. The method comprises the following steps: acquiring measurement of a target detected by a vehicle radar under a vehicle coordinate system at the current moment; if the vehicle is in the turning state at the current moment, calculating a state estimation quantity of the target at the current moment under the world coordinate system according to the measurement quantity of the target under the vehicle coordinate system at the current moment and a state estimation quantity of the target at the previous moment under the world coordinate system; wherein the world coordinate system is a vehicle coordinate system at the first moment, and the first moment is the moment when the vehicle enters the current turning state; and finally, converting the state estimator of the target in the world coordinate system at the current moment into a vehicle coordinate system at the current moment. Through the process, tracking failure caused by the fact that the relative motion of the radar and the target does not conform to the linear relation when the vehicle turns can be avoided, and therefore the target tracking accuracy of the vehicle-mounted radar is improved.

Description

technical field [0001] The invention relates to the technical field of radar, in particular to a vehicle-mounted radar target tracking method, a vehicle-mounted radar and a storage medium. Background technique [0002] Compared with traditional sensors, high-resolution millimeter-wave radar has the advantages of high measurement accuracy, rich detection point cloud, all-day and all-weather, and has been widely used in L3 and above assisted driving environment perception. In the process of assisted driving, stable tracking of detection targets and correct speed estimation are crucial for subsequent planning and decision-making. [0003] At present, millimeter-wave radar target tracking is carried out in the vehicle coordinate system. However, when the self-vehicle is turning or even turning around, the tracking will fail because the relative motion between the radar and the target no longer conforms to the linear relationship. Contents of the invention [0004] In view of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/41
CPCG01S7/41
Inventor 薛高茹刘嵩刘诗萌秦屹
Owner WHST CO LTD
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