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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 radar field, can solve problems such as radar target tracking failure, achieve the effect of improving target tracking accuracy and avoiding tracking failure

Pending Publication Date: 2022-06-03
WHST CO LTD
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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

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Embodiment Construction

[0020] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are set forth in order to provide a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present 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.

[0021] In order to explain the solution more clearly, this embodiment first describes the formula symbols mentioned below, and the details are as follows;

[0022] V t represents the ego vehicle speed at time t;

[0023] V k+1 Represents the speed of the ego vehicle at time k+1;

[0024] F k Represents the state transition matrix at time k;

[0025] v k represents ...

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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, the measurement of the target under the vehicle coordinate system at the current moment is converted into a world coordinate system, the world coordinate system is the vehicle coordinate system at the first moment, and the first moment is the moment when the vehicle enters the turning state; then measuring and calculating a state estimation quantity of the target at the current moment under the world coordinate system according to the quantity of the target at the current moment under the world coordinate system; and 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 target tracking method of a vehicle-mounted radar, 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 clouds, all-day, all-weather, etc., 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 turns or even makes a U-turn, since the relative motion of the radar and the target no longer conforms to the linear relationship, the tracking will fail. SUMMARY OF THE INVENTION [0004] In view of th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/72
CPCG01S13/72
Inventor 薛高茹刘嵩刘诗萌秦屹
Owner WHST CO LTD
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