Target state estimation method and device for vehicle-mounted radar and storage medium
A target state, vehicle radar technology, applied in the field of vehicle radar, can solve the problem of target tracking interruption, loss, etc., to achieve the effect of improving accuracy, stability and continuity
Active Publication Date: 2022-07-12
NANJING FALCON EYE ELECTRONIC TECH CO LTD
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[0005] In order to overcome the deficiencies in the prior art, the object of the present invention is to provide a target state estimation method, device and storage medium for vehicle-mounted radar, so as to solve the problems of target tracking interruption and loss in the current technology.
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[0054] The above description is only an overview of the technical solution of the present invention, in order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description, and in order to make the above and other objects, features and advantages of the present invention more obvious and easy to understand , the following specific preferred embodiments, and in conjunction with the accompanying drawings, are described in detail as follows.
[0055] In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be mechanical connection, electrical connection or can communicate with each other; it can be directly connected or indirectly conn...
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The invention provides a target state estimation method and device for a vehicle-mounted radar, and a storage medium, so as to solve the problems of target tracking interruption, target tracking loss and the like in the prior art. The method comprises the following steps: acquiring current state information of a vehicle carrying the radar, an actual measurement state vector of a current frame of a detection target of the radar and a target state vector of a previous frame; compensating the target state vector of the previous frame based on the current state information, and estimating a prediction state vector of the current frame according to the compensated target state vector of the previous frame; and determining a target state vector of the current frame according to a preset mode and based on the actually measured state vector of the current frame and the predicted state vector of the current frame. By adopting the technical scheme of the embodiment of the invention, the target tracking stability and continuity of the vehicle-mounted radar in a complex motion scene can be greatly improved.
Description
technical field [0001] The present invention relates to the technical field of vehicle radar, in particular to a target state estimation method, device and storage medium for vehicle radar. Background technique [0002] In recent years, the target state estimation method for vehicle-mounted millimeter-wave radar has become a new research hotspot. Vehicle-mounted millimeter-wave radar has the advantage of all-weather operation. It is usually installed in the middle of the car bumper and faces the direction of the car. As part of the environmental perception of the car, the vehicle-mounted millimeter-wave radar transmits microwaves to the environment, and the microwaves are reflected by the target, and the radar receiver can detect the speed, angle, distance, etc. of the target in a short time through the echo. Vehicle-mounted millimeter-wave radar has good directionality, long detection distance, and is less affected by the environment (rain, snow, sand, etc.), and its cost i...
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IPC IPC(8): G01S7/41G01S7/40G01S13/72G01S13/931
CPCG01S7/415G01S7/40G01S13/931G01S13/72Y02T10/40
Inventor 李瑞郭坤鹏胡溢鑫张燎冯友怀
Owner NANJING FALCON EYE ELECTRONIC TECH CO LTD