Road boundary detection method and system based on vehicle-mounted millimeter wave radar

Abstract

The invention discloses a road boundary detection method and system based on a vehicle-mounted millimeter wave radar, and the method comprises the steps: carrying out the preliminary screening of input vehicle-mounted millimeter wave radar static target points, and obtaining stable static target points; according to the method, all possible road boundary points are screened from stable static target points by setting a search range and utilizing a strategy of clustering by utilizing a first starting point to find out all boundary points, then, quadratic curve fitting is carried out by utilizing a least square method in combination with boundary points obtained by screening of a previous frame of radar, and finally, the road boundary points are obtained. Considering that the road boundary does not jump in a short time, three coefficients in the obtained quadratic curve are filtered by using a Kalman filtering algorithm, and stable curve output in a time domain is obtained, so that the road boundary detection accuracy is improved.

Description

technical field [0001] The invention relates to the technical field of road detection, in particular to a road boundary detection method and system based on a vehicle-mounted millimeter-wave radar. Background technique [0002] Traditional road boundary detection is generally realized by using lidar, but lidar is expensive and cannot be popularized, while vehicle-mounted millimeter-wave radar is cheap, has good ranging and speed measurement capabilities for targets, and has better penetration of rain and fog. Capability, and not being affected by light intensity, has become an irreplaceable sensor choice in intelligent driving solutions. [0003] Due to the interference of vehicles on highways and urban roads, the output of road boundary lines obtained from radar data collected by vehicle-mounted millimeter-wave radars using existing detection methods is often unstable in the time domain, resulting in low detection accuracy. SUMMARY OF THE INVENTION [0004] In order to s...

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Problems solved by technology

[0004] In order to solve the above-mentioned technical problems, the present invention provides a road boundary detection method and system based on vehicle-mounted millimeter-wave radar, which solves the problem that the road boundary line output obtained from radar data collected by vehicle-mounted millimeter-wave radar in the prior art is in the time domain. The problem of instability and low detection accuracy

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