ID transmission and relay fusion algorithm of detection target through multiple continuous radar regions

Abstract

The application discloses an ID transfer and relay fusion algorithm for detecting a target through multiple continuous radar areas, and specifically comprises the following steps: S1, first, unify radar coordinates, taking the position of the first wide-area radar in the system as the coordinate origin, and then sequentially compensating the coordinates of subsequent wide-area radars; S2, setting the front and rear fusion area reference parameters and the IP addresses of adjacent radars of each radar in advance; S3, matching and fusing the radar target data received by each fusion area position with the preset target data of the same area, and meanwhile, the local radar sends the target data of the fusion area in the other direction to the next radar for matching and fusing; S4, after successful matching and fusing, the target ID of the local radar is replaced by the target ID of the previous radar, and a success flag is returned, and the flag is returned to the previous radar. The application realizes relay fusion of data and achieves the purpose of continuous identification and tracking.

Description

Technical Field

[0001] This invention relates to the technical field of wide-area radar detection and tracking methods for multi-target tracking, and particularly to an algorithm for the ID transfer and relay fusion of detected targets across multiple consecutive radar regions. Background Technology

[0002] Multi-target tracking wide-area radars can identify and continuously track targets (including vehicles, non-motorized vehicles, and pedestrians) within their local detection coverage area. However, they cannot continuously identify and track targets detected by the radar itself and targets detected by adjacent wide-area radars. The detection range of each wide-area radar is limited (generally 200 to 1000 meters), and isolated detection data is not very meaningful. Only comprehensive radar detection coverage, enabling continuous target path tracking, can provide a reliable data foundation for the realization of intelligent transportation.

[0003] Therefore, the market urgently needs to achieve reliable data fusion when the same target passes through a continuous radar detection area, so as to achieve the purpose of continuous identification and tracking. Summary of the Invention

[0004] (I) Technical problem to be solved The purpose of this invention is to provide an ID transmission and relay fusion algorithm for detecting targets through multiple continuous radar areas, in order to solve the problem of long testing time in existing tests. (II) Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides the following technical solution: an algorithm for detecting targets through ID transmission and relay fusion across multiple consecutive radar regions, comprising the following steps:

[0007] S1. First, unify the radar coordinates, taking the position of the first wide-area radar in the system as the coordinate origin, and then perform coordinate compensation for each subsequent wide-area radar.

[0008] S2. Pre-set the front and rear fusion zone reference parameters and the IP addresses of adjacent radars for each radar;

[0009] S3. The radar target data received at each fusion zone location is matched and fused with the target data of the same area preset by the local radar. At the same time, the local radar sends the target data of the fusion zone in another direction of the location to the next radar, and matches and fuses it with the target data of the same area of ​​the next radar.

[0010] S4. After successful matching and fusion, the target ID of the local radar is replaced with the target ID of the previous radar, and a success flag is returned. At the same time, the flag is returned to the previous radar. After receiving the successful matching and fusion flag, the previous radar will no longer send the target data to reduce data transmission and computation.

[0011] Preferably, in step S3, if no target can be successfully matched within the entire fusion region, a failure flag will be returned, and the target will be processed as a new target and assigned a new target ID.

[0012] Preferably, in step S3, the key elements of matching and fusion mainly include: the target's network X coordinate, network Y coordinate, real-time Y velocity, and real-time X velocity.

[0013] Preferably, in step S2, each radar includes four fusion regions: a forward fusion region, a forward backward fusion region, a reverse forward fusion region, and a reverse backward fusion region.

[0014] Preferably, the specific steps for matching and fusing the radar target data received at each fusion zone location in step S3 with the pre-set target data for the same area are as follows:

[0015] S3-1. Acquire radar N data and analyze the data. First, determine whether the data is in the forward fusion region. If yes, proceed to step S2-2; otherwise, proceed to step S3-3.

[0016] S3-2. If the target is in the forward fusion zone, the matching fusion algorithm is used for calculation. If the calculation is successful, a success flag is returned, and the target set of the forward backward fusion zone of radar N-1 is returned. If the target is in the forward backward fusion zone, the matching fusion algorithm is used for calculation. If the calculation is successful, a success flag is returned, and the target set of the forward forward fusion zone of radar N+1 is returned.

[0017] S3-3. Determine whether the data is in the reverse fusion area. If yes, proceed to step S3-4. If no, perform local processing.

[0018] S3-4. If the target is in the reverse forward fusion zone, the matching fusion algorithm is used for calculation. If the calculation is successful, a success flag is returned, and the target set of the reverse backward fusion zone of radar N-1 is returned. If the target is in the reverse backward fusion zone, the matching fusion algorithm is used for calculation. If the calculation is successful, a success flag is returned, and the target set of the reverse forward fusion zone of radar N+1 is returned.

[0019] As a preferred embodiment, the steps of the matching and fusion algorithm for the forward post-fusion region in step S3-2 above are as follows:

[0020] S4-1. Obtain the radar N target set to be fused and the radar N+1 target set to be fused;

[0021] S4-2. Determine if the target network coordinate Y value is within the tolerance range. If yes, proceed to the next step; otherwise, the matching has failed.

[0022] S4-3. Determine if the target network coordinate X value is within the tolerance range. If yes, proceed to the next step; otherwise, the matching has failed.

[0023] S4-4. Determine if the target's Y-axis velocity is within the tolerance range. If yes, proceed to the next step; otherwise, the matching has failed.

[0024] S4-5. Determine if the target's X-axis velocity is within the tolerance range. If yes, proceed to the next step; otherwise, the matching has failed.

[0025] S4-6 Matching successful. At this point, radar N+1 target ID is replaced with radar N target ID.

[0026] Preferably, N, the number of radars, is a natural number greater than 0.

[0027] (III) Beneficial Effects

[0028] The present invention provides an ID transfer and relay fusion algorithm for detecting targets through multiple continuous radar areas. Its advantage is that the design of the present invention can reliably achieve data relay fusion when the same target passes through continuous radar detection areas, and ultimately achieve the purpose of continuous identification and tracking. Attached Figure Description

[0029] Figure 1 This is a schematic diagram showing the distribution of each radar region in this embodiment;

[0030] Figure 2 This is a schematic diagram illustrating the smooth data processing in this embodiment;

[0031] Figure 3 This is a flowchart of the matching and fusion algorithm in this embodiment. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Example 1

[0034] like Figures 1-3 As shown, one embodiment of the present invention provides an algorithm for detecting targets through ID transfer and relay fusion across multiple consecutive radar regions, comprising the following steps:

[0035] S1. First, unify the radar coordinates, taking the position of the first wide-area radar in the system as the coordinate origin, and then perform coordinate compensation for each subsequent wide-area radar.

[0036] S2. Pre-set the front and rear fusion zone reference parameters and the IP addresses of adjacent radars for each radar;

[0037] S3. The radar target data received at each fusion zone location is matched and fused with the target data of the same area preset by the local radar. At the same time, the local radar sends the target data of the fusion zone in another direction of the location to the next radar, and matches and fuses it with the target data of the same area of ​​the next radar.

[0038] S4. After successful matching and fusion, the target ID of the local radar is replaced with the target ID of the previous radar, and a success flag is returned. At the same time, the flag is returned to the previous radar. After receiving the successful matching and fusion flag, the previous radar will no longer send the target data to reduce data transmission and computation.

[0039] Preferably, in step S3, if no target can be successfully matched within the entire fusion region, a failure flag will be returned, and the target will be processed as a new target and assigned a new target ID.

[0040] Preferably, in step S3, the key elements of matching and fusion mainly include: the target's network X coordinate, network Y coordinate, real-time Y velocity, and real-time X velocity.

[0041] Preferably, in step S2, each radar includes four fusion regions: a forward fusion region, a forward backward fusion region, a reverse forward fusion region, and a reverse backward fusion region.

[0042] Preferably, the specific steps for matching and fusing the radar target data received at each fusion zone location in step S3 with the pre-set target data for the same area are as follows:

[0043] S3-1. Acquire radar N data and analyze the data. First, determine whether the data is in the forward fusion region. If yes, proceed to step S2-2; otherwise, proceed to step S3-3.

[0044] S3-2. If the target is in the forward fusion zone, the matching fusion algorithm is used for calculation. If the calculation is successful, a success flag is returned, and the target set of the forward backward fusion zone of radar N-1 is returned. If the target is in the forward backward fusion zone, the matching fusion algorithm is used for calculation. If the calculation is successful, a success flag is returned, and the target set of the forward forward fusion zone of radar N+1 is returned.

[0045] S3-3. Determine whether the data is in the reverse fusion area. If yes, proceed to step S3-4. If no, perform local processing.

[0046] S3-4. If the target is in the reverse forward fusion zone, the matching fusion algorithm is used for calculation. If the calculation is successful, a success flag is returned, and the target set of the reverse backward fusion zone of radar N-1 is returned. If the target is in the reverse backward fusion zone, the matching fusion algorithm is used for calculation. If the calculation is successful, a success flag is returned, and the target set of the reverse forward fusion zone of radar N+1 is returned.

[0047] As a preferred embodiment, the steps of the matching and fusion algorithm for the forward post-fusion region in step S3-2 above are as follows:

[0048] S4-1. Obtain the radar N target set to be fused and the radar N+1 target set to be fused;

[0049] S4-2. Determine if the target network coordinate Y value is within the tolerance range. If yes, proceed to the next step; otherwise, the matching has failed.

[0050] S4-3. Determine if the target network coordinate X value is within the tolerance range. If yes, proceed to the next step; otherwise, the matching has failed.

[0051] S4-4. Determine if the target's Y-axis velocity is within the tolerance range. If yes, proceed to the next step; otherwise, the matching has failed.

[0052] S4-5. Determine if the target's X-axis velocity is within the tolerance range. If yes, proceed to the next step; otherwise, the matching has failed.

[0053] S4-6 Matching successful. At this point, radar N+1 target ID is replaced with radar N target ID.

[0054] Preferably, N, the number of radars, is a natural number greater than 0.

[0055] The specific working steps of this invention are as follows: First, the radar coordinates are unified, with the position of the first wide-area radar (Radar1) in the system as the coordinate origin, and then coordinate compensation is performed on each of the subsequent wide-area radars (Radar2, ..., RadarN).

[0056] For example:

[0057] Set the network coordinate compensation values ​​for Radar1# wide-area radar to: Radar1.NetX = 0, Radar1.NetY = 0;

[0058] Set the network coordinate compensation values ​​for Radar2.NetX to 600 and Radar2.NetY to -10.

[0059] 2. Configure the parameters of the front and rear fusion zones of the radar, and the IP addresses of adjacent radars. Each radar includes 4 fusion zones: forward fusion zone, forward rear fusion zone, reverse forward fusion zone, and reverse rear fusion zone.

[0060] For example:

[0061] Set the forward fusion zone boundary of radar #1 to Radar1.Border0 = 60, and the forward backward fusion zone boundary to Radar1.Border1 = 560; the next radar IP is Radar1.NextIP = 192.168.0.2;

[0062] Set the forward fusion zone boundary of radar #2 to Radar2.Border0 = 60, and the forward backward fusion zone boundary to Radar2.Border1 = 560; the IP of the previous radar is Radar2.PreIP = 192.168.0.1; and the IP of the next radar is Radar2.NextIP = 192.168.0.3.

[0063] 3. Taking forward lane fusion as an example for explanation. The local radar receives the forward rear fusion zone target data from the preceding radar and matches and fuses it with the local forward forward fusion zone target data. At the same time, the local radar sends the forward rear fusion zone target data to the next radar, and matches and fuses it with the forward forward fusion zone target data of the next radar.

[0064] The targets detected by Radar1.Car1, Radar1.Car2, ..., Radar1.CarN are: Radar1.Car1, Radar1.Car2, ..., Radar1.CarN.

[0065] The targets detected by Radar2.Car1, Radar2.Car2, ..., Radar2.CarN are: Radar2.Car1, Radar2.Car2, ..., Radar2.CarN.

[0066] The #1 wide-area radar needs to sort out targets with Radar1.Car1.Y>Radar1.Border1 and package them into Radar1.SendCars={Radar1.Car1、Radar1.Car2、Radar1.Car5}, and then send them to the #2 wide-area radar.

[0067] The #2 wide-area radar performs a cyclic matching between the received Radar1.SendCars target set and the local target set Radar2.Cars.

[0068]

[0069] 4. After successful matching and fusion, the target ID of the local radar is replaced with the target ID of the previous radar, and a success flag is returned. At the same time, the flag is returned to the previous radar. After receiving the successful matching and fusion flag, the previous radar will no longer send the target data to reduce data transmission and computation.

[0070] 5. If a target cannot be successfully matched within the entire fusion zone, a failure flag will be returned, and the target will be treated as a new target with a new target ID.

[0071] 6. The key elements for matching and fusion are: the target's network X coordinate, network Y coordinate, real-time Y velocity, and real-time X velocity. Due to errors in equipment installation, debugging, and parameter settings, each element must be set with a certain tolerance range to ensure a high success rate for matching and fusion.

[0072] Therefore, the design of this invention enables reliable data fusion when the same target passes through a continuous radar detection area, ultimately achieving the goal of continuous identification and tracking.

[0073] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An algorithm for detecting targets through ID transfer and relay fusion across multiple consecutive radar regions, characterized in that: Includes the following steps: S1. First, unify the radar coordinates, taking the position of the first wide-area radar in the system as the coordinate origin, and then perform coordinate compensation for each subsequent wide-area radar. S2. Pre-set the reference parameters for the front and rear fusion zones of each radar, as well as the IP addresses of adjacent radars. Each radar includes four fusion zones: forward fusion zone, forward rear fusion zone, reverse forward fusion zone, and reverse rear fusion zone. S3. The radar target data received at each fusion zone location is matched and fused with the target data of the same area preset by the local radar. At the same time, the local radar sends the target data of the fusion zone in the other direction of that location to the next radar, and matches and fuses it with the target data of the same area of ​​the next radar. The specific steps of matching and fusing the radar target data received at each fusion zone location with the target data of the same area preset by the local radar in step S3 are as follows: S3-1. Acquire radar N data and analyze the data. First, determine whether the data is in the forward fusion region. If yes, proceed to step S2-2; otherwise, proceed to step S3-3. S3-2. If the target is in the forward fusion zone, the matching fusion algorithm is used for calculation. If the calculation is successful, a success flag is returned, and the target set of the forward backward fusion zone of radar N-1 is returned. If the target is in the forward backward fusion zone, the matching fusion algorithm is used for calculation. If the calculation is successful, a success flag is returned, and the target set of the forward forward fusion zone of radar N+1 is returned. S3-3. Determine whether the data is in the reverse fusion area. If yes, proceed to step S3-4; otherwise, perform local processing. S3-4. If the target is in the reverse forward fusion zone, the matching fusion algorithm is used for calculation. If the calculation is successful, a success flag is returned, and the target set of the reverse backward fusion zone of radar N-1 is returned. If the target is in the reverse backward fusion zone, the matching fusion algorithm is used for calculation. If the calculation is successful, a success flag is returned, and the target set of the reverse forward fusion zone of radar N+1 is returned. S4. After successful matching and fusion, the target ID of the local radar is replaced with the target ID of the previous radar, and a success flag is returned. At the same time, the flag is returned to the previous radar. After receiving the successful matching and fusion flag, the previous radar will no longer send the target data to reduce data transmission and computation.

2. The target detection algorithm based on ID transfer and relay fusion across multiple consecutive radar regions as described in claim 1, characterized in that, In step S3, if no successful target can be matched within the entire fusion area, a failure flag will be returned, and the target will be processed as a new target and assigned a new target ID.

3. The target detection algorithm based on ID transfer and relay fusion across multiple consecutive radar regions as described in claim 1, characterized in that, In step S3, the key elements of matching and fusion include: the target's network X coordinate, network Y coordinate, real-time Y velocity, and real-time X velocity.

4. The target detection algorithm based on ID transfer and relay fusion across multiple consecutive radar regions as described in claim 1, characterized in that: The steps of the matching and fusion algorithm for the forward post-fusion region in step S3-2 above are as follows: S4-1. Obtain the radar N target set to be fused and the radar N+1 target set to be fused; S4-2. Determine whether the target network coordinate Y value is within the tolerance range; if yes, proceed to the next step. No, this means the match failed; S4-3. Determine whether the target network coordinate X value is within the tolerance range; if yes, proceed to the next step. No, this means the match failed; S4-4. Determine if the target's Y-axis velocity is within the tolerance range; if yes, proceed to the next step. No, this means the match failed; S4-5. Determine if the target's X-axis velocity is within the tolerance range; if yes, proceed to the next step. No, this means the match failed; S4-6 Matching successful. At this point, radar N+1 target ID is replaced with radar N target ID.

5. The target detection algorithm based on ID transmission and relay fusion across multiple consecutive radar regions according to claim 1, characterized in that, N is the number of radars and is a natural number greater than 0.

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