Target filtering method and device for adaptive cruise control system (ACC)
By receiving and analyzing vertical attribute information of the target in the adaptive cruise control system ACC, filtering targets that may lead to misidentification in specific scenarios solves the problem of false braking and improves the driving experience.
Patent Information
- Application Number
- CN202311014442.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-11
- Publication Date
- 2025-02-18
AI Technical Summary
The adaptive cruise control system ACC may cause false braking due to misidentification in specific scenarios, affecting the driving experience.
By receiving longitudinal attribute information from the target of the sensor, including longitudinal deceleration, velocity and distance, the target is filtered based on this information, especially when the longitudinal deceleration and velocity change but the longitudinal distance does not change.
It effectively avoids misbraking caused by misidentification in specific scenarios and improves the driving experience.
Smart Images
Figure CN119459695A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of target selection of an adaptive cruise control system ACC, and more specifically, to a target filtering method and device for an adaptive cruise control system ACC, a computer-readable storage medium, a computer program product, and an advanced driver assistance system ADAS. Background Art
[0002] As the main basic component of the advanced driver assistance system ADAS, the main purpose of the adaptive cruise control system ACC is to be able to select the moving vehicle in front of the vehicle as the primary target (also called the "target vehicle"), and to control the longitudinal motion state and following distance of the vehicle in real time and comfortably according to the motion state of the primary target.
[0003] One of the corresponding challenges is that advanced driver assistance system (ADAS) products need to correctly process all targets detected by sensors to avoid false braking or false acceleration of the adaptive cruise control system (ACC). For example, when a vehicle enters a tunnel after activating ACC, the target may be associated with poor quality point cloud data due to recognition reasons, resulting in an erroneous mutation of the target, triggering false braking of the adaptive cruise control system (ACC), resulting in a bad experience for customers. Summary of the invention
[0004] After analyzing and studying a large amount of driving data with the above problems, the inventors of this application found that in the above scenarios where misidentification occurs (such as the tunnel scenario after activating ACC), the longitudinal deceleration and speed of the target will have erroneous mutations, but the longitudinal distance value (and lateral related attributes) of the target will not change significantly. Therefore, the target filtering solution of the embodiment of this application proposes optimization based on the longitudinal attribute information of the target.
[0005] According to one aspect of the present application, a target filtering method for an adaptive cruise control system ACC is provided, the method comprising: receiving longitudinal attribute information of a target from one or more sensors when the adaptive cruise control system ACC is operating; and filtering the target based on the longitudinal attribute information.
[0006] As a supplement or alternative to the above-mentioned scheme, in the above-mentioned method, the longitudinal attribute information includes: the longitudinal deceleration, speed and longitudinal distance of the target, and filtering the target based on the longitudinal attribute information includes: filtering the target when the longitudinal deceleration and speed change suddenly and the longitudinal distance does not change.
[0007] As a supplement or alternative to the above-mentioned scheme, in the above-mentioned method, receiving the longitudinal attribute information of the target from one or more sensors includes: receiving the first longitudinal deceleration a1, the first speed v1 and the first longitudinal distance s1 of the radar target; and receiving the second longitudinal deceleration a2, the second speed v2 and the second longitudinal distance s2 of the camera target.
[0008] As a supplement or replacement for the above solution, in the above method, filtering the target based on the longitudinal attribute information includes: determining that the first longitudinal deceleration a1 of the radar target is less than -7 m / s 2 and the first speed v1 decreases at a certain deceleration rate within a number of cycles; and determining a change value Δs1 of the first longitudinal distance s1 of the radar target after the number of cycles, a change value Δv1 of the first speed v1 after the number of cycles, and an average value a3 of the first longitudinal deceleration a1 within the number of cycles; determining conditions that simultaneously satisfy |a1-a2|>A and |v1-v2|>V, wherein Y, A and V are respectively a first threshold, a second threshold and a third threshold set in advance; and filtering the radar target.
[0009] As a supplement or replacement for the above solution, in the above method, when determining that both After |a1-a2|>A and |v1-v2|>V and before filtering the radar target, filtering the target based on the longitudinal attribute information further includes: determining a change value Δs2 of the second longitudinal distance s2 of the camera target after the plurality of cycles; and determining a value that satisfies Wherein Z is a preset fourth threshold.
[0010] As a supplement or alternative to the above solution, in the above method, the several cycles are three consecutive cycles.
[0011] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the medium includes instructions, and the instructions execute the above method when executed.
[0012] According to another aspect of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the method described above is implemented.
[0013] According to another aspect of the present application, a target filtering device of an adaptive cruise control system ACC is provided, the device comprising: a receiving device for receiving longitudinal attribute information of a target from one or more sensors when the adaptive cruise control system ACC is operating; and a filtering device for filtering the target based on the longitudinal attribute information.
[0014] As a supplement or alternative to the above scheme, in the above device, the longitudinal attribute information includes: the longitudinal deceleration, speed and longitudinal distance of the target, and the filtering device is configured to filter the target when the longitudinal deceleration and speed change suddenly and the longitudinal distance does not change.
[0015] As a supplement or alternative to the above-mentioned scheme, in the above-mentioned device, the receiving device includes: a first receiving unit, used to receive the first longitudinal deceleration a1, the first speed v1 and the first longitudinal distance s1 of the radar target; and a second receiving unit, used to receive the second longitudinal deceleration a2, the second speed v2 and the second longitudinal distance s2 of the camera target.
[0016] As a supplement or replacement for the above solution, in the above device, the filtering device includes: a first determination unit, configured to determine that the first longitudinal deceleration a1 of the radar target is less than -7 m / s 2 and the first speed v1 decreases at a certain deceleration rate within a plurality of cycles; and the second determining unit is used to determine a change value Δs1 of the first longitudinal distance s1 of the radar target after the plurality of cycles, a change value Δv1 of the first speed v1 after the plurality of cycles, and an average value a3 of the first longitudinal deceleration a1 within the plurality of cycles; the third determining unit is used to determine the conditions that simultaneously satisfy |a1-a2|>A and |v1-v2|>V, wherein Y, A and V are respectively a first threshold, a second threshold and a third threshold which are preset; and a filtering unit, for filtering the radar target.
[0017] As a supplement or replacement for the above solution, in the above device, the filtering device further includes: a fourth determining unit, used to determine a change value Δs2 of the second longitudinal distance s2 of the camera target after the plurality of cycles; and a fifth determining unit, used to determine the second longitudinal distance s2 of the camera target after the plurality of cycles; Wherein Z is a preset fourth threshold.
[0018] As a supplement or alternative to the above solution, in the above device, the several cycles are three consecutive cycles.
[0019] According to another aspect of the present application, an advanced driver assistance system (ADAS) is provided, which includes: a visual sensor; a radar sensor; and a target filtering device as described above, wherein the target filtering device receives longitudinal attribute information of the target from the visual sensor and the radar sensor, and filters the target based on the longitudinal attribute information.
[0020] The target filtering scheme of the adaptive cruise control system ACC of the embodiment of the present application receives longitudinal attribute information of the target from one or more sensors (such as visual sensors, radar sensors, etc.) when the adaptive cruise control system ACC is working, and filters the target based on the longitudinal attribute information, so as to avoid incorrect braking of the adaptive cruise control system ACC due to misrecognition and other reasons in specific scenarios, which is conducive to improving the driving experience. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] The above and other objects and advantages of the present application will become more fully apparent from the following detailed description in conjunction with the accompanying drawings, wherein the same or similar elements are represented by the same reference numerals.
[0022] Figure 1 A schematic flow chart of a target filtering method of an adaptive cruise control system ACC according to an embodiment of the present application is shown;
[0023] Figure 2 A schematic structural diagram of a target filtering device of an adaptive cruise control system ACC according to an embodiment of the present application is shown;
[0024] Figure 3 and Figure 4 A schematic flow chart of a target filtering method of an adaptive cruise control system ACC according to multiple embodiments of the present application is shown. DETAILED DESCRIPTION
[0025] Hereinafter, a target filtering scheme of an adaptive cruise control system ACC according to various exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings.
[0026] Figure 1 FIG. 1 is a flow chart showing a target filtering method 1000 of an adaptive cruise control system ACC according to an embodiment of the present application. Figure 1 As shown, the target filtering method 1000 of the adaptive cruise control system ACC includes:
[0027] In step S110, when the adaptive cruise control system ACC is in operation, longitudinal attribute information of a target is received from one or more sensors; and
[0028] In step S120, the targets are filtered based on the longitudinal attribute information.
[0029] In the context of this application, the term "adaptive cruise control system ACC" is also referred to as an adaptive cruise control function, which sends instructions to the actuator according to the driving status (e.g., distance and speed) of the target vehicle in front and the vehicle itself, thereby deciding whether to accelerate or decelerate, or exit cruise. In some embodiments, when there is a risk of collision, the adaptive cruise control system ACC will prompt the driver and take active braking intervention. Moreover, when the distance to the vehicle in front is too small, the adaptive cruise control system ACC can appropriately brake the wheels by cooperating with the anti-lock braking system, etc., so as to always maintain a safe distance from the vehicle in front. In general, the adaptive cruise control system ACC can reduce the driver's driving fatigue to a certain extent.
[0030] In step S110, when the adaptive cruise control system ACC is working (i.e., activated), the longitudinal attribute information of the target is received from one or more sensors. For example, in an advanced driver assistance system, in order to reduce missed detection of targets and tracking continuity, multiple sensors (including visual sensors (such as cameras), radar sensors (such as millimeter wave radars), etc.) are generally used to detect traffic participating targets. For the perception fusion module of the advanced driver assistance system, according to the quality of information fed back by multiple sensors, it can output the spatial position and physical properties of the target while also outputting the probability of the existence of each target, for example, using a percentage to represent the probability of the real existence of the object, so that the multi-source sensor fusion module can more easily associate and manage the tracks of multiple targets separately.
[0031] In one or more embodiments, the longitudinal attribute information of the target includes the longitudinal deceleration, speed and longitudinal distance of the target. In this embodiment, step S120, i.e., the step of filtering the target based on the longitudinal attribute information, may include: filtering the target when the longitudinal deceleration and speed change suddenly and the longitudinal distance does not change.
[0032] In one embodiment, step S110 includes: receiving a first longitudinal deceleration a1, a first speed v1, and a first longitudinal distance s1 of the radar target; and receiving a second longitudinal deceleration a2, a second speed v2, and a second longitudinal distance s2 of the camera target.
[0033] On actual public roads, unless the target vehicle triggers an emergency braking function, such as AEB, it is generally difficult for the target vehicle to exceed -7m / s. 2 According to the existing data, the inventor of this application found that due to the association error, the deceleration value of the target vehicle output by the perception module exceeded -7m / s. 2 , and the longitudinal relative speed of the target vehicle also decreases for three consecutive cycles. In general, the longitudinal distance measured by the radar and camera is Very close, but after fully analyzing multiple problem data, it is found that in the scene where the problem occurs (such as the tunnel scene), the longitudinal distance between the radar and the camera is almost unchanged, but The changes are huge.
[0034] Therefore, in one embodiment, step S120 may include: determining that the first longitudinal deceleration a1 of the radar target is less than -7 m / s 2 The first speed v1 decreases at a certain deceleration rate within a number of cycles (for example, 3 consecutive cycles); and the change value Δs1 of the first longitudinal distance s1 of the radar target after the number of cycles, the change value Δv1 of the first speed v1 after the number of cycles, and the average value a3 of the first longitudinal deceleration a1 within the number of cycles are determined; determine the conditions that simultaneously satisfy |a1-a2|>A and |v1-v2|>V, wherein Y, A and V are respectively a first threshold, a second threshold and a third threshold set in advance; and filtering the radar target.
[0035] refer to Figure 3 , which shows a flow chart of a target filtering method 3000 of an adaptive cruise control system ACC according to an embodiment of the present application. Figure 3 As shown, in step S310, when the adaptive cruise control system ACC is working (i.e. activated), the longitudinal attribute information of the target from the radar sensor and the camera is received. Then, in step S320, it is determined that the first longitudinal deceleration a1 of the radar target is less than -7m / s 2 And the first speed v1 decreases at a certain deceleration rate within a number of cycles (for example, 3 consecutive cycles). If not, then execute step S325, that is, retain the radar target. If yes, then further execute step S330 to determine whether |a1-a2|>A and |v1-v2|>V, where Y, A and V are respectively a first threshold, a second threshold and a third threshold which are set in advance. If both conditions are not met at the same time, step S335 is executed to retain the radar target; otherwise, step S340 is executed to filter the radar target.
[0036] In another embodiment, when determining that both After |a1-a2|>A and |v1-v2|>V and before filtering the radar target, step S120 may further include: determining a change value Δs2 of the second longitudinal distance s2 of the camera target after the plurality of cycles; and determining a second longitudinal distance s2 of the camera target after the plurality of cycles; Where Z is a fourth threshold value set in advance. That is, in this embodiment, the difference from the previous embodiment is that: when the longitudinal distance of the radar target is significantly changed, that is, the change value of the longitudinal distance is significantly less than When the value of is, the target is not filtered directly, but the change in the longitudinal distance of the target output by the camera is judged: if the change in the longitudinal distance of the target output by the camera is also significantly less than (Note: radar output) value, the radar target is filtered.
[0037] refer to Figure 4 , which shows a flow chart of a target filtering method 4000 of an adaptive cruise control system ACC according to another embodiment of the present application. Figure 4 As shown, in step S410, when the adaptive cruise control system ACC is working (i.e. activated), the longitudinal attribute information of the target from the radar sensor and the camera is received. Then, in step S420, it is determined that the first longitudinal deceleration a1 of the radar target is less than -7m / s 2 And the first speed v1 decreases at a certain deceleration rate within a number of cycles (for example, 3 consecutive cycles). If not, then execute step S425, that is, retain the radar target. If yes, then further execute step S430 to determine whether |a1-a2|>A and |v1-v2|>V, where Y, A and V are respectively the first threshold, the second threshold and the third threshold set in advance. If they are not met at the same time, step S435 is executed to retain the radar target; otherwise, step S440 is executed to determine whether the change value Δs2 of the second longitudinal distance s2 of the camera target after the said number of cycles (for example, after 3 consecutive cycles) satisfies Wherein Z is a preset fourth threshold. If not, then execute step S445 to retain the radar target, otherwise execute step S450 to filter the radar target.
[0038] In addition, it is easy for those skilled in the art to understand that the target filtering method for the adaptive cruise control system ACC provided in the above one or more embodiments of the present application can be implemented by a computer program. For example, the computer program is included in a computer program product, and when the computer program is executed by a processor, the target filtering method for the adaptive cruise control system ACC of one or more embodiments of the present application is implemented. For another example, when a computer-readable storage medium (such as a USB flash drive) storing the computer program is connected to a computer, the target filtering method for the adaptive cruise control system ACC of one or more embodiments of the present application can be executed by running the computer program.
[0039] refer to Figure 2 , Figure 2The structure diagram of a target filtering device 2000 of an adaptive cruise control system ACC according to an embodiment of the present application is shown. The target filtering device 2000 of the adaptive cruise control system ACC comprises: a receiving device 210 and a filtering device 220, wherein the receiving device 210 is used to receive longitudinal attribute information of a target from one or more sensors when the adaptive cruise control system ACC is working; and the filtering device 220 is used to filter the target based on the longitudinal attribute information.
[0040] In the context of this application, the term "adaptive cruise control system ACC" is also referred to as an adaptive cruise control function, which sends instructions to the actuator according to the driving status (e.g., distance and speed) of the target vehicle in front and the vehicle itself, thereby deciding whether to accelerate or decelerate, or exit cruise. In some embodiments, when there is a risk of collision, the adaptive cruise control system ACC will prompt the driver and take active braking intervention. Moreover, when the distance to the vehicle in front is too small, the adaptive cruise control system ACC can appropriately brake the wheels by cooperating with the anti-lock braking system, etc., so as to always maintain a safe distance from the vehicle in front. In general, the adaptive cruise control system ACC can reduce the driver's driving fatigue to a certain extent.
[0041] The receiving device 210 is configured to receive longitudinal attribute information of a target from one or more sensors when the adaptive cruise control system ACC is working (i.e., activated). For example, in an advanced driver assistance system, in order to reduce missed detection of targets and tracking continuity, multiple sensors (including visual sensors (such as cameras), radar sensors (such as millimeter wave radars), etc.) are generally used to detect traffic participating targets. For the perception fusion module of the advanced driver assistance system, according to the quality of information fed back by multiple sensors, the existence probability of each target can be output while outputting the spatial position and physical properties of the target, for example, the probability of the real existence of the object is expressed as a percentage, so that the multi-source sensor fusion module can more easily associate and manage the tracks of multiple targets respectively. In one embodiment, the receiving device 210 includes: a first receiving unit for receiving longitudinal attribute information of radar targets (such as a first longitudinal deceleration a1, a first speed v1, and a first longitudinal distance s1); and a second receiving unit for receiving longitudinal attribute information of camera targets (such as a second longitudinal deceleration a2, a second speed v2, and a second longitudinal distance s2).
[0042] In one or more embodiments, the longitudinal attribute information of the target includes the longitudinal deceleration, speed and longitudinal distance of the target. In this embodiment, the filtering device 220 may be configured to filter the target when the longitudinal deceleration and speed change suddenly and the longitudinal distance does not change.
[0043] On actual public roads, unless the target vehicle triggers an emergency braking function, such as AEB, it is generally difficult for the target vehicle to exceed -7m / s. 2 According to the existing data, the inventor of this application found that due to the association error, the deceleration value of the target vehicle output by the perception module exceeded -7m / s. 2 , and the longitudinal relative speed of the target vehicle also decreases for three consecutive cycles. In general, the longitudinal distance measured by the radar and camera is Very close, but after fully analyzing multiple problem data, it is found that in the scene where the problem occurs (such as the tunnel scene), the longitudinal distance between the radar and the camera is almost unchanged, but The changes are huge.
[0044] Therefore, in one embodiment, the filtering device 220 may include: a first determining unit, configured to determine that the first longitudinal deceleration a1 of the radar target is less than -7 m / s 2 and the first speed v1 decreases at a certain deceleration rate within a number of cycles (for example, within three consecutive cycles); and the second determining unit is used to determine a change value Δs1 of the first longitudinal distance s1 of the radar target after the number of cycles, a change value Δv1 of the first speed v1 after the number of cycles, and an average value a3 of the first longitudinal deceleration a1 within the number of cycles; the third determining unit is used to determine the conditions that simultaneously satisfy |a1-a2|>A and |v1-v2|>V, wherein Y, A and V are respectively a first threshold, a second threshold and a third threshold which are preset; and a filtering unit, for filtering the radar target.
[0045] In another embodiment, the filtering device 220 further includes: a fourth determining unit, configured to determine a change value Δs2 of the second longitudinal distance s2 of the camera target after the plurality of cycles; and a fifth determining unit, configured to determine a value satisfying Wherein Z is a preset fourth threshold.
[0046] The target filtering device 2000 can be integrated into various types of autonomous driving systems, including but not limited to advanced driver assistance systems ADAS, etc. In one embodiment, the advanced driver assistance system ADAS includes: a visual sensor; a radar sensor; and a target filtering device 2000, which receives longitudinal attribute information of a target from the visual sensor and the radar sensor, and filters the target based on the longitudinal attribute information.
[0047] In summary, the target filtering scheme of the adaptive cruise control system ACC of the embodiment of the present application receives longitudinal attribute information of the target from one or more sensors (such as visual sensors, radar sensors, etc.) when the adaptive cruise control system ACC is working, and filters the target based on the longitudinal attribute information, thereby avoiding incorrect braking of the adaptive cruise control system ACC due to misrecognition and other reasons in specific scenarios, which is conducive to improving the driving experience.
[0048] The above examples mainly illustrate the target filtering scheme of the adaptive cruise control system ACC in the embodiment of the present application. Although only some of the implementation methods of the present application are described, it should be understood by those skilled in the art that the present application can be implemented in many other forms without departing from its subject matter and scope. Therefore, the examples and implementation methods shown are regarded as illustrative rather than restrictive, and the present application may cover various modifications and substitutions without departing from the spirit and scope of the present application as defined in the claims.
Claims
1. A target filtering method for an adaptive cruise control system ACC, characterized in that: The method comprises: When the adaptive cruise control system ACC is in operation, receiving longitudinal attribute information of a target from one or more sensors; and The targets are filtered based on the vertical attribute information.
2. The method of claim 1, wherein: The longitudinal attribute information includes: longitudinal deceleration, speed, and longitudinal distance of the target, and filtering the target based on the longitudinal attribute information includes: When the longitudinal deceleration and the speed suddenly change and the longitudinal distance does not change, the target is filtered.
3. The method of claim 1, wherein: Receiving longitudinal attribute information of a target from one or more sensors includes: receiving a first longitudinal deceleration a1, a first speed v1, and a first longitudinal distance s1 of a radar target; and A second longitudinal deceleration a2, a second velocity v2, and a second longitudinal distance s2 of the camera target are received.
4. The method of claim 3, wherein: Filtering the target based on the vertical attribute information includes: Determine that the first longitudinal deceleration a1 of the radar target is less than -7 m / s 2 The first speed v1 decreases at a certain deceleration rate within a number of cycles; and Determine a change value Δs1 of the first longitudinal distance s1 of the radar target after the plurality of cycles, a change value Δv1 of the first speed v1 after the plurality of cycles, and an average value a3 of the first longitudinal deceleration a1 within the plurality of cycles; Make sure to satisfy |a1-a2|>A and |v1-v2|>V, wherein Y, A and V are respectively a first threshold, a second threshold and a third threshold which are preset; and Filter the radar targets.
5. The method of claim 4, wherein: While ensuring that After |a1-a2|>A and |v1-v2|>V and before filtering the radar target, filtering the target based on the longitudinal attribute information further includes: Determine a change value Δs2 of the second longitudinal distance s2 of the camera target after the plurality of cycles; and Determine satisfaction Wherein Z is a preset fourth threshold.
6. The method according to claim 4 or 5, wherein: The plurality of cycles are three consecutive cycles.
7. A computer-readable storage medium, characterized in that: The medium includes instructions that, when executed, perform the method of any one of claims 1 to 6.
8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.
9. A target filtering device for an adaptive cruise control system ACC, characterized in that: The device comprises: a receiving device, for receiving longitudinal attribute information of a target from one or more sensors when the adaptive cruise control system ACC is in operation; and A filtering device is used to filter the target based on the vertical attribute information.
10. The device of claim 9, wherein: The longitudinal attribute information includes: longitudinal deceleration, speed and longitudinal distance of the target, and the filtering device is configured to filter the target when the longitudinal deceleration and speed change suddenly and the longitudinal distance does not change.
11. The device of claim 9, wherein: The receiving device comprises: a first receiving unit, configured to receive a first longitudinal deceleration a1, a first speed v1, and a first longitudinal distance s1 of a radar target; and The second receiving unit is used to receive the second longitudinal deceleration a2, the second speed v2 and the second longitudinal distance s2 of the camera target.
12. The device of claim 11, wherein: The filtering device comprises: The first determination unit is used to determine that the first longitudinal deceleration a1 of the radar target is less than -7m / s 2 The first speed v1 decreases at a certain deceleration rate within a number of cycles; and A second determination unit is used to determine a change value Δs1 of the first longitudinal distance s1 of the radar target after the plurality of cycles, a change value Δv1 of the first speed v1 after the plurality of cycles, and an average value a3 of the first longitudinal deceleration a1 within the plurality of cycles; The third determining unit is used to determine the simultaneous satisfaction |a1-a2|>A and |v1-v2|>V, wherein Y, A and V are respectively a first threshold, a second threshold and a third threshold which are preset; and A filtering unit is used to filter the radar target.
13. The apparatus of claim 12, wherein: The filtering device also includes: A fourth determining unit, configured to determine a change value Δs2 of the second longitudinal distance s2 of the camera target after the plurality of cycles; and A fifth determining unit is used to determine whether Wherein Z is a preset fourth threshold.
14. The apparatus of claim 12 or 13, wherein: The plurality of cycles are three consecutive cycles.
15. An advanced driver assistance system ADAS, characterized in that: The advanced driver assistance system ADAS includes: Vision sensors; Radar sensors; and The target filtering device according to any one of claims 9 to 14, wherein the target filtering device receives longitudinal attribute information of the target from the visual sensor and the radar sensor, and filters the target based on the longitudinal attribute information.