Speed correction method, device and equipment for target tracking object and storage medium
By capturing and filtering obstacles around the target object, calculating the tangent slope and observing clock cycle, correcting the speed of the target object, solving the problem of large speed calculation errors in traditional methods, and achieving higher speed correction accuracy.
Patent Information
- Application Number
- CN202411605347.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-11
- Publication Date
- 2025-02-18
AI Technical Summary
Traditional methods have large errors in calculating the initial velocity and real-time velocity of the target object, mainly due to measurement errors, environmental interference, and sensor noise.
By capturing all obstacles around the target object, filtering out the target obstacles, and calculating the tangent slope of the corresponding points on the obstacle fitting curve of the target object, obtaining the observation clock period, and correcting the speed of the target object based on these parameters.
This method can more accurately correct the speed of the target object, reduce the speed error at the initial moment and the real-time speed error, and improve the accuracy and reliability of speed correction.
Smart Images
Figure CN119470973A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of data processing technology, and in particular to a method, device, equipment and storage medium for correcting the speed of a target tracking object. Background Art
[0002] Tracking the speed of a target object usually requires knowing the initial speed of the target object and its real-time speed over time. In traditional methods, when calculating the initial speed of the target object through initialization methods, there is often a certain error. This is because the initial speed may be affected by many factors, such as measurement errors, environmental interference, etc., resulting in a large deviation between the calculated initial speed and the actual speed.
[0003] On the other hand, using traditional real-time speed tracking methods to obtain the real-time speed of the target object will also face certain errors. The calculation of real-time speed usually depends on the data collected by the sensor and algorithm processing. The sensor data may be affected by factors such as noise and interference, and the algorithm processing may also have errors. Therefore, the real-time speed value obtained may deviate from the actual motion state of the target object.
[0004] Therefore, how to reduce the initial speed error and real-time speed error of the target object being tracked is a technical problem that technical personnel in this field need to solve urgently. Summary of the invention
[0005] Based on the above problems, the present application provides a method, device, equipment and storage medium for correcting the speed of a target tracking object, which can reduce the initial speed error and real-time speed error of the target object being tracked.
[0006] The embodiments of the present application disclose the following technical solutions:
[0007] A method for correcting the speed of a target tracking object, the method comprising:
[0008] Capture all obstacles around the target tracking object;
[0009] Filtering out a target obstacle from all obstacles according to a filtering rule;
[0010] Calculate the tangent slope of the target tracking object at the corresponding point on the obstacle fitting curve of the target obstacle to obtain the observation clock period of the target tracking object; the obstacle fitting curve includes the position data of all obstacles encountered by the target tracking object; the observation clock period of the target tracking object is the clock period of the sensor carried by the target tracking object;
[0011] The speed of the target tracking object is corrected based on the tangent slope and the observation clock period.
[0012] In a possible implementation, the method further includes:
[0013] Construct a mathematical expression of all obstacles: y=c0+c1x+c2, where c0, c1 and c2 are fitting coefficients;
[0014] The obstacle fitting curve is drawn based on the mathematical expressions of all the obstacles.
[0015] In a possible implementation, the tangent slope is:
[0016] k=c1+2c2x T
[0017] Among them, x T A lateral position of an object for the target tracking at the current position.
[0018] In a possible implementation, the correcting the speed of the target tracking object based on the tangent slope and the observation clock period includes:
[0019] When the observation clock cycle is 1, the initial speed value of the target tracking object is calculated; the initial speed value includes the initial lateral speed value and the initial longitudinal speed value:
[0020] The initial value of the lateral velocity is:
[0021] The initial value of the longitudinal velocity is:
[0022] Wherein, k is the slope of the tangent line; v r is the radial Doppler velocity of the target tracking object; θ is the azimuth angle of the target tracking object relative to the sensor;
[0023] The calculated initial speed value of the target tracking object is used to replace the original initial speed value of the target tracking object.
[0024] In a possible implementation, the correcting the speed of the target tracking object based on the tangent slope and the observation clock period further includes:
[0025] When the observation clock period is greater than 1, the current velocity vector (v x ,v y ) and the cosine value of the angle α between the direction of the tangent slope, where v x The lateral velocity of the target tracking object at the current position; v yis the longitudinal velocity of the target tracking object at the current position; the cosine value of the direction angle α is k is the slope of the tangent line;
[0026] When the cosine value of the direction angle is less than the cosine threshold, the lateral speed and the longitudinal speed of the target tracking object at the current position are corrected based on the tangent slope.
[0027] In one possible implementation,
[0028] The correcting the lateral speed and the longitudinal speed of the target tracking object at the current position based on the tangent slope includes:
[0029] Calculate the cosine and sine of the rotation angle of the lateral velocity and the longitudinal velocity of the current position;
[0030] Calculating a corrected lateral velocity and a corrected longitudinal velocity of the current position according to the cosine value and the sine value of the rotation angle;
[0031] The corrected lateral velocity and the corrected longitudinal velocity are used to replace the lateral velocity and the longitudinal velocity of the target tracking object at the current position.
[0032] In one possible implementation,
[0033] The cosine of the rotation angle is:
[0034] The sine value of the rotation angle is:
[0035] The modified lateral velocity is: v x-temp =v x cosγ+v y sinγ;
[0036] The modified longitudinal velocity is: v y-temp =-v x sinγ+v y cosγ;
[0037] Wherein, γ is the rotation angle; k is the tangent slope.
[0038] A speed correction device for a target tracking object, the device comprising:
[0039] An obstacle capture unit, used to capture all obstacles around the target tracking object;
[0040] An obstacle screening unit, used for screening out a target obstacle from all obstacles according to a screening rule;
[0041] A calculation and acquisition unit, used to calculate the tangent slope of the target tracking object at the corresponding point on the obstacle fitting curve of the target obstacle, and obtain the observation clock period of the target tracking object; the obstacle fitting curve includes the position data of all obstacles encountered by the target tracking object; the observation clock period of the target tracking object is the clock period of the sensor carried by the target tracking object;
[0042] The first speed correction unit is used to correct the speed of the target tracking object based on the tangent slope and the observation clock period.
[0043] A speed correction device for a target tracking object comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the speed correction method for the target tracking object as described above is implemented.
[0044] A computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, and when the instructions are executed on a terminal device, the terminal device executes the speed correction method of the target tracking object as described above
[0045] Compared with the prior art, this application has the following beneficial effects:
[0046] The present application provides a method, device, equipment and storage medium for correcting the speed of a target tracking object. Specifically, when executing the speed correction method for a target tracking object provided in an embodiment of the present application, all obstacles around the target tracking object can be captured first. Then, the target obstacle is screened out from all obstacles according to the screening rules, and the tangent slope of the target tracking object at the corresponding point on the obstacle fitting curve of the target obstacle is calculated to obtain the observation clock cycle of the target tracking object, wherein the obstacle fitting curve contains the position data of all obstacles encountered by the target tracking object, and the observation clock cycle of the target tracking object is the clock cycle of the sensor carried on the target tracking object. Then the speed of the target tracking object is corrected based on the tangent slope and the observation clock cycle. The present application can more accurately correct the speed of the target tracking object by calculating the tangent slope of the corresponding point on the obstacle fitting curve of the target tracking object, combined with the observation clock cycle. This correction method based on the obstacle position data in the actual environment can more finely reflect the interactive relationship between the target object and the surrounding environment, and improve the accuracy of speed correction. At the same time, the clock cycle of the sensor carried by the target tracking object is used as the observation clock cycle, which can better combine the data information collected by the sensor and improve the accuracy and reliability of speed correction. In addition, by calculating the observation clock cycle and tangent slope of the target tracking object in real time, while ensuring real-time performance, the speed change of the target object can be tracked more stably, improving the response speed and stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS
[0047] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0048] Figure 1 A method flow chart of a method for correcting the speed of a target tracking object provided in an embodiment of the present application;
[0049] Figure 2 A schematic structural diagram of a speed correction device for a target tracking object provided in an embodiment of the present application. DETAILED DESCRIPTION
[0050] To facilitate understanding of the technical solutions provided by the embodiments of the present application, the background technology involved in the embodiments of the present application will be described below.
[0051] To track the speed of a target object, it is necessary to track the initial speed and real-time speed of the target object. The error of calculating the initial speed of the target object using the traditional initialization method is large. At the same time, there is also a certain error in obtaining the real-time speed of the target object using the traditional real-time speed tracking.
[0052] In order to solve this problem, an embodiment of the present application provides a method, device, equipment and storage medium for correcting the speed of a target tracking object. First, all obstacles around the target tracking object are captured, and the target obstacle is filtered out from all obstacles according to the screening rules. Then, the tangent slope of the target tracking object at the corresponding point on the obstacle fitting curve of the target obstacle is calculated, and the observation clock cycle of the target tracking object is obtained. Then, the speed of the target tracking object is corrected based on the tangent slope and the observation clock cycle. The present application calculates the tangent slope of the target tracking object at the corresponding point on the obstacle fitting curve, combined with the observation clock cycle, to more accurately correct the speed of the target tracking object.
[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0054] See also Figure 1 , which is a flow chart of a method for correcting the speed of a target tracking object provided by an embodiment of the present application, such as Figure 1 As shown, the speed correction method of the target tracking object may include steps S101-S104:
[0055] S101: Capture all obstacles around the target tracking object.
[0056] First, the speed correction system of the target tracking object needs to capture the position information of all obstacles around the target through sensors and other equipment carried by the target tracking object.
[0057] Optionally, all obstacles may be, but are not limited to, strip obstacles, such as guardrails, green belts, walls, etc. These obstacles may also be other objects, walls, or other obstacles.
[0058] S102: Screening out a target obstacle from all obstacles according to a screening rule.
[0059] The system will select specific obstacles related to the target tracking object from all detected obstacles according to pre-set rules or conditions. These screening rules can be based on factors such as distance, size, shape, etc. to determine which obstacles may affect the movement trajectory of the target object or need to be taken into account.
[0060] Optionally, the screening rule includes: screening out obstacles that are closest to the target tracking object within a screening threshold.
[0061] Optionally, the screening threshold can be set based on the actual lane information and can be set to half the lane width or 1.5 times the lane width. Usually, the screening threshold is set in the range of 1.875 to 5.625. In addition, in order to facilitate the rapid initialization and tracking convergence of the target tracking object, the trajectory in the initial stage can take a larger threshold, and the trajectory in the stable tracking stage can take a smaller threshold.
[0062] S103: Calculate the tangent slope of the target tracking object at the corresponding point on the obstacle fitting curve of the target obstacle to obtain the observation clock period of the target tracking object.
[0063] The obstacle fitting curve includes the position data of all obstacles encountered by the target tracking object. The observation clock period of the target tracking object is the clock period of the sensor carried by the target tracking object.
[0064] The system uses the position data between the target tracking object and each obstacle to fit a curve to represent the distribution of obstacles. Then, the point corresponding to the position of the target tracking object is found on the fitting curve, and the tangent slope at that point is calculated. The tangent slope can provide information about the direction and speed change of the target tracking object relative to the obstacle.
[0065] At the same time, the sensor carried by the target tracking object has a specific clock cycle, that is, the time interval between the sensor's observation and data collection. The system needs to obtain the value of this clock cycle for use in subsequent processing.
[0066] In a possible implementation, the method further includes:
[0067] First, a mathematical expression of all obstacles is constructed: y=c0+c1x+c2, where c0, c1 and c2 are fitting coefficients, and c0, c1 and c2 are determined according to the actual situation of the obstacles. Then, the obstacle fitting curve is drawn based on the mathematical expression of all obstacles.
[0068] Specifically, for all detected obstacles, the system will use the position data of these obstacles to construct a mathematical expression. This mathematical expression is in the form of a quadratic function, expressed as y=c0+c1x+c2. The system will then draw a fitting curve for the obstacles. This curve will show the overall position distribution trend of the obstacles in a two-dimensional coordinate system, helping the system to better understand the relationship and movement laws between the obstacles. The drawing of the fitting curve can be achieved through mathematical calculations and visualization tools, thereby providing a more accurate reference for target tracking and path planning.
[0069] In a possible implementation, the tangent slope is:
[0070] k=c1+2c2x T
[0071] Among them, x T A lateral position of an object for the target tracking at the current position.
[0072] S104: Correcting the speed of the target tracking object based on the tangent slope and the observation clock period.
[0073] The calculated tangent slope and the observed clock period are used to adjust or correct the speed of the target tracking object. By combining these two parameters, the speed of the target object can be adjusted more accurately to make it more consistent with the actual situation. This correction can help the system better track the motion state of the target object and make corresponding controls.
[0074] In a possible implementation, the correcting the speed of the target tracking object based on the tangent slope and the observation clock period includes A1-A2:
[0075] A1: When the observation clock cycle is 1, the initial value of the speed of the target tracking object is calculated.
[0076] The initial speed value includes the initial lateral speed value and the initial longitudinal speed value.
[0077] When the observation clock cycle is 1, it indicates that the target tracking object is in the trajectory starting state, and at this time, the initial value of the target tracking object's velocity needs to be calculated.
[0078] The initial velocity value of the target tracking object includes the initial lateral velocity value and the initial longitudinal velocity value:
[0079] The initial value of the lateral velocity is:
[0080] The initial value of the longitudinal velocity is:
[0081] Where k is the slope of the tangent line; v r is the radial Doppler velocity of the target tracking object; θ is the azimuth angle of the target tracking object relative to the sensor.
[0082] A2: Using the calculated initial speed value of the target tracking object to replace the original initial speed value of the target tracking object.
[0083] In a possible implementation, the correcting the speed of the target tracking object based on the tangent slope and the observation clock period further includes B1-B2:
[0084] B1: When the observation clock period is greater than 1, calculate the current velocity vector (v x ,v y ) is the cosine value of the angle α between the direction of the tangent slope.
[0085] When the observation clock period is greater than 1, it means that the target tracking object has moved on the trajectory for a period of time and is no longer in the starting state. At this time, it is necessary to calculate the current velocity vector (v x ,v y ) is the cosine of the angle α between the tangent line and the direction of the tangent slope k.
[0086] Among them, v x The lateral velocity of the target tracking object at the current position; v y is the longitudinal velocity of the target tracking object at the current position; the cosine value of the direction angle α is k is the slope of the tangent line.
[0087] B2: When the cosine value of the direction angle is less than the cosine threshold, the lateral speed and the longitudinal speed of the target tracking object at the current position are corrected based on the tangent slope.
[0088] That is to say, when the cosine value of the direction angle is less than the cosine threshold, it means that the movement direction of the target object deviates greatly from the expected direction and needs to be corrected. Based on the tangent slope, the lateral speed and longitudinal speed of the target tracking object at the current position can be adjusted.
[0089] Optionally, the angle cosine threshold is usually set according to an empirical value. In an actual road scene, the threshold can be set within a range of 10 degrees to 15 degrees, that is, the angle cosine threshold ranges from 0.9848 to 0.9659.
[0090] In a possible implementation, the correcting the lateral speed and the longitudinal speed of the target tracking object at the current position based on the tangent slope includes C1-C3:
[0091] B1: Calculate the cosine value and sine value of the rotation angle of the lateral velocity and the longitudinal velocity of the current position.
[0092] The cosine value and sine value of the rotation angle of the lateral velocity and longitudinal velocity at the current position are calculated in order to convert the current lateral velocity and longitudinal velocity into a coordinate system consistent with the tangent direction for correction.
[0093] Optionally, the cosine value of the rotation angle is:
[0094] The sine value of the rotation angle is:
[0095] Wherein, γ is the rotation angle; k is the tangent slope.
[0096] C2: Calculating the corrected lateral speed and the corrected longitudinal speed of the current position according to the cosine value and the sine value of the rotation angle.
[0097] According to the calculated cosine and sine values of the rotation angle, the corrected lateral speed and corrected longitudinal speed of the target object at the current position are calculated. In this process, the cosine and sine in the trigonometric function are used to adjust the speed so that the target object can move along the desired trajectory. This process can help control the lateral and longitudinal speed of the target object in motion, thereby better realizing the target tracking or navigation function.
[0098] Optionally, the modified lateral velocity is: v x-temp =v x cosγ+v y sinγ;
[0099] The modified longitudinal velocity is: v y-temp =-v x sinγ+v y cosγ.
[0100] C3: replacing the lateral velocity and the longitudinal velocity of the target tracking object at the current position with the corrected lateral velocity and the corrected longitudinal velocity.
[0101] By replacing the original speed with the corrected speed, it can be ensured that the target object moves in the correct direction and speed in the next movement, thereby improving the accuracy and effect of the target tracking or navigation system.
[0102] Based on the contents of S101-S104, it can be known that all obstacles around the target tracking object are first captured, and the target obstacle is screened out from all obstacles according to the screening rules. Next, the tangent slope of the target tracking object at the corresponding point on the obstacle fitting curve of the target obstacle is calculated, and the observation clock cycle of the target tracking object is obtained. Finally, the speed of the target tracking object is corrected based on the tangent slope and the observation clock cycle. The present application calculates the tangent slope of the target tracking object at the corresponding point on the obstacle fitting curve, combined with the observation clock cycle, to more accurately correct the speed of the target tracking object. This correction method based on obstacle position data in the actual environment can more accurately reflect the interactive relationship between the target object and the surrounding environment, and improve the accuracy of speed correction.
[0103] See also Figure 2 , Figure 2 This is a schematic diagram of the structure of a speed correction device for a target tracking object provided in an embodiment of the present application. Figure 2 As shown, the speed correction device of the target tracking object includes:
[0104] The obstacle capturing unit 201 is used to capture all obstacles around the target tracking object;
[0105] An obstacle screening unit 202, configured to screen out a target obstacle from all obstacles according to a screening rule;
[0106] The calculation and acquisition unit 203 is used to calculate the tangent slope of the target tracking object at the corresponding point on the obstacle fitting curve of the target obstacle, and obtain the observation clock period of the target tracking object; the obstacle fitting curve includes the position data of all obstacles encountered by the target tracking object; the observation clock period of the target tracking object is the clock period of the sensor carried by the target tracking object;
[0107] The first speed correction unit 204 is used to correct the speed of the target tracking object based on the tangent slope and the observation clock period.
[0108] In a possible implementation manner, the device further includes:
[0109] A construction unit, used to construct a mathematical expression of all obstacles: y=c0+c1x+c2, wherein c0, c1 and c2 are fitting coefficients;
[0110] The obstacle fitting curve drawing unit is used to draw the obstacle fitting curve based on the mathematical expressions of all obstacles.
[0111] In a possible implementation, the tangent slope is:
[0112] k=c1+2c2x T
[0113] Among them, x T A lateral position of an object for the target tracking at the current position.
[0114] In a possible implementation, the first speed correction unit 204 specifically includes:
[0115] The first calculation unit is used to calculate the initial speed value of the target tracking object when the observation clock cycle is 1; the initial speed value includes the initial lateral speed value and the initial longitudinal speed value:
[0116] The initial value of the lateral velocity is:
[0117] The initial value of the longitudinal velocity is:
[0118] Wherein, k is the slope of the tangent line; v r is the radial Doppler velocity of the target tracking object; θ is the azimuth angle of the target tracking object relative to the sensor;
[0119] The first replacing unit is used to replace the original initial speed value of the target tracking object with the calculated initial speed value of the target tracking object.
[0120] In a possible implementation, the first speed correction unit 204 further includes:
[0121] The second calculation unit is used to calculate the current velocity vector (v x ,v y ) and the cosine value of the angle α between the direction of the tangent slope, where v x The lateral velocity of the target tracking object at the current position; v y is the longitudinal velocity of the target tracking object at the current position; the cosine value of the direction angle α is k is the slope of the tangent line;
[0122] The second speed correction unit is used to correct the lateral speed and longitudinal speed of the target tracking object at the current position based on the tangent slope when the cosine value of the direction angle is less than the cosine threshold.
[0123] In a possible implementation, the second speed correction unit specifically includes:
[0124] A third calculation unit, used for calculating the cosine value and sine value of the rotation angle of the lateral speed and the longitudinal speed of the current position;
[0125] a fourth calculation unit, configured to calculate a corrected lateral velocity and a corrected longitudinal velocity of the current position according to a cosine value and a sine value of the rotation angle;
[0126] The second replacing unit is used to replace the lateral speed and the longitudinal speed of the target tracking object at the current position with the corrected lateral speed and the corrected longitudinal speed.
[0127] In a possible implementation, the cosine value of the rotation angle is:
[0128] The sine value of the rotation angle is:
[0129] The modified lateral velocity is: v x-temp =v x cosγ+v y sinγ;
[0130] The modified longitudinal velocity is: v y-temp =-v x sinγ+v y cosγ;
[0131] Wherein, γ is the rotation angle; k is the tangent slope.
[0132] In addition, an embodiment of the present application also provides a speed correction device for a target tracking object, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the speed correction method for the target tracking object as described above is implemented.
[0133] In addition, an embodiment of the present application further provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the speed correction method for a target tracking object as described above.
[0134] The embodiment of the present application provides a speed correction device for a target tracking object. The obstacle capture unit 201 is first used to capture all obstacles around the target tracking object, and the obstacle screening unit 202 is used to screen out the target obstacle from all obstacles according to the screening rules. The calculation acquisition unit 203 calculates the tangent slope of the target tracking object at the corresponding point on the obstacle fitting curve of the target obstacle, and obtains the observation clock cycle of the target tracking object, so that the first speed correction unit 204 can correct the speed of the target tracking object based on the tangent slope and the observation clock cycle. The present application is based on the correction method of obstacle position data in the actual environment, which can more finely reflect the interactive relationship between the target object and the surrounding environment and improve the accuracy of speed correction. At the same time, the clock cycle of the sensor carried on the target tracking object is used as the observation clock cycle, so that the data information collected by the sensor can be better combined to improve the accuracy and reliability of speed correction. In addition, by calculating the observation clock cycle and tangent slope of the target tracking object in real time, while ensuring real-time performance, the speed change of the target object can be more stably tracked, and the response speed and stability of the system can be improved.
[0135] The above is a detailed introduction to a method, device, equipment and storage medium for correcting the speed of a target tracking object provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.
[0136] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.
[0137] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.
Claims
1. A method for correcting the speed of a target tracking object, characterized in that: The method comprises: Capture all obstacles around the target tracking object; Filtering out a target obstacle from all obstacles according to a filtering rule; Calculate the tangent slope of the target tracking object at the corresponding point on the obstacle fitting curve of the target obstacle to obtain the observation clock period of the target tracking object; the obstacle fitting curve includes the position data of all obstacles encountered by the target tracking object; the observation clock period of the target tracking object is the clock period of the sensor carried by the target tracking object; The speed of the target tracking object is corrected based on the tangent slope and the observation clock period.
2. The method according to claim 1, characterized in that: The method further comprises: Construct a mathematical expression of all obstacles: y=c0+c1x+c2, where c0, c1 and c2 are fitting coefficients; The obstacle fitting curve is drawn based on the mathematical expressions of all the obstacles.
3. The method according to claim 2, characterized in that The slope of the tangent line is: k=c1+2c2x T Among them, x T A lateral position of an object for the target tracking at the current position.
4. The method according to claim 1, characterized in that: The correcting the speed of the target tracking object based on the tangent slope and the observation clock period includes: When the observation clock cycle is 1, the initial speed value of the target tracking object is calculated; the initial speed value includes the initial lateral speed value and the initial longitudinal speed value: The initial value of the lateral velocity is: The initial value of the longitudinal velocity is: Wherein, k is the slope of the tangent line; v r is the radial Doppler velocity of the target tracking object; θ is the azimuth angle of the target tracking object relative to the sensor; The calculated initial speed value of the target tracking object is used to replace the original initial speed value of the target tracking object.
5. The method according to claim 1, characterized in that The correcting the speed of the target tracking object based on the tangent slope and the observation clock cycle also includes: When the observation clock period is greater than 1, the current velocity vector (v x ,v y ) and the cosine value of the angle α between the direction of the tangent slope, where v x The lateral velocity of the target tracking object at the current position; v y is the longitudinal velocity of the target tracking object at the current position; the cosine value of the direction angle α is k is the slope of the tangent line; When the cosine value of the direction angle is less than the cosine threshold, the lateral speed and the longitudinal speed of the target tracking object at the current position are corrected based on the tangent slope.
6. The method according to claim 5, characterized in that The correcting the lateral speed and the longitudinal speed of the target tracking object at the current position based on the tangent slope includes: Calculate the cosine and sine of the rotation angle of the lateral velocity and the longitudinal velocity of the current position; Calculating a corrected lateral velocity and a corrected longitudinal velocity of the current position according to the cosine value and the sine value of the rotation angle; The corrected lateral velocity and the corrected longitudinal velocity are used to replace the lateral velocity and the longitudinal velocity of the target tracking object at the current position.
7. The method according to claim 6, characterized in that The cosine of the rotation angle is: The sine value of the rotation angle is: The modified lateral velocity is: v x-temp =v x cosγ+v y sinγ; The modified longitudinal velocity is: v y-temp =-v x sinγ+v y cosγ; Wherein, γ is the rotation angle; k is the tangent slope.
8. A speed correction device for a target tracking object, characterized in that: The device comprises: An obstacle capture unit, used to capture all obstacles around the target tracking object; An obstacle screening unit, used for screening out a target obstacle from all obstacles according to a screening rule; A calculation and acquisition unit, used to calculate the tangent slope of the target tracking object at the corresponding point on the obstacle fitting curve of the target obstacle, and obtain the observation clock period of the target tracking object; the obstacle fitting curve includes the position data of all obstacles encountered by the target tracking object; the observation clock period of the target tracking object is the clock period of the sensor carried by the target tracking object; The first speed correction unit is used to correct the speed of the target tracking object based on the tangent slope and the observation clock period.
9. A speed correction device for a target tracking object, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the speed correction method for a target tracking object as described in any one of claims 1 to 7 is implemented.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the speed correction method for a target tracking object as described in any one of claims 1 to 7.