Vehicle target tracking algorithm and system based on multi-sensor fusion

Abstract

The invention relates to a vehicle target tracking algorithm and system based on multi-sensor fusion. The method mainly comprises the following steps: S1, acquiring sensor data by a multi-sensor module; the sensor data comprises state data and observation data; s2, a target detection and tracking module allocates sensor data to a multi-vehicle target for detection and tracking, state updating is carried out according to whether observation values exist or not, and posterior state data and posterior covariance data are obtained; and S3, inputting the posterior state data and the posterior covariance data into a multi-sensor fusion module by the target detection and tracking module, and performing time registration, trajectory association and trajectory fusion on each sub-target in the multi-vehicle target. According to the method, decoupling of a space error and a time error is realized, so that a result is more accurate; in addition, the performance distribution weight of each sensor at the current moment is fully considered, the influence of errors on each target fusion result in the environment is reduced as much as possible, and the reference requirement of automatic driving can be well met.

Images