A target tracking method, apparatus, vehicle, device, and storage medium

By using a constant turning rate model and the target object's measurement information when the vehicle's turning angular velocity exceeds a threshold, the actual speed and heading of the target object are determined. This solves the problem of poor target tracking performance in dynamic environments and non-uniform motion in existing technologies, and improves the stability and accuracy of target tracking.

CN122308448APending Publication Date: 2026-06-30JIANGSU HIRAIN AUTOMOTIVE ELECTRONICS CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
JIANGSU HIRAIN AUTOMOTIVE ELECTRONICS CO LTD
Filing Date
2026-04-13
Publication Date
2026-06-30

AI Technical Summary

Technical Problem

Existing target tracking algorithms are difficult to apply to dynamic environments and non-uniformly moving targets, resulting in poor target tracking performance and affecting the stability and accuracy of assisted driving and autonomous driving systems.

Method used

When the angular velocity of the vehicle exceeds a threshold, the current position, velocity, and acceleration of the target object are obtained. Combined with the constant turning rate model and the measurement information of the target object, the relative velocity prediction value and heading prediction value of the target object are determined, and then its actual velocity and heading are determined.

Benefits of technology

It improves target tracking performance, making it applicable to dynamic environments and non-uniformly moving targets, and enhances the stability of target detection and tracking in turning scenarios.

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Abstract

This application provides a target tracking method, apparatus, vehicle, device, and storage medium. When the angular velocity of the vehicle exceeds a threshold angular velocity, the current position information, velocity relative to the vehicle, and acceleration relative to the vehicle of the target object are acquired. Based on the tracking period of the target object, the rotation angle of the vehicle within the tracking period, the current position information of the target object, its velocity relative to the vehicle, and its acceleration relative to the vehicle, the relative velocity prediction value and heading prediction value of the target object are determined. Based on the target object's measurement information, the relative velocity prediction value, and the heading prediction value, the actual velocity and actual heading of the target object are determined. The method provided by this application is applicable to motion state estimation of target objects in dynamic environments and non-uniform motion, effectively improving target tracking performance.
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