The invention relates to the technical field of vehicle track splicing, in particular to a radar data-based highway vehicle track splicing method, which comprises the following steps of: acquiring vehicle track data of a plurality of radars in real time; abnormal data points in the vehicle trajectory data are preprocessed; dividing the preprocessed vehicle track point data according to lanes; performing coordinate system unification on the positions of the road vehicles in each radar vision field range; traversing the vehicle trajectory data processed by two adjacent radars, determining a unified trajectory point of the two trajectories according to matching conditions if a coincident part exists in a corresponding time period of every two trajectories on the same lane, splicing the trajectories, if lane change occurs, determining that the predicted trajectory point and the actual trajectory point are on the same lane and have a distance difference of 15m, and if lane change occurs, determining that the predicted trajectory point and the actual trajectory point are not on the same lane. According to the method, the two points are judged to be uniform track points, and the two tracks to which the two points belong are spliced, so that the judgment of highway lanes such as ramps is added, the matching and splicing are more accurate, and the whole algorithm can be real-time and efficient.
本发明涉及车辆轨迹拼接技术领域,尤其涉及一种基于雷达数据的高速公路车辆轨迹拼接方法,包括:实时获取多个雷达的车辆轨迹数据;对车辆轨迹数据中异常数据点进行预处理;对预处理后车辆轨迹点数据按车道进行划分;对各雷达视域范围内的道路车辆的位置进行坐标系统一;遍历相邻两雷达处理后的车辆轨迹数据,判断相同车道上的两两轨迹对应时间段内若存在重合部分,根据匹配条件确定两轨迹的统一轨迹点,并进行轨迹拼接,若发生变道,则预测轨迹点与实际轨迹点在同一车道上且距离相差15m,判定两个点为统一轨迹点,并对两个点所属的两条轨迹进行拼接,本发明加入了对匝道等高速公路车道的判断,使其匹配拼接更加准确,整体算法能做到实时、高效。
Highway vehicle track splicing method based on radar data
一种基于雷达数据的高速公路车辆轨迹拼接方法
25.04.2023
Patent
Elektronische Ressource
Chinesisch
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