The invention relates to a vehicle trajectory splicing method based on millimeter wave radar data and aims to solve the technical problems of multi-target trajectory tracking and cross-device splicing under the condition that millimeter-wave radar equipment lacks moving target feature information. The method comprises the following steps of: arranging millimeter-wave radars a traffic road at certain intervals so as to sense vehicles moving on the traffic road, and obtaining vehicle trajectory data detected by the millimeter-wave radars; representing continuous motion trajectories of the vehicles in the corresponding single radar monitoring area by using vehicle trajectories captured by the single radars; and according to a vehicle trajectory motion trend, performing overlapping judgment on the vehicle trajectories acquired by two adjacent radars, judging the matching degree of the two target vehicle trajectories, and finally splicing the trajectories between frame windows according to the matching degree to obtain a final target trajectory. With the method adopted, the problem of discontinuous cross-device multi-target trajectory tracking is solved. The method has the advantages of being independent of moving target feature information, low in cost, good in adaptability and the like.

    本发明涉及一种基于毫米波雷达数据的车辆轨迹拼接方法,用于解决毫米波雷达设备在缺乏移动目标特征信息时,多目标轨迹跟踪及跨设备拼接的技术问题;利用在交通道路上以一定间距布设的毫米波雷达,感知交通道路上移动的车辆,获取毫米波雷达检测的车辆轨迹数据;利用单雷达捕获的车辆轨迹表征在对应的单雷达监测区域内车辆的连续运动轨迹;依据车辆轨迹运动趋势,对相邻两个雷达获取的车辆轨迹进行交叠判断,判断两个目标车辆轨迹匹配程度,最后将帧窗间的轨迹依据匹配程度进行拼接得到目标最终轨迹。本发明解决了跨设备多目标轨迹跟踪不连续的问题,且具有不依赖移动目标特征信息,成本低,适配性好等优点。


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    Title :

    Vehicle trajectory splicing method based on millimeter wave radar data


    Additional title:

    一种基于毫米波雷达数据的车辆轨迹拼接方法


    Contributors:
    WANG JUNHUA (author) / SONG HAO (author)

    Publication date :

    2021-09-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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