The invention provides a method and device for detecting vehicle crossing through a traffic radar, a storage medium and equipment, and the method comprises the steps: building a track according to the measurement target data of a current frame, predicting the measurement target data of a next frame, judging the motion direction of the track, and determining the position and speed of the next frame according to the motion direction of the track; setting a corresponding target matching gate according to the movement direction of the trajectory, performing trajectory matching according to the corresponding target matching gate, performing Kalman filtering estimation on the successfully matched trajectory, updating the trajectory to obtain a real-time position and speed, judging the movement direction of the updated trajectory, and when the movement direction of the updated trajectory is a transverse trajectory, performing Kalman filtering estimation on the trajectory; and correcting the updated real-time speed and then outputting track information. According to the invention, the method can accurately and stably track the traversing vehicle in the complex environment in the detection and tracking process of the traffic radar, and can improve the application effect of the vehicle detection and tracking of the traffic radar in the complex environment.
本发明提供一种交通雷达检测车辆横穿的方法、装置、存储介质和设备,其中,所述方法包括:根据当前帧的量测目标数据建立轨迹并预测下一帧的量测目标数据,量测目标数据包括位置和速度,判断轨迹的运动方向,根据轨迹的运动方向设置对应目标匹配波门,根据对应的目标匹配波门进行轨迹匹配,对匹配成功的轨迹进行卡尔曼滤波估计,对轨迹更新后获得实时位置和速度,判断更新后的轨迹的运动方向,当更新后的轨迹的运行方向为横向轨迹时,对更新后的实时速度进行修正后输出轨迹信息。本发明能够在交通雷达检测跟踪过程中能够对复杂环境下的横穿车辆进行准确和稳定的跟踪,能够提升交通雷达在复杂环境下的车辆检测跟踪的应用效果。
Method and device for detecting vehicle crossing through traffic radar, storage medium and equipment
交通雷达检测车辆横穿的方法、装置、存储介质和设备
2023-04-07
Patent
Electronic Resource
Chinese
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