The invention relates to the technical field of automatic driving, in particular to a target tracking method and device, a vehicle and a storage medium, and the method comprises the following steps: obtaining the sensing information of a plurality of sensors; identifying parameter information of a tracking target in the sensing information of each sensor, and sequentially associating all the parameter information of each sensor according to the measurement time to obtain associated information of each sensor; and carrying out weighted fusion on the associated information of each sensor after filtering processing to obtain state estimation information of the tracking target, and tracking the tracking target by using the state estimation information. Therefore, the problems of poor stability, low accuracy and the like of target information processing and target tracking during fusion processing in related technologies are solved.
本申请涉及自动驾驶技术领域,特别涉及一种目标跟踪方法、装置、车辆及存储介质,其中,方法包括以下步骤:获取多个传感器的感知信息;识别每个传感器的感知信息中跟踪目标的参数信息,并根据量测时间依次关联每个传感器的所有参数信息,得到每个传感器的关联信息;对每个传感器的关联信息滤波处理后进行加权融合,得到跟踪目标的状态估计信息,利用状态估计信息对跟踪目标进行跟踪。由此,解决了相关技术中进行融合处理时,目标信息处理以及跟踪目标稳定性差且精确性低等问题。
Target tracking method and device, vehicle and storage medium
目标跟踪方法、装置、车辆及存储介质
2023-06-13
Patent
Electronic Resource
Chinese
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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