The invention discloses a traffic radar detection vehicle traversing method, which comprises the following steps of: preliminarily judging a target movement direction when a new trajectory is created, then predicting the trajectory, predicting a trajectory position to a next frame, then carrying out target matching and EKF (Extended Kalman Filter) estimation, executing different target matching gates for targets in different movement directions, and finally, carrying out EKF (Extended Kalman Filter) estimation. The method comprises the following steps of: performing post-processing on a track after filtering estimation, further judging the motion direction of a target, and judging whether to correct the speed of the track according to the position of the track after filtering estimation and the position of a measured target after clustering for the target traversing the motion direction so as to ensure that the track and the measured target can be correctly matched when the next frame is matched. The crossing vehicle at the intersection can be tracked more accurately and stably, and the application effect of the traffic radar in the complex intersection can be improved.
本发明公开了一种交通雷达检测车辆横穿方法在新建轨迹时进行初步判断目标运动方向,然后进行轨迹预测,将轨迹位置预测到下一帧,再进行目标匹配与EKF滤波估计,对于不同运动方向的目标执行不同的目标匹配波门,经过滤波估计后对轨迹进行后处理,进一步判断目标运动方向,对于横穿运动方向的目标,根据滤波估计后的轨迹位置与聚类后的量测目标位置进行判断是否给轨迹修正速度,以保证下一帧匹配时轨迹与量测能正确匹配,对路口的横穿车辆进行更加准确和稳定地跟踪,可提升交通雷达在复杂路口中的应用效果。
Traffic radar vehicle crossing detection method
一种交通雷达检测车辆横穿方法
2023-06-13
Patent
Electronic Resource
Chinese
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