The invention provides a multi-target tracking method and device and a vehicle, and relates to the field of multi-target tracking, and the method comprises the steps: obtaining laser radar data and millimeter wave radar data collected by a laser radar and a millimeter wave radar at a current moment, and determining the detection target information at the current moment according to the target data; based on the detection target information and the historical tracking target information, matching and tracking a plurality of obstacles in a preset range; the historical tracking target information comprises the position information, the speed information and the course angle of each obstacle needing to be tracked in the tracking list. According to the multi-target tracking method and device and the vehicle provided by the invention, the unmanned operation machine has a multi-target stable tracking function, and the working efficiency of the operation machine is improved.
本申请提供一种多目标跟踪方法、装置及车辆,涉及多目标跟踪领域,该方法包括:获取当前时刻激光雷达以及毫米波雷达采集的激光雷达数据和毫米波雷达数据,并根据目标数据确定当前时刻的检测目标信息;基于检测目标信息以及历史跟踪目标信息,对预设范围内的多个障碍物进行匹配和跟踪;历史跟踪目标信息包括:跟踪列表中每个需要跟踪的障碍物的位置信息、速度信息以及航向角。本申请提供的多目标跟踪方法、装置及车辆,用于使无人驾驶作业机械具备对多目标的稳定跟踪功能,提高作业机械的工作效率。
Multi-target tracking method and device and vehicle
多目标跟踪方法、装置及车辆
2023-07-28
Patent
Electronic Resource
Chinese
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