The invention provides a radar target tracking speed correction method and device, and relates to the technical field of radars, and the method comprises the steps: obtaining a first vehicle yaw velocity of an own vehicle in a previous period of a current period and a second vehicle yaw velocity of the own vehicle in the current period; according to the first vehicle yaw velocity and the second vehicle yaw velocity, the vehicle state of the vehicle in the current period is determined; and under the condition that the vehicle state is a turning related state, the speed compensation amount of the target vehicle in the current period is determined according to the first vehicle yaw velocity, the second vehicle yaw velocity and the target position of the target vehicle in the current period. According to the method, the speed compensation amount caused by turning of the vehicle can be determined based on the vehicle yaw velocity of the two adjacent periods, and the accuracy of speed estimation is improved.
本申请提供了一种雷达目标跟踪速度修正方法和装置,涉及雷达技术领域,方法包括:获取自车车辆在当前周期的前一周期的第一车辆横摆角速度和自车车辆在当前周期的第二车辆横摆角速度;根据第一车辆横摆角速度和第二车辆横摆角速度,确定自车车辆在当前周期的车辆状态;在车辆状态为转弯相关状态的情况下,根据第一车辆横摆角速度、第二车辆横摆角速度和目标车辆在当前周期的目标位置,确定目标车辆在当前周期的速度补偿量。本申请能够基于相邻两个周期的车辆横摆角速度,确定自车车辆转弯引起的速度补偿量,提高了速度估计的准确性。
Radar target tracking speed correction method and device
一种雷达目标跟踪速度修正方法和装置
2023-08-22
Patent
Electronic Resource
Chinese
IPC: | 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 |