The invention discloses a lane identification method based on millimeter-wave radar target tracking. The method comprises the following steps: acquiring motion track information of a target vehicle through a millimeter-wave radar; motion information of the vehicle is obtained, and the motion state of the vehicle is judged according to the motion information; screening and counting target vehicles associated with the motion state of the vehicle according to the motion state of the vehicle; calculating distance distribution of the target vehicle relative to the transverse position or the longitudinal position of the vehicle so as to determine the lane center line position of the lane where the target vehicle is located; translating the center line position of the lane to two sides by a half lane to obtain inner and outer lane line information of the lane where the target vehicle is located; and processing the obtained multiple pieces of inner and/or outer lane line information of the same lane to obtain fused lane position distribution. According to the invention, the millimeter-wave radar dynamically tracks the motion track of the moving target, so that the lane recognition of the current driving road of the vehicle is realized, the lane recognition precision is improved, and the intelligent driving assistance function of the vehicle is realized.
本发明公开了一种基于毫米波雷达目标跟踪的车道识别方法,包括:通过毫米波雷达获取目标车辆的运动轨迹信息;获取本车的运动信息,根据运动信息判断本车的运动状态;根据本车的运动状态筛选并统计与本车的运动状态相关联的目标车辆;计算目标车辆相对本车横向位置或者纵向位置的距离分布,从而确定目标车辆所处车道的车道中心线位置;将该车道中心线位置向两侧平移半个车道,得到目标车辆所处车道的内、外车道线信息;对得到的同一车道的多个内和/或外车道线信息进行处理,得到融合后的车道位置分布。本发明通过毫米波雷达对运动目标的运动轨迹进行动态跟踪,实现对本车当前行驶道路进行车道识别,提高车道识别精度,实现车辆智能驾驶辅助功能。
Lane identification method based on millimeter wave radar target tracking
一种基于毫米波雷达目标跟踪的车道识别方法
2023-09-22
Patent
Electronic Resource
Chinese
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