The invention discloses an intersection traffic scene radar video real-time high-precision trajectory fusion and connection method, which comprises the following steps: S1, according to a set calculation frequency, obtaining a target trajectory point set detected by a radar and a visual perception device; s2, according to the set calculation frequency, obtaining a candidate track point set detected by the radar and the visual perception device; s3, screening the target track point set and the candidate track point set detected by the radar and the visual perception device to obtain the target track point set and the candidate track point set after duplicate removal; s4, judging the position of the de-duplicated radar target track, and connecting the radar target track and the video candidate track according to a judgment result; s5, judging the position of the de-duplicated video target track, and connecting the video target track and the radar candidate track according to a judgment result; s6, connection of all radar target tracks and video target tracks is completed, and a complete track set is obtained; the track is divided into a target type and a candidate type, the complete vehicle track is obtained through bidirectional connection of the radar and the video in the matching range of the stop line of the entrance lane and the exit lane, the accuracy is high, matching is rapid, and jumping is effectively prevented.
本发明公开了一种路口交通场景雷达视频实时高精轨迹融合衔接的方法,包括以下步骤:S1:根据设定的计算频率,获取雷达和视觉感知设备检测到的目标轨迹点集合;S2:根据设定的计算频率,获取雷达和视觉感知设备检测到的候选轨迹点集合;S3:对雷达和视觉感知设备检测到的目标轨迹点集合和候选轨迹点集合进行筛选,得到去重后的目标轨迹点集合和候选轨迹点集合;S4:判断去重后的雷达目标轨迹所在位置,根据判断结果连接雷达目标轨迹和视频候选轨迹;S5:判断去重后的视频目标轨迹所在位置,根据判断结果连接视频目标轨迹和雷达候选轨迹;S6:完成所有雷达目标轨迹和视频目标轨迹的连接,获得完整轨迹集合;将轨迹分为目标与候选两种类型,通过在进口道停止线与出口道匹配范围内进行的雷达与视频的双向衔接,获得完整车辆轨迹,准确度高、匹配快速,并有效防止了跳变。
Intersection traffic scene radar video real-time high-precision track fusion and connection method
一种路口交通场景雷达视频实时高精轨迹融合衔接的方法
2023-11-07
Patent
Electronic Resource
Chinese
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