CN113419244A - Vehicle track splicing method based on millimeter wave radar data - Google Patents
Vehicle track splicing method based on millimeter wave radar data Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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Abstract
The invention relates to a vehicle track splicing method based on millimeter wave radar data, which is used for solving the technical problems of multi-target track tracking and cross-equipment splicing when millimeter wave radar equipment lacks moving target characteristic information; sensing vehicles moving on an intersection road by using millimeter wave radars arranged on the intersection road at a certain interval, and acquiring vehicle track data detected by the millimeter wave radars; representing the continuous motion track of the vehicle in the corresponding single radar monitoring area by using the vehicle track captured by the single radar; according to the vehicle track motion trend, overlapping judgment is carried out on vehicle tracks obtained by two adjacent radars, the matching degree of the two target vehicle tracks is judged, and finally the tracks between frame windows are spliced according to the matching degree to obtain the final target track. The invention solves the problem of discontinuous cross-device multi-target track tracking, and has the advantages of independence on moving target characteristic information, low cost, good adaptability and the like.
Description
Technical Field
The invention relates to the field of intelligent traffic perception, in particular to a vehicle track splicing method based on millimeter wave radar data.
Background
In recent years, with the rapid development of economic society and the advancement and cost reduction of roadside sensor technologies, vehicle track sensing technologies based on various roadside sensors are in the endlessly, and a vehicle track identification method widely used at home and abroad at present is a vehicle track identification method based on a camera, on one hand, the camera is insensitive to the speed sensing of a vehicle, so that vehicle tracks acquired by cameras at different road sections cannot be effectively spliced based on vehicle motion characteristics, and on the other hand, the camera has low identification precision for a far-end vehicle and cannot calibrate and identify the vehicle in real time based on appearance characteristics, so that the vehicle tracks acquired by the cameras at different road sections cannot be effectively spliced based on vehicle appearance information characteristics. These two aspects result in the vehicle trajectory being discontinuous between different devices, however, the acquisition of a long-range continuous vehicle trajectory is of great value for the development of vehicle behavior recognition, vehicle law violation continuous monitoring, driving behavior analysis, and intelligent traffic management. Therefore, a vehicle track splicing method based on a roadside sensor is urgently needed.
With the gradual reduction of the hardware cost of the millimeter wave radar, part of military high-precision millimeter wave radars are gradually powered on for the civil field, the occupation ratio in the automobile anti-collision sensor is large at present, and according to the data of the IHS, the occupation ratio of the millimeter wave/microwave radar and the camera in the automobile anti-collision sensor reaches 70%. The millimeter wave radar has the characteristics of short wavelength, wide frequency band (large frequency range) and strong penetration capability, and the advantages of the millimeter wave radar are formed by the characteristics, so that the millimeter wave radar has great application potential in the traffic field, and the vehicle track information acquisition and analysis of a road area can be carried out based on the data of the millimeter wave radar.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a vehicle track splicing method based on millimeter wave radar data.
The purpose of the invention can be realized by the following technical scheme:
a vehicle track splicing method based on millimeter wave radar data comprises the following steps:
s1: the method comprises the steps of sensing the real-time position of a vehicle moving on a traffic road by using a millimeter wave radar installed on the traffic road, and acquiring vehicle track data and vehicle radar reflection data detected by the millimeter wave radar.
The vehicle track data detected by the millimeter wave radar comprises a vehicle ID in the range of the radar vision field, a timestamp, a radial coordinate of the vehicle relative to the radar, a tangential coordinate of the vehicle relative to the radar, and a radial component and a tangential component of the vehicle speed relative to the radar.
S2: and acquiring the position, the relative speed and the angular speed of the road vehicle according to the vehicle track data and the vehicle radar reflection data detected by the millimeter wave radar.
The specific content of the position where the road vehicle is located is acquired as follows:
judging the position coordinates of the vehicle reflected beam type center point relative to the radar according to the radar reflection data, taking the upstream radar as an original point and taking the radial distance from the upstream radar as a y coordinate, and removing the y coordinate smaller than 0m and larger than 250 m; and taking the tangential distance from the upstream radar as an x coordinate, and removing the x coordinates smaller than-12 meters and larger than 12 meters.
S3: and (3) carrying out coordinate conversion on the position of the road vehicle in the single radar vision field range, and unifying the vehicle coordinates of the adjacent radars into a coordinate system.
The unified vehicle coordinate system of two adjacent radars is as follows: the upstream radar is an origin, the radial distance from a vehicle reflection beam type center point to the upstream radar is a Y coordinate, and the tangential distance from a vehicle track type center point to the upstream radar is an X coordinate.
The specific contents of the coordinate system of the vehicle coordinates of the adjacent radars are as follows:
and calculating the relative positions of the origin points of the upstream radar coordinate system and the downstream radar coordinate system according to the relative positions of the upstream radar and the downstream radar, converting the downstream radar coordinate system into the upstream radar coordinate system according to the relative positions, and converting the vehicle coordinates in the downstream radar vision field into the coordinates (X, Y) of the upstream radar coordinate system.
S4: judging the overlapping area of the vision field ranges of the adjacent radars, judging the point positions of different tracks passing through the overlapping area, which are acquired by the adjacent radars, and judging whether the two tracks belong to the same track according to the positions and the motion trends of the different track points. The relative concrete content of the road vehicle is obtained as follows:
judging the radial velocity v of the vehicle reflected beam type center point relative to the radar according to the radar reflection datayFor v less than-150 km/h and greater than 150 km/hyEliminating the located track points; according to radar reflection data, the tangential velocity v of the vehicle reflection beam type center point relative to the radar is judgedxFor v less than-10 m/s and greater than 10 m/sxAnd eliminating the located track points.
The specific content of the overlapping area of the adjacent radar vision field ranges is judged as follows:
according to the continuous stable track point coordinate range of the vehicle in the upstream radar vision range, the vision range starting point Y capable of stably acquiring track data in the upstream radar vision range is judged1And end point Y2Similarly, the starting point Y of the view field range, which can stably acquire the trajectory data within the view field range of the downstream radar, is determined3And end point Y4Will be (Y)3，Y2) The radar field of view within the range serves as an overlap region for adjacent radar field of view ranges.
The specific content of judging whether the two tracks belong to the same track according to the positions and the motion trends of different track points is as follows:
whether two track points belong to two track points of same car is judged according to the distance of two track point position of same time stamp and the relative speed of two track points, if on same time stamp, two track points are located same lane, and when the distance is less than or equal to 2 meters, and when relative speed was less than 0.5 meters per second, judge two track points and belong to two track points of same car.
S5: and matching and splicing the two tracks belonging to the same track.
Compared with the prior art, the vehicle track splicing method based on millimeter wave radar data at least has the following beneficial effects:
in the track splicing process, the overlapping area of two radar sensing areas is determined by judging the position of the vehicle, the position, the speed and the angular speed of the vehicle in the overlapping area are calculated and matched, and the track splicing is carried out on the matched targets, so that the long-range continuous vehicle track is obtained, and the track splicing method can be well adapted to the effective splicing of the vehicle tracks obtained by cameras at different road sections.
And secondly, by adopting a track prediction mode, the problems of discontinuous target tracking tracks sensed by a single radar and discontinuous target tracking tracks sensed by a plurality of radars are solved. And eliminating error data contained in radar detection track data of the vehicles, eliminating track data loss or data field abnormity caused by data loss, reflection area shielding between two adjacent vehicles, positioning faults, network transmission errors, static object reflection noise points and the like by judging the continuity of the reflection data, and enabling the data to be more accurate.
And thirdly, the continuous track of the vehicle can be accurately acquired only according to the data acquired by the millimeter wave radar, the high-precision GPS is not required to be assembled by the vehicle, the required cost is low, the requirements on the sensing distance and the sensing angle of the millimeter wave radar equipment are avoided, and the adaptability is higher.
Drawings
FIG. 1 is a schematic diagram of a sensing range and an overlapping region of a millimeter wave radar based on a vehicle track detection method of millimeter wave radar data in an embodiment;
fig. 2 is a schematic flow chart of a vehicle track stitching method based on millimeter wave radar data in the embodiment.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Examples
The invention relates to a vehicle track splicing method based on millimeter wave radar data, which fully utilizes data returned by a millimeter wave radar and utilizes kinematic characteristics and track prediction of a vehicle to realize matching and splicing of vehicle tracks sensed by different millimeter wave radar devices, thereby obtaining a long-range continuous vehicle track, and the method has the advantages of good adaptability and low cost. The method comprises the following steps:
firstly, a millimeter wave radar installed on an intersection road is used for sensing a vehicle moving on the intersection road, and vehicle track data and vehicle radar reflection data detected by the millimeter wave radar are obtained.
The millimeter wave radar is installed on a rod piece with a certain height and is properly inclined, so that the object position in a certain distance range can be detected and sensed. In the present embodiment, as shown in fig. 1, the sensing range of the millimeter wave radar is that a cross bar with a certain height is arranged on both sides of a road, and the millimeter wave radar is installed in the center of the cross bar to detect information such as the position and speed of an object including a vehicle on a lane. For a three-lane road, when the height of the set rod is 8m, the millimeter wave radar can obtain the detection range with the length of 250m and the width exceeding the width of the whole road, at the moment, the arrangement distance of the two millimeter wave radars is 200 m, and the overlapping area is 50 m.
The fields of the vehicle trajectory data detected by the millimeter wave radar include: vehicle ID, timestamp, radial coordinate of vehicle relative to radar, tangential coordinate of vehicle relative to radar, radial component of vehicle speed, and tangential component of vehicle speed. The vehicle radar reflection data comprise radar reflection areas, longitude and latitude of track points, and average speed and direction identification track data corresponding to the track points. The average speed corresponding to the track point refers to the average speed of a track segment formed by the track point and the track point before the track point.
According to vehicle track data and vehicle radar reflection data detected by a millimeter wave radar, the position, the relative speed and the angular speed of a road vehicle are obtained, the angular speed is a comprehensive component of the transverse and longitudinal speeds, and the transverse and longitudinal speeds are mainly utilized in subsequent splicing.
In the embodiment, vehicle track data detected by the millimeter wave radar is read through a track reading algorithm, the data takes historical data and real-time input data as input data, stable vehicle track data is obtained through a data smoothing method, and noise reduction processing is performed to continuously adjust, so that data errors caused by vibration of detection equipment due to road traffic, wind and other factors in the running process of the radar equipment are reduced, and radar time sequence data are obtained.
And establishing a track data screening module, carrying out primary data quality screening, and reading radar data detected by the millimeter wave radar equipment. The track data screening module identifies error data contained in the track data according to the reflection area in the radar reflection data of the vehicle, the longitude and latitude of the track point and/or the average speed and direction corresponding to the track point, eliminates track data loss or data field abnormity caused by data loss, reflection area shielding between two adjacent vehicles, positioning faults, network transmission errors, static object reflection noise points and the like, and specifically comprises the following steps:
and judging the radar reflection area, and rejecting reflection data with the reflection area width exceeding 5 meters and the reflection area length exceeding 25 meters. Because the width of the reflection area exceeds 5 meters, objects with the length exceeding 25 meters are not vehicles and are likely to be large-area green plants, guardrails and accessory sign billboards.
And identifying the error track contained in the track data according to the longitude and latitude of the track point in the vehicle track data detected by the millimeter wave radar and/or the average speed corresponding to the track point. Identifying whether a certain track point is an error track point requires analyzing the longitude and latitude and/or the average speed of the track point, and also requires analyzing the longitude and latitude and/or the average speed of adjacent track points or adjacent track segments. And when the longitude and latitude of the track point exceeds the position range of the adjacent track points of the same timestamp, or when the longitude and latitude of the track point exceeds the position range of the adjacent track points of the adjacent timestamp, or when the speed difference between the average speed of the track point and the speed of the adjacent track points of the same timestamp exceeds 5m/s, the track point is also considered to be an error track point. The radar reflection data also comprises reflection time, and the time stamp of the frame data is obtained by acquiring the reflection time. The frames are defined by the acquired reflection times, each corresponding to a timestamp, i.e. a frame.
After the error data is eliminated, the continuity of the radar reflection data of the vehicle is judged, and because the pointers of the radar data are recycled, objects with the same pointer are distinguished, and if the objects with the same pointer (namely, the objects with the same radar data ID) are discontinuous in different frames, the vehicles are judged to be different.
And carrying out cluster analysis on the cleaned data, analyzing the number of lanes and the lanes where the vehicles are located, and carrying out transverse clustering in the direction parallel to the cross section of the road surface. The transverse clustering is transverse initial stable point clustering, and the transverse initial stable point clustering aims to determine the number of lanes according to the vehicle track and obtain a vehicle track reference point subsequently, so as to judge the lane where the vehicle is located. Specifically, the method comprises the following steps:
and (3) acquiring the track transverse position in each statistical significance by transverse clustering, specifically, acquiring the vehicle track by the transverse clustering according to the millimeter wave radar and clustering according to lanes. Dividing the track into 20 m sections, performing transverse initial stable point clustering on each section of track, determining a transverse clustering method according to the number of lanes of the on-site road, transversely clustering track points into three point positions if the tracks are three lanes, and repeating the steps to obtain the continuous center line of each lane of the road. If the site road is two lanes, the track points are transversely clustered into two point positions, the step is repeated, so that the continuous central line of each lane of the road is obtained, and the line shape of the whole road section is obtained according to the continuous central line. The horizontal clustering of the invention is to obtain the central point of each lane of the road section. The central point of each lane of the road section is obtained through transverse clustering, so that the lane width corresponding to each lane can be obtained, and the lane where each vehicle is located can be determined according to the lane width of each lane and the transverse coordinates of each point position.
In order to avoid the problem that clustering is inaccurate or clustering categories are lost due to the selection of the clustering initial stable points in the clustering process of the transverse initial stable points, the invention firstly adopts a special clustering method aiming at single-point sensitivity to determine the initial stable points to be used as reference points for subsequently acquiring the lane. The initial stable point is the central point of the whole road section, and the first point obtained by clustering is necessarily the reference point of subsequent clustering and is also the initial stable point. Because the number of vehicles in a part of lanes is far smaller than that of other lanes (such as truck lanes), for lanes with few vehicle tracks, in order to avoid the fact that the lane points are too few to be ignored during clustering, a clustering mode which is sensitive to point clustering with little number is adopted, namely, a single-point sensitive clustering method is used for determining initial stable points, the determined initial stable points represent the number of stable lanes, the accuracy and the stability of subsequently acquiring the lane alignment are ensured, and the calculation stability of the method is further improved.
At this time, the vehicle track (radial position and lane) in each single radar detection range can be obtained, and the vehicle track matching between the two radars is carried out by combining the radial speed and the tangential speed of the vehicle, specifically:
the distance between the millimeter wave radar 1 and the millimeter wave radar 2 is dradarThe millimeter wave radar 1 is at t1The vehicle position monitored at any moment is
The speed of the vehicle is
Millimeter wave radar 2 at t2The vehicle position monitored at any moment is
The speed of the vehicle is
When in use
When it is, consider that
Heavy in weightA lamination area when
When it is, consider that
In the overlap region. When in use
And
in the overlapping region, two points are matched. The matching is divided into the following cases:
1) when | t2-t1Less than or equal to 0.1s, and the distance between two vehicles
When it is, consider that
And
is the same point, passes through
Vehicle track and pass
Is matched.
2) All points on a certain track 1 existing in the monitoring section of the millimeter wave radar 1
All points on a certain track 2 existing in the monitoring section of the millimeter wave radar 2
All occur | t2-t1If | is > 0.1s or d > 2m, the track 1 is describedAnd when the track 2 is interrupted, the interruption track needs to be subjected to prediction supplementation. Firstly, the lane where the vehicle is and whether to change lanes are judged, if so, the lane is changed
And
belong to the same lane, and
the vehicle does not change the road, and when the distance d between the two vehicles is less than or equal to 2m, the vehicle is considered to pass
Vehicle track and pass
The vehicle track belongs to two tracks of the same vehicle, and the two tracks are matched. If it is not
And
do not belong to the same lane, and
the vehicle is indicated to be changing lanes on the track 1 road section, and at the moment, if the lane of the track 2 is the same as the lane changing direction of the track 1 and the distance d between the two vehicles is less than or equal to 2m, the vehicle is considered to pass through
Vehicle track and pass
The vehicle track belongs to two tracks of the same vehicle, and the two tracks are matched.
The distance between the two vehicles is calculated as:
in the formula, δ is a minimum value.
3) All points on a certain track 1 existing in the monitoring section of the millimeter wave radar 1
When the two conditions of 1) and 2) do not exist at all points on a certain track 2 existing in the monitoring section of the millimeter wave radar 2, the two tracks are not considered to belong to the same vehicle, and the two tracks are not matched.
The splicing is to unify the vehicle IDs of the two tracks, and after matching, unify the two track IDs to represent the track of the same vehicle in two radar vision fields. Through the steps, the tracks of the overlapping area between the two radar devices are matched, the matched track coordinates are unified into a coordinate system of the upstream radar, and the two tracks are subjected to position description and speed description by the unified coordinate system, so that the complete tracks described by the unified coordinate system are spliced.
In the track splicing process, the overlapping area of two radar sensing areas is determined by judging the position of the vehicle, the position, the speed and the angular speed of the vehicle in the overlapping area are calculated and matched, and the track splicing is carried out on the matched targets, so that the long-range continuous vehicle track is obtained, and the track splicing method can be well adapted to the effective splicing of the vehicle tracks acquired by cameras at different road sections. By adopting a track prediction mode, the problems of discontinuous target tracking tracks sensed by a single radar and discontinuous target tracking tracks sensed by a plurality of radars are solved. And eliminating error data contained in radar detection track data of the vehicles, eliminating track data loss or data field abnormity caused by data loss, reflection area shielding between two adjacent vehicles, positioning faults, network transmission errors, static object reflection noise points and the like by judging the continuity of the reflection data, and enabling the data to be more accurate.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A vehicle track splicing method based on millimeter wave radar data is characterized by comprising the following steps:
1) sensing the real-time position of a vehicle moving on a traffic road by using a millimeter wave radar installed on the traffic road, and acquiring vehicle track data and vehicle radar reflection data detected by the millimeter wave radar;
2) acquiring the position, the relative speed and the angular speed of a road vehicle according to vehicle track data and vehicle radar reflection data detected by a millimeter wave radar;
3) coordinate conversion is carried out on the position of the road vehicle in the single radar vision field range, and the vehicle coordinates of adjacent radars are unified into a coordinate system;
4) judging the overlapping area of the vision field ranges of the adjacent radars, judging the point positions of different tracks passing through the overlapping area, which are acquired by the adjacent radars, and judging whether the two tracks belong to the same track according to the positions and the motion trends of the different track points;
5) and matching and splicing the two tracks belonging to the same track.
2. The millimeter-wave radar data-based vehicle trajectory stitching method of claim 1, wherein the millimeter-wave radar detected vehicle trajectory data includes a vehicle ID within the field of view of the radar, a timestamp, a radial coordinate of the vehicle relative to the radar, a tangential coordinate of the vehicle relative to the radar, a radial component and a tangential component of the vehicle speed relative to the radar.
3. The vehicle track splicing method based on millimeter wave radar data according to claim 1, wherein the unified vehicle coordinate systems of two adjacent radars are as follows: the upstream radar is an origin, the radial distance from a vehicle reflection beam type center point to the upstream radar is a Y coordinate, and the tangential distance from a vehicle track type center point to the upstream radar is an X coordinate.
4. The vehicle track splicing method based on millimeter wave radar data according to claim 3, wherein in the step 2), the concrete contents of the position where the road vehicle is located are as follows:
judging the position coordinates of the vehicle reflected beam type center point relative to the radar according to the radar reflection data, taking the upstream radar as an original point and taking the radial distance from the upstream radar as a y coordinate, and removing the y coordinate smaller than 0m and larger than 250 m; and taking the tangential distance from the upstream radar as an x coordinate, and removing the x coordinates smaller than-12 meters and larger than 12 meters.
5. The vehicle track splicing method based on millimeter wave radar data according to claim 3, wherein in the step 4), the specific contents of obtaining the relative road vehicles are as follows:
judging the radial velocity v of the vehicle reflected beam type center point relative to the radar according to the radar reflection datayFor v less than-150 km/h and greater than 150 km/hyEliminating the located track points; according to radar reflection data, the tangential velocity v of the vehicle reflection beam type center point relative to the radar is judgedxFor v less than-10 m/s and greater than 10 m/sxAnd eliminating the located track points.
6. The millimeter wave radar data-based vehicle track stitching method according to claim 3, wherein in the step 3), the specific content of performing coordinate system unification on the vehicle coordinates of the adjacent radars is as follows:
and calculating the relative positions of the origin points of the upstream radar coordinate system and the downstream radar coordinate system according to the relative positions of the upstream radar and the downstream radar, converting the downstream radar coordinate system into the upstream radar coordinate system according to the relative positions, and converting the vehicle coordinates in the downstream radar vision field into the coordinates (X, Y) of the upstream radar coordinate system.
7. The vehicle track splicing method based on millimeter wave radar data according to claim 1, wherein in step 4), the specific content of the overlapping area of the adjacent radar view ranges is determined as follows:
according to the continuous stable track point coordinate range of the vehicle in the upstream radar vision range, the vision range starting point Y capable of stably acquiring track data in the upstream radar vision range is judged1And end point Y2Similarly, the starting point Y of the view field range, which can stably acquire the trajectory data within the view field range of the downstream radar, is determined3And end point Y4Will be (Y)3，Y2) The radar field of view within the range serves as an overlap region for adjacent radar field of view ranges.
8. The vehicle track splicing method based on millimeter wave radar data according to claim 1, wherein in step 4), the specific content of judging whether the two tracks belong to the same track according to the positions and the motion trends of different track points is as follows:
whether two track points belong to two track points of same car is judged according to the distance of two track point position of same time stamp and the relative speed of two track points, if on same time stamp, two track points are located same lane, and when the distance is less than or equal to 2 meters, and when relative speed was less than 0.5 meters per second, judge two track points and belong to two track points of same car.
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