CN117471423B - Track quality real-time assessment method based on millimeter wave radar trace information - Google Patents
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention relates to radar data processing, in particular to a track quality real-time evaluation method based on millimeter wave radar track information, which comprises the steps of obtaining millimeter wave radar return information, and obtaining all tracks in the latest frame, and track points and track point information associated with all tracks; counting the maximum continuous point loss of the associated point track, and calculating the track point loss quality score of the latest frame based on the maximum continuous point loss; calculating a predicted position of the associated point track, and calculating a track associated quality score of the latest frame based on a position difference value between the predicted position and the observed position of the associated point track; carrying out smooth fitting on the associated point track to obtain a smooth track, and calculating the track smooth quality score of the latest frame based on the distance relation between the associated point track and the smooth track; calculating the track comprehensive quality fraction of the latest frame; the technical scheme provided by the invention can effectively overcome the defects that the track quality cannot be comprehensively and accurately estimated and the real-time performance of the track quality estimation is poor in the prior art.
Description
Technical Field
The invention relates to radar data processing, in particular to a track quality real-time assessment method based on millimeter wave radar track information.
Background
Along with the continuous development of millimeter wave radar technology, the target discovery and tracking functions of millimeter wave radar are widely applied in the fields of security protection, traffic, water area monitoring and the like. However, in a complex environment with multi-target tracking and strong clutter interference, the authenticity of the track generated by the millimeter wave radar needs to be confirmed, and how to effectively filter the false track becomes a current urgent problem to be solved. The track quality assessment is used as a key technology for processing the target track, and is a basis for realizing applications such as true and false track judgment, target tracking, motion state prediction, track real-time fusion and the like.
The conventional track quality evaluation method evaluates track quality only by scoring from a single face, i.e., track quality evaluation is performed by evaluating whether a track point is associated with a track in one cycle. Furthermore, liu Gongliang et al, calculate track quality from the amplitude value of a single track in positive correlation with track quality (Liu Gongliang, zhou Shenghua, liu Hongwei, etc. A track quality assessment method using amplitude information, university of Western An electronics science and technology report (Nature science edition), 2017,44 (1): 65-70.); zhang Haiying et al extract time, accuracy, latitude and elevation information of the target trajectory data to calculate the track quality (Zhang Haiying, he Wenjiao, wang Wei, etc. comprehensive evaluation method of target motion trajectory quality, sichuan province: CN111680870A, 2020-09-18.).
Therefore, the existing track quality assessment method only assesses the track quality from a single aspect or multiple aspects of track association, does not fully utilize the historical information of the track, cannot comprehensively and accurately assess the track quality, and has poor real-time performance on track quality assessment.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a track quality real-time assessment method based on millimeter wave radar point trace information, which can effectively overcome the defects that the track quality cannot be assessed comprehensively and accurately and the track quality assessment real-time performance is poor in the prior art.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
a track quality real-time assessment method based on millimeter wave radar trace information comprises the following steps:
s1, acquiring millimeter wave radar return information, and acquiring all tracks in the latest frame, and relevant points and point information of all tracks;
s2, counting the maximum continuous point loss of the associated point track, and calculating the track point loss quality score of the latest frame based on the maximum continuous point loss;
s3, calculating a predicted position of the associated point track, and calculating a track associated quality score of the latest frame based on a position difference value between the predicted position and the observed position of the associated point track;
s4, carrying out smooth fitting on the associated point track to obtain a smooth track, and calculating the track smooth quality score of the latest frame based on the distance relation between the associated point track and the smooth track;
s5, calculating the track comprehensive quality score of the latest frame based on the track lost point quality score, the track associated quality score and the track smooth quality score;
and S6, when updating the data of a new frame, repeating the steps S1-S5 to calculate the corresponding comprehensive quality score of the track, and carrying out true and false judgment and termination judgment on the track according to the comprehensive quality score of the track of each frame.
Preferably, the step S1 of acquiring millimeter wave radar return information, acquiring all tracks in the latest frame, and relevant points and point information of all tracks includes:
s11, acquiring all tracks in the latest frame by utilizing millimeter wave radar return informationAnd all track-related points +.>，/>For track number, +.>The number of the points associated with all tracks;
s12, extracting point trace information associated with all tracks, and representing the point trace information as，/>For distance information>For azimuth information +.>For radial velocity information>Is the lost point information;
s13, acquiring the relevant front of all tracks in the latest frameMark of points->And corresponding spot information, and converting the spot information into a Cartesian coordinate system to obtain +.>；
Wherein,、/>for the position information of the associated point trace in the Cartesian coordinate system:
，/>。
preferably, in S2, calculating the maximum continuous point loss of the associated track, and calculating the track point loss quality score of the latest frame based on the maximum continuous point loss includes:
s21, traversing all track associated front in the latest frameMark of points->Determining the maximum continuous loss point +.>And calculating the maximum continuous point loss rate of the track +.>：
；
S22, maximum continuous point loss rate based on flight pathCalculating the track loss point quality score：
。
Preferably, the traversing is performed before all track associations in the latest frameIndividual stitchesDetermining the maximum continuous loss point +.>Comprising:
initial maximum continuous point loss0, when the trace information +.>Point-of-loss information->When the point is lost, the maximum continuous point loss is +.>Accumulate 1, otherwise, the maximum continuous lost point +.>Resetting to 0 until all the trace traversal is finished, taking the maximum value as the maximum continuous lost point +.>。
Preferably, calculating the predicted position of the associated track in S3, calculating the track associated quality score of the latest frame based on the position difference between the predicted position and the observed position of the associated track, includes:
s31, traversing all track associated front in the latest frameMark of points->Calculating the pre +.>The>Predicted position of individual track->：
，
Wherein,is->Distance information of the individual tracks in the X-axis direction in the two-dimensional plane,/for each of the two-dimensional planes>Is->Speed information of the individual tracks in the X-axis direction in the two-dimensional plane,/for the X-axis direction>Is->Acceleration information of each trace in the X-axis direction in the two-dimensional plane,respectively +.>Distance information, speed information and acceleration information of each point trace in the Y-axis direction in a two-dimensional plane, wherein T is the inter-frame time interval;
s32, calculating the firstPredicted position of individual track->And observation position->Difference in position>：
；
S33 based on the firstPosition difference of each trace/>Calculating track associated quality score ∈>：
，
Wherein,for the maximum acceptable position difference between the predicted position and the observed position +.>Is in front ofThe closer the distribution coefficient of the individual tracks is +.>The track quality can be further represented at the point, and the coefficient is distributed +>The higher and the distribution coefficientSatisfies the following formula:
。
preferably, in S4, the smoothing fitting is performed on the associated point track to obtain a smoothed track, and the track smoothing quality score of the latest frame is calculated based on the distance relation between the associated point track and the smoothed track, which includes:
s41, traversing all track associated front in the latest frameMark of points->The least square method is adopted for the front +.>The smooth fitting of the individual tracks is carried out to obtain a smooth track +.>Calculating ∈10 using the following formula>、/>Is the value of (1):
，
，
s42, before calculationIndividual tracks and smooth tracks->Mean square root of distance between>：
，
S43, calculate the firstMark of points->And smooth track->Distance between->；
S44, calculating the track smooth quality fraction：
，
Wherein,is the maximum acceptable surge position.
Preferably, in S5, calculating the track composite quality score of the latest frame based on the track loss point quality score, the track associated quality score, and the track smooth quality score includes:
calculating the comprehensive quality fraction of the flight path by adopting the following method：
Wherein,、/>、/>the mass fraction of the track points is +.>Track associated mass fractionTrack smoothing quality fraction->Is normalized by the weighting coefficient of (2), and。
preferably, in S6, the determining of true or false and the termination of the track according to the track integrated quality score of each frame includes:
inputting the comprehensive track quality fraction of each frame to a track linked listIf the comprehensive quality score of the tracks of N frames in the M frames is lower than the passing line, judging that the tracks are false tracks or the tracks are terminated, eliminating the tracks, otherwise, continuing tracking.
Compared with the prior art, the track quality real-time evaluation method based on millimeter wave radar track information provided by the invention has the following beneficial effects:
1) According to the technical scheme, the track loss point quality score, the track association quality score and the track smooth quality score are synthesized, the historical information of the track is fully utilized, and the track quality is comprehensively and accurately estimated;
2) According to the technical scheme, only real-time data based on the radar is adopted, other hardware equipment is not required to be added, and the method has the advantages of small data calculation amount, high real-time performance and high accuracy;
3) According to the technical scheme, based on the comprehensive quality scores of the tracks of a plurality of continuous frames, the true and false judgment and termination judgment can be carried out on the tracks, the accuracy of true and false track identification is effectively improved, the false tracks are accurately removed, and the number of the false tracks is reduced.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In this embodiment, the millimeter wave radar is set up on the road indicator lamp, and based on the echo signal received by the millimeter wave radar, information such as the distance, azimuth angle, etc. of the target, i.e., the vehicle, relative to the radar is obtained. The distance resolution of the 24GHz millimeter wave radar adopted in the embodiment is 1.34m, and because the resolution of the 24GHz millimeter wave radar is higher, the same vehicle possibly has a plurality of radar reflection points, so that the DBSCAN algorithm is adopted to perform point trace condensation, and the condensed vehicle target position information is obtained.
As shown in FIG. 1, S1, acquiring millimeter wave radar return information, and acquiring all tracks in the latest frame, all track-associated tracks and track-associated information, specifically comprises the following steps:
s11, acquiring all tracks in the latest frame by utilizing millimeter wave radar return informationAnd all track-related points +.>，/>For track number, +.>The number of the points associated with all tracks;
s12, extracting point trace information associated with all tracks, and representing the point trace information as，/>For distance information>For azimuth information +.>For radial velocity information>Is the point-lost information (point-lost information +)>Is '0' representing the trace on the association, the lost point information +.>A "1" represents that the dot is not associated with the upper trace and is complemented;
s13, acquiring the relevant front of all tracks in the latest frameMark of points->And corresponding spot information, and converting the spot information into a Cartesian coordinate system to obtain +.>；
Wherein,、/>for the position information of the associated point trace in the Cartesian coordinate system:
，/>。
in the latest frame, extracting the relevant track information of partial tracks as shown in the following table:
TABLE 1 Point trace information Table for partial track association
The data in table 1 is calculated to obtain position information in the track information associated with part of tracks as shown in the following table:
TABLE 2 position information table of partial track associated points
S2, counting the maximum continuous point loss of the associated point track, and calculating the track point loss quality score of the latest frame based on the maximum continuous point loss, wherein the method specifically comprises the following steps:
s21, traversing all track associated front in the latest frameMark of points->Determining the maximum continuous loss point +.>And calculating the maximum continuous point loss rate of the track +.>：
；
S22, maximum continuous point loss rate based on flight pathCalculating the track loss point quality score：
。
Specifically, the previous of all track associations in the latest frame is traversedMark of points->Determining the maximum continuous loss point +.>Comprising:
initial maximum continuous point loss0, when the trace information +.>Point-of-loss information->When the point is lost, the maximum continuous point loss is +.>Accumulate 1, otherwise, the maximum continuous lost point +.>Resetting to 0 until all the trace traversal is finished, taking the maximum value as the maximum continuous lost point +.>。
Calculate the maximum continuous track point loss rate (in useRepresentation) and track loss quality score (in +.>Indicated), the results are shown in the following table:
TABLE 3 track maximum continuous loss point rate and track loss point quality score table
S3, calculating a predicted position of the associated track, and calculating track associated quality scores of the latest frame based on a position difference value between the predicted position and the observed position of the associated track, wherein the method specifically comprises the following steps:
s31, traversing all track associated front in the latest frameMark of points->Calculating the pre +.>The>Predicted position of individual track->：
，
Wherein,is->Distance information of the individual tracks in the X-axis direction in the two-dimensional plane,/for each of the two-dimensional planes>Is->Speed information of the individual tracks in the X-axis direction in the two-dimensional plane,/for the X-axis direction>Is->Acceleration information of each trace in the X-axis direction in the two-dimensional plane,respectively +.>Distance information, speed information and acceleration information of each point trace in the Y-axis direction in a two-dimensional plane, wherein T is the inter-frame time interval;
s32, calculating the firstPredicted position of individual track->And observation position->Difference in position>：
；
S33 based on the firstPosition difference of individual spots->Calculating track associated quality score ∈>：
，
Wherein,for the maximum acceptable position difference between the predicted position and the observed position +.>Is in front ofThe closer the distribution coefficient of the individual tracks is +.>The track quality can be further represented at the point, and the coefficient is distributed +>The higher and the distribution coefficientSatisfies the following formula:
。
in the present embodiment, the distribution coefficientThe values of (2) are respectively 0.2, 0.3 and 0.3,/-respectively>The value is 1m, and the track-related quality score (using +.>Indicated), the results are shown in the following table:
TABLE 4 track associated quality score table
S4, carrying out smooth fitting on the associated point track to obtain a smooth track, and calculating the track smooth quality score of the latest frame based on the distance relation between the associated point track and the smooth track, wherein the method specifically comprises the following steps:
s41, traversing all track associated front in the latest frameMark of points->The least square method is adopted for the front +.>The smooth fitting of the individual tracks is carried out to obtain a smooth track +.>Calculating ∈10 using the following formula>、/>Is the value of (1):
，
，
s42, before calculationIndividual tracks and smooth tracks->Mean square root of distance between>：
，
S43, calculate the firstMark of points->And smooth track->Distance between->；
S44, calculating the track smooth quality fraction：
，
Wherein,is the maximum acceptable surge position.
In the present embodiment of the present invention,the value of (1) is 0.3m, and the track smoothing quality fraction (using +.>Indicated), the results are shown in the following table:
TABLE 5 track smoothing quality score table
S5, calculating the track comprehensive quality score of the latest frame based on the track lost point quality score, the track associated quality score and the track smooth quality score, wherein the method specifically comprises the following steps:
calculating the comprehensive quality fraction of the flight path by adopting the following method：
，
Wherein,、/>、/>the mass fraction of the track points is +.>Track associated mass fractionTrack smoothing quality fraction->Is normalized by the weighting coefficient of (2), and。
in the present embodiment of the present invention,、/>、/>the values of (1) are respectively 0.5, 0.25 and 0.25, and the comprehensive mass fraction of the track is calculated, and the result is shown in the following table:
TABLE 6 track comprehensive quality score table
And S6, when updating the data of a new frame, repeating the steps S1-S5 to calculate the corresponding comprehensive quality score of the track, and carrying out true and false judgment and termination judgment on the track according to the comprehensive quality score of the track of each frame.
Specifically, the method for judging the true and false and judging the termination of the track according to the comprehensive quality score of the track of each frame comprises the following steps:
inputting the comprehensive track quality fraction of each frame to a track linked listIf the comprehensive quality score of the tracks of N frames in the M frames is lower than the passing line, judging that the tracks are false tracks or the tracks are terminated, eliminating the tracks, otherwise, continuing tracking.
In this embodiment, M takes 4, N takes 3, and the grid line takes 60 minutes. As can be seen from Table 6, the track chain table of track number 1 isThe track chain table of the No. 2 track is. The comprehensive quality score of the tracks with three frames in the track No. 1 is lower than that of the passing line, so that the track No. 1 needs to be removed; the comprehensive quality score of each track of the No. 2 track is higher than that of the passing line, so that the tracking processing of the No. 2 track is needed to be continued, and the comprehensive quality score of the track is updated in time.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A track quality real-time assessment method based on millimeter wave radar trace information is characterized in that: the method comprises the following steps:
s1, acquiring millimeter wave radar return information, and acquiring all tracks in the latest frame, and relevant points and point information of all tracks;
s2, counting the maximum continuous point loss of the associated point track, and calculating the track point loss quality score of the latest frame based on the maximum continuous point loss;
s3, calculating a predicted position of the associated point track, and calculating a track associated quality score of the latest frame based on a position difference value between the predicted position and the observed position of the associated point track;
s4, carrying out smooth fitting on the associated point track to obtain a smooth track, and calculating the track smooth quality score of the latest frame based on the distance relation between the associated point track and the smooth track;
s5, calculating the track comprehensive quality score of the latest frame based on the track lost point quality score, the track associated quality score and the track smooth quality score;
s6, when updating the data of a new frame, repeating the steps S1-S5 to calculate the corresponding comprehensive quality score of the track, and carrying out true and false judgment and termination judgment on the track according to the comprehensive quality score of the track of each frame;
s3, calculating a predicted position of the associated track, and calculating track associated quality scores of the latest frame based on a position difference value between the predicted position and the observed position of the associated track, wherein the method comprises the following steps:
s31, traversing all track associated front in the latest frameMark of points->Calculating the pre +.>The>Predicted position of individual track->：
，
Wherein,is->Distance information of the individual tracks in the X-axis direction in the two-dimensional plane,/for each of the two-dimensional planes>Is->Speed information of the individual tracks in the X-axis direction in the two-dimensional plane,/for the X-axis direction>Is->Acceleration information of each trace in the X-axis direction in the two-dimensional plane,respectively +.>Distance information, speed information and acceleration information of each point trace in the Y-axis direction in a two-dimensional plane, wherein T is the inter-frame time interval;
s32, calculating the firstPredicted position of individual track->And observation position->Difference in position>：
；
S33 based on the firstPosition difference of individual spots->Calculating track associated quality score ∈>：
，
Wherein,for the maximum acceptable position difference between the predicted position and the observed position +.>For front->The closer the distribution coefficient of the individual tracks is +.>The track quality can be further represented at the point, and the coefficient is distributed +>The higher and the distribution coefficient +.>Satisfies the following formula:
。
2. the method for estimating track quality in real time based on millimeter wave radar trace information according to claim 1, wherein the method comprises the steps of: s1, acquiring millimeter wave radar return information, and acquiring all tracks in the latest frame, and relevant points and point information of all tracks, wherein the method comprises the following steps:
s11, acquiring all tracks in the latest frame by utilizing millimeter wave radar return informationAnd all track-related points +.>，/>For track number, +.>The number of the points associated with all tracks;
s12, extracting point trace information associated with all tracks, and representing the point trace information as，/>For distance information>For azimuth information +.>For radial velocity information>Is the lost point information;
s13, acquiring the relevant front of all tracks in the latest frameMark of points->And corresponding spot information, and converting the spot information into a Cartesian coordinate system to obtain +.>；
Wherein,、/>for the position information of the associated point trace in the Cartesian coordinate system:
，/>。
3. the method for estimating track quality in real time based on millimeter wave radar trace information according to claim 2, wherein the method comprises the steps of: and S2, counting the maximum continuous point loss of the associated point track, and calculating the track point loss quality score of the latest frame based on the maximum continuous point loss, wherein the method comprises the following steps:
s21, traversing all track associated front in the latest frameMark of points->Determining the maximum continuous loss point +.>And calculating the maximum continuous point loss rate of the track +.>：
；
S22, maximum continuous point loss rate based on flight pathCalculating the track loss point mass fraction +.>：
。
4. The method for estimating track quality in real time based on millimeter wave radar trace information according to claim 3, wherein: before all track associations in the latest frame are traversedMark of points->Determining the maximum continuous loss point +.>Comprising:
initial maximum continuous point loss0, when the trace information +.>Point-of-loss information->When the point is lost, the maximum continuous point loss is +.>Accumulate 1, otherwise, the maximum continuous lost point +.>Resetting to 0 until all the trace traversal is finished, taking the maximum value as the maximum continuous lost point +.>。
5. The method for estimating track quality in real time based on millimeter wave radar trace information according to claim 1, wherein the method comprises the steps of: and S4, carrying out smooth fitting on the associated point track to obtain a smooth track, and calculating the track smooth quality score of the latest frame based on the distance relation between the associated point track and the smooth track, wherein the method comprises the following steps:
s41, traversing all track associated front in the latest frameMark of points->The least square method is adopted for the front +.>The smooth fitting of the individual tracks is carried out to obtain a smooth track +.>Calculating ∈10 using the following formula>、/>Is the value of (1):
，
，
s42, before calculationIndividual tracks and smooth tracks->Mean square root of distance between>：
，
S43, calculate the firstMark of points->And smooth track->Distance between->；
S44, calculating the track smooth quality fraction：
，
Wherein,is the maximum acceptable surge position.
6. The method for estimating track quality in real time based on millimeter wave radar trace information according to claim 5, wherein the method comprises the steps of: and S5, calculating the track comprehensive quality score of the latest frame based on the track point loss quality score, the track association quality score and the track smooth quality score, wherein the method comprises the following steps:
calculating the comprehensive quality fraction of the flight path by adopting the following method：
，
Wherein,、/>、/>the mass fraction of the track points is +.>Track associated mass fractionTrack smoothing quality fraction->Is normalized by the weighting coefficient of (2), and。
7. the method for estimating track quality in real time based on millimeter wave radar trace information according to claim 6, wherein the method comprises the steps of: s6, judging whether the track is true or false or not and judging termination according to the track comprehensive quality score of each frame, wherein the method comprises the following steps:
inputting the comprehensive track quality fraction of each frame to a track linked listIf the comprehensive quality score of the tracks of N frames in the M frames is lower than the passing line, judging that the tracks are false tracks or the tracks are terminated, eliminating the tracks, otherwise, continuing tracking.
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