CN109581302A - A kind of trailer-mounted radar data tracking method and system - Google Patents
A kind of trailer-mounted radar data tracking method and system Download PDFInfo
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- CN109581302A CN109581302A CN201811517631.5A CN201811517631A CN109581302A CN 109581302 A CN109581302 A CN 109581302A CN 201811517631 A CN201811517631 A CN 201811517631A CN 109581302 A CN109581302 A CN 109581302A
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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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- G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
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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
- G01S13/66—Radar-tracking systems; Analogous systems
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Abstract
The invention discloses a kind of trailer-mounted radar data tracking method and systems, this method comprises: obtaining first state predicted value of the target tracker under vehicle body coordinate system, and determining that beam coverage area includes the radar of the target tracker position according to it, the beam coverage area of each radar is different；The first state predicted value is converted to the second status predication value under the corresponding radar fix system of radar that beam coverage area includes the target tracker position and it is updated, obtain first state estimated value, the first state estimated value is converted into the second state estimation under the vehicle body coordinate system, determines the target tracker in the pursuit gain at the current time according to its value.Technical solution of the present invention is converted by coordinate twice when the radar fix system and the vehicle body coordinate system disunity, will measure coordinate unification, realizes the track algorithm in radar being applied to progress target following processing under the application scenarios.
Description
Technical field
The present invention relates to Radar Technology field more particularly to a kind of trailer-mounted radar data tracking method and systems.
Background technique
Vehicle-mounted millimeter wave radar is as advanced driving assistance system (AdvancedDriver Assistant System, letter
Claim ADAS) and Unmanned Systems important environmentally sensitive means, with being influenced by weather environment small, detection range is remote, ranging
The features such as rate accuracy is high is worked in coordination with the onboard sensors such as camera, infrared, laser radar, is ADAS and unmanned
System provides reliable environment sensing ability, to support to execute policy-making body to the Intelligent control of vehicle body.
During vehicle-mounted millimeter wave radar provides environment sensing ability, need to do necessary radar data processing.?
Radar data processing aspect, target following processing are the key that radar data handles a ring, and current track algorithm is applied mostly
In medium and long distance forward-looking radar.Meanwhile with the continuous upgrading of ADAS and Unmanned Systems, pedestrian detection, automatic parking,
The sophisticated functions such as auxiliary lane change also become standard configuration, realize that these functions need to obtain reliable and stable tracking effect, this is just needed
The participation of the different vehicle-mounted millimeter wave radar of multiple beam coverage areas.However, due under new application scenarios, footprint of a beam
The measurement coordinate disunity of the different vehicle-mounted millimeter wave radar in domain can not directly apply track algorithm common in forward-looking radar
Target following processing is carried out under to the application scenarios.
Summary of the invention
In view of this, the present invention provides a kind of trailer-mounted radar data tracking method and systems, to solve the prior art
The measurement coordinate disunity of the different vehicle-mounted millimeter wave radar of middle beam coverage area will can not commonly track in forward-looking radar
Algorithm is applied directly under the application scenarios the problem of carrying out target following processing.Concrete scheme is as follows:
A kind of trailer-mounted radar data tracking method, comprising:
Obtain first state predicted value of the current target tracker under vehicle body coordinate system；
According to the first state predicted value, determine that beam coverage area includes the thunder of the target tracker position
It reaches, wherein the beam coverage area of each radar is different；
The first state predicted value is converted into the thunder that beam coverage area includes the target tracker position
Up to the second status predication value under corresponding radar fix system；
The second status predication value is updated, first state estimated value is obtained；
The first state estimated value is converted into the second state estimation under the vehicle body coordinate system；
Determine the target tracker in the pursuit gain at the current time according to second state estimation.
Above-mentioned method optionally according to the first state predicted value, determines that beam coverage area includes the target
The radar of tracker position, comprising:
The target tracker position is determined according to the first state predicted value；
The target tracker position and the beam coverage area of each radar are compared, determine wave cover
Region includes the radar of the target tracker position.
Above-mentioned method is optionally updated the second status predication value, obtains first state estimated value, packet
It includes:
Third state predicted value, the third state predicted value and wave beam is calculated according to the second status predication value
Overlay area includes that each observation of the radar of the target tracker position is flux matched；
It is determined to be located at the target tracker neighborhood from each observed quantity according to the third state predicted value
Interior observed quantity；
According to the third state predicted value from be located at the target tracker neighborhood in observed quantity in selection with it is described
Relating dot of the nearest observed quantity of target tracker as the target tracker；
Kalman filtering gain corresponding with the relating dot is determined, according to the relating dot, the Kalman filtering gain
With the third state predicted value, the second status predication value is updated, obtains the first state estimated value.
Above-mentioned method optionally determines the target tracker described current according to second state estimation
The pursuit gain at moment, comprising:
Obtain the quantity of second state estimation；
Judge whether the quantity is 1；
If so, using second state estimation as the target tracker the current time pursuit gain；
If it is not, be weighted summation to second state estimation, using obtained weighted results as the target with
Pursuit gain of the track device at the current time.
Above-mentioned method is optionally weighted summation to second state estimation, and obtained weighted results are made
For the target tracker the current time pursuit gain, comprising:
Obtain the corresponding amplitude state amount of each relating dot and distance state amount；
The corresponding power of each second state estimation is determined according to the amplitude state amount and the distance state amount
Weight；
Summation is weighted to each second state estimation according to each weight, using obtained weighted results as
Pursuit gain of the target tracker at the current time.
A kind of trailer-mounted radar digital servosystem, comprising:
Module is obtained, for obtaining first state predicted value of the current target tracker under vehicle body coordinate system；
First determining module, for determining that beam coverage area includes the target according to the first state predicted value
The radar of tracker position, wherein the beam coverage area of each radar is different；
First conversion module, for by the first state predicted value be converted to beam coverage area include the target with
The second status predication value under the corresponding radar fix system of the radar of track device position；
Update module obtains first state estimated value for being updated to the second status predication value；
Second conversion module, for the first state estimated value to be converted to the second state under the vehicle body coordinate system
Estimated value；
Second determining module, for determining the target tracker when described current according to second state estimation
The pursuit gain at quarter.
Above-mentioned system, optionally, first determining module includes:
First determination unit, for determining the target tracker position according to the first state predicted value；
Second determination unit, for carrying out the beam coverage area of the target tracker position and each radar
Comparison, determines that beam coverage area includes the radar of the target tracker position.
Above-mentioned system, optionally, the update module includes:
Computing unit, for third state predicted value, the third shape to be calculated according to the second status predication value
State predicted value and beam coverage area include that each observation of the radar of the target tracker position is flux matched；
Third determination unit is located at institute for determining from each observed quantity according to the third state predicted value
State the observed quantity in target tracker neighborhood；
Selecting unit, for according to the third state predicted value from be located at the target tracker neighborhood in observed quantity
It is middle to select and relating dot of the nearest observed quantity of the target tracker as the target tracker；
Updating unit, for determining Kalman filtering gain corresponding with the relating dot, according to the relating dot, the card
Kalman Filtering gain and the third state predicted value, are updated the second status predication value, obtain first shape
State estimated value.
Above-mentioned system, optionally, second determining module includes:
Acquiring unit, for obtaining the quantity of second state estimation；
Judging unit, for judging whether the quantity is 1；
4th determination unit, for if so, working as using second state estimation as the target tracker described
The pursuit gain at preceding moment；
Weighted sum unit, for if it is not, be weighted summation to second state estimation, the weighting knot that will be obtained
Fruit as the target tracker the current time pursuit gain.
Above-mentioned system, optionally, the weighted sum unit includes:
Subelement is obtained, for obtaining the corresponding amplitude state amount of each relating dot and distance state amount；
Subelement is determined, for determining each second state according to the amplitude state amount and the distance state amount
The corresponding weight of estimated value；
Weighted sum subelement, for being weighted summation to each second state estimation according to each weight,
Using obtained weighted results as the target tracker the current time pursuit gain.
Compared with prior art, the present invention includes the following advantages:
The invention discloses a kind of trailer-mounted radar data tracking method and systems, this method comprises: obtaining current time mesh
It marks first state predicted value of the tracker under vehicle body coordinate system and determines footprint of a beam according to the first state predicted value
Domain includes the radar of the target tracker position, and the beam coverage area of each radar is different；By the first state
Predicted value is converted under the corresponding radar fix system of radar that beam coverage area includes the target tracker position
Second status predication value is simultaneously updated it, obtains first state estimated value, and the first state estimated value is converted to institute
The second state estimation under vehicle body coordinate system is stated, determines the target tracker described according to second state estimation
The pursuit gain at current time.Technical solution of the present invention is led to when the radar fix system and the vehicle body coordinate system disunity
It is converted after coordinate twice, coordinate unification will be measured, realize and track algorithm common in radar is applied under the application scenarios
Carry out target following processing.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of trailer-mounted radar data tracking method flow chart disclosed by the embodiments of the present invention；
Fig. 2 is a kind of coordinate relation schematic diagram disclosed by the embodiments of the present invention；
Fig. 3 is a kind of another flow chart of trailer-mounted radar data tracking method disclosed by the embodiments of the present invention；
Fig. 4 is a kind of another flow chart of trailer-mounted radar data tracking method disclosed by the embodiments of the present invention；
Fig. 5 is a kind of another flow chart of trailer-mounted radar data tracking method disclosed by the embodiments of the present invention；
Fig. 6 is a kind of trailer-mounted radar digital servosystem structural block diagram disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The invention discloses a kind of trailer-mounted radar data tracking method, which can be applicable to ADAS, unmanned
System etc. needs to perceive in the onboard system of vehicle environmental, the processor specifically handled by being responsible for target following in the onboard system
It executes.Radar in the onboard system may be mounted at the front car light position of vehicle body, rear vehicle lamp position, front and back car light position or
The other positions of vehicle body, in common application, the mountable each angle (being such as mounted on four angles of vehicle body) in vehicle body of radar
On, it is commonly called as angle radar.The onboard system is to have when guaranteeing to realize such as pedestrian detection, automatic parking, auxiliary lane change sophisticated functions
There is reliable and stable tracking effect, the quantity of radar is 2 and 2 or more, and the beam coverage area of each radar is different.It should
Tracking can be using expanded Kalman filtration algorithm, linear autoregression filtering algorithm and Weighted linear regression algorithm etc.
Algorithm is tracked, and in the embodiment of the present invention, is illustrated using expanded Kalman filtration algorithm to the tracking.The tracking
The execution process of method as shown in Figure 1, comprising steps of
S101, first state predicted value of the current target tracker under vehicle body coordinate system is obtained.
In the embodiment of the present invention, status predication value of any moment target tracker under vehicle body coordinate system be by with this
What the motion state vector of moment adjacent previous moment was predicted by moving equation, the prediction process namely movement
The process of update.Wherein, current time is represented with the n moment, it is assumed that known target tracker is at the (n-1)th moment (previous moment)
The state parameter of motion state vector, the motion state vector at the (n-1)th moment is established in vehicle body coordinate system (X- as shown in Figure 2
O-Y coordinate system) under, generally include lateral distance x, fore-and-aft distance y, lateral velocity vx, longitudinal velocity vyDeng.It is moved using target
Equation, obtaining first state predicted value of the target tracker at the n moment, (i.e. the predicted state of target tracker is in vehicle body coordinate system
Under expression), wherein first state predicted value by target tracker n-th moment of motion state vector sum at the n-th moment fortune
The minimum prediction error matrix of dynamic state vector is characterized.The minimum prediction error matrix of the motion state vector at the n-th moment
It can be determined according to the white noise of input, the uncertainty of the white noise characterization moving equation inputted.Therefore, mesh here
The mark equation of motion is used to describe between first state predicted value and the white noise of the motion state vector sum at the (n-1)th moment input
Relationship.
S102, foundation first state predicted value, determine that beam coverage area includes the radar of target tracker position.
In the embodiment of the present invention, the mesh being made of the lateral distance and fore-and-aft distance that include in first state predicted value is obtained
Coordinate is marked, and coordinates of targets is determined as target tracker in the moment position n, and then determine that beam coverage area includes mesh
The radar of tracker position is marked, can be associated with target tracker with determining using the observed quantity of which radar.It should be noted that
, since, there may be overlapping, coordinates of targets is likely located at the weight in multiple radar beams between the wave beam of different radars
Folded area, it is assumed that coordinates of targets is located at piBeam coverage area (the p of number radariIt may be one or more values).
S103, first state predicted value is converted into the radar pair that beam coverage area includes target tracker position
The second status predication value under the radar fix system answered.
In the embodiment of the present invention, the target of coordinate conversion is to realize parameter association, wherein theoretically parameter association can
To be carried out under vehicle body coordinate system, but since radar parameter measurement is located at radar local Coordinate System (Xc-Oc-Yc as shown in Figure 2
Coordinate system) under, the measurement parameter for including in observed quantity has: distance r of the target relative to origin Occ, speed vc, azimuth it is sinusoidal
sinθc, vector u can be usedc=[rc,vc,sinθc]TIt indicates.Wherein, speed vcIt can not imperfectly be transformed under vehicle body coordinate system
Obtain speed of the target relative to coordinate origin O；Conversely, we can the complete first state predicted value by target tracker
It is imperfectly transformed under radar fix system, therefore, the coordinate system of our selected parameter associations is radar fix system.This step, will
First state predicted value transforms to p by coordinate conversion matrixiUnder number radar fix system, the second status predication value is obtained, second
Status predication value includes piThe motion state vector at n-th moment of motion state vector sum at the n-th moment under number radar fix system
Minimum prediction error matrix.
S104, the second status predication value is updated, obtains first state estimated value.
In the embodiment of the present invention, parameter association is carried out first, it can be in piIt is found in the observed quantity that number radar measures and is located at mesh
Mark tracker neighborhood in and with target tracker apart from nearest observed quantity as relating dotNext using the association
O'clock the second status predication value is updated, specifically, the measurement error matrix of relating dot is utilized to calculate Kalman filtering
(Kalman filtering) gain, using expanded Kalman filtration algorithm to the second status predication value (i.e. target tracker
Predicted state is in piExpression under number radar fix system) it is modified (measurement updaue), it obtains the higher first state of precision and estimates
Evaluation, wherein first state estimated value is still located at piUnder number radar fix system.
In the embodiment of the present invention, need to be modified the second status predication value using the measured value (i.e. observed quantity) of radar
(measurement updaue).In the tracking processing of forward-looking radar, since dbjective state amount and radar surveying value are all in forward-looking radar coordinate
Under system, therefore movement updates and measurement updaue all carries out in forward-looking radar coordinate system.However in multiple radar system, tracker
Quantity of state is located under vehicle body coordinate system, and each radar surveying value is located under each radar fix system, at the same these measured values itself than with
The dimension of track device quantity of state is lower, and measured value and measurement error matrix cannot be imperfectly transformed under vehicle body coordinate system, therefore
It needs using the processing strategie for carrying out movement update under vehicle body coordinate system, measuring under radar fix system update.
S105, first state estimated value is converted to the second state estimation under vehicle body coordinate system.
In the embodiment of the present invention, first state estimated value is transformed to and obtains the second state estimation under vehicle body coordinate system.
S106, determine target tracker in the pursuit gain at current time according to the second state estimation.
In the embodiment of the present invention, the quantity of the second state estimation is parsed, when determining that target tracker is current according to quantity
The pursuit gain at quarter.
The invention discloses a kind of trailer-mounted radar data tracking methods, comprising: obtains current target tracker in vehicle
First state predicted value under body coordinate system determines that beam coverage area includes target tracker according to first state predicted value
The beam coverage area of the radar of position, each radar is different；First state predicted value is converted into beam coverage area
The second status predication value under the corresponding radar fix system of radar including target tracker position is simultaneously updated it,
First state estimated value is obtained, first state estimated value is converted into the second state estimation under vehicle body coordinate system, according to the
Two-state estimated value determines target tracker in the pursuit gain at current time.Technical solution of the present invention, when radar fix system with
It when vehicle body coordinate system disunity, is converted by coordinate twice, coordinate unification will be measured, realized commonly tracking is calculated in radar
Method is applied to progress target following processing under the application scenarios.
For convenience of understanding, the calculating process of first state predicted value is illustrated by taking vehicle-mounted millimeter wave radar as an example here:
In vehicle-mounted millimeter wave radar application, the motion state vector of target tracker is usually arranged as under expanded Kalman filtration algorithmWherein n indicated for the n-th moment.Each component is established under vehicle body coordinate system in motion state vector s.
In the tracking processing for carrying out for the n-th moment, it is known that the motion state vector at n-1 moment, i.e.,
The state transition equation for assuming the target tracker in moving equation simultaneously is f (s (n-1)), for describing the fortune of target
The motion state vector of n moment target tracker then can be obtained in movable model using state transition equation are as follows:
S (n | n-1)=f (s (n-1)) (1)
Wherein,To utilize the motion state of n-1 moment target tracker
Prediction result of the vector to the motion state of n moment target tracker.Meanwhile n-th the moment motion state vector minimum it is pre-
Surveying error matrix is
M (n | n-1)=A (n-1) M (n-1) AT(n-1)+BQBT (2)
Wherein, B be driving matrix, Q be motion model noise covariance matrix, characterize input white noise, M (n | n-
It 1) is the minimum prediction error matrix of the n-th moment motion state vector.State-transition matrix A (n-1) is state transition equation
Jacobian:
In the embodiment of the present invention, according to first state predicted value, determine that beam coverage area includes target tracker place
The method flow of the radar of position as shown in figure 3, comprising steps of
S201, target tracker position is determined according to first state predicted value.
In the embodiment of the present invention, first state predicted value by target tracker the n-th moment motion state vector sum n-th
The minimum prediction error matrix of the motion state vector at moment is characterized.The wherein motion state vector at the n-th momentIn include coordinates of targets, coordinates of targets by the n-th moment motion state vector
Lateral distance and fore-and-aft distance composition, coordinates of targets are [x (n | n-1), y (n | n-1)]T, coordinates of targets expression target tracker
Position.
S202, target tracker position and the beam coverage area of each radar are compared, determines that wave beam covers
Cover area includes the radar of target tracker position.
In the embodiment of the present invention, each radar can answer a radar beam overlay area, by coordinates of targets and respectively
A radar beam overlay area compares, and judges which beam coverage area includes coordinates of targets.Wherein, coordinates of targets can
Any one beam coverage area can not fallen within, when the above-described situation occurs, need to the accuracy of first state predicted value into
Row verifying, coordinates of targets can also at least be fallen in a radar beam overlay area, it is assumed that the coordinates of targets number of falling into piRadar wave
(p in the beam area of coverageiIt may be one or more values).In addition, in practical applications, pair of each position and radar can also be established
It should be related to, directly show that beam coverage area includes the radar of target tracker position according to the corresponding relationship.
In the embodiment of the present invention, the second status predication value is updated, the method flow of first state estimated value is obtained
As shown in figure 4, comprising steps of
S301, third state predicted value is calculated according to the second status predication value, third state predicted value is covered with wave beam
Cover area includes that each observation of the radar of target tracker position is flux matched.
In the embodiment of the present invention, the second status predication value includes piThe motion state arrow at the n-th moment under number radar fix system
The minimum prediction error matrix of the motion state vector at amount and the n-th moment.Assuming that selected radar number is pi, right first here
The mode that first state predicted value is converted to the second status predication value is illustrated, motion state vector of the two at the n-th moment
Between coordinate transform formula are as follows:
Wherein, piThe motion state vector at the n-th moment under number radar fix systemEach element is that the second state is pre-
Measured value is in piLateral prediction distance, lateral prediction speed, longitudinal Prediction distance under number radar fix system, longitudinal predetermined speed.
Z in coordinate transform formula is coordinate conversion matrix, xc(n|n-1,pi) it is in piThe n moment is laterally pre- under number radar fix system
Ranging from,For in piThe lateral prediction speed at n moment, y under number radar fix systemc(n|n-1,pi) in piNumber
Longitudinal Prediction distance at n moment under radar fix system,For in piThe n moment is longitudinal pre- under number radar fix system
Degree of testing the speed.ParameterIndicate coordinate of the radar under vehicle body coordinate system,Indicate vehicle body coordinate system X-axis and radar fix
It is the corner of Xc axis, Fig. 2 illustrates above-mentioned geometrical relationship.After coordinate transform, movement shape of the second status predication value at the n-th moment
The minimum prediction error matrix conversion of state vector are as follows:
Wherein,The minimum of motion state vector for the second status predication value at the n-th moment predicts error
Matrix.
After obtaining the second status predication value, by the motion state vector at the n-th moment in the second status predication valueBeing converted to beam coverage area includes that each observed quantity parameter of radar of target tracker position is identical
Third state predicted value method it is as follows:
For piThe observed quantity at number radar n moment
Set.The observational equation according to shown in formula (6) obtains third state predicted value corresponding with target tracker first.
Wherein,uc(n,pi) it is third state predicted value, rc(n,pi) it is n moment target tracker phase
To piThe Prediction distance of number radar, vc(n,pi) it is n moment target tracker with respect to piPredetermined speed of number radar, sin θc(n,
pi) it is n moment target tracker with respect to piThe pre- measuring angle of number radar.Third state predicted value and beam coverage area include mesh
The each observation for marking the radar of tracker position is flux matched, i.e., the ginseng for including in third state predicted value and each observed quantity
Number is identical.
S302, according to third state predicted value from determining that the observation in target tracker neighborhood is stated in position in each observed quantity
Amount.
In the embodiment of the present invention, first by piRespectively value and third state predicted value u in the observation duration set of number radarc(n,
pi) be compared, judge whether in uc(n,pi) in neighborhood, that is, judge whether observed quantity meets:
Then determine that observed quantity is located in the neighborhood of target tracker.Wherein,For n moment target tracker and piNumber
The observed range of radar,It is n moment target tracker with respect to piThe observation speed of number radar,For n moment mesh
Tracker is marked with respect to piThe observation angle of number radar.For piNumber radar apart from the radius of neighbourhood,For piThe speed of number radar
The radius of neighbourhood,Respectively piNumber radar bearing angle sine radius of neighbourhood, each radius size depend on piNumber radar is to above-mentioned
The measurement accuracy of three amounts.
S303, selection and target following from the observed quantity being located in target tracker neighborhood according to third state predicted value
Relating dot of the nearest observed quantity of device as target tracker.
In the embodiment of the present invention, in all observed quantities for meeting (7)-(9), finds and target tracker is apart from the smallest
Observed quantity is as relating dot.Distance calculation formula are as follows:
Wherein, dc(n,pi) it is relating dot at a distance from target tracker.For in piThe n moment under number radar fix system
Lateral observed range,For in piThe vertical relations distance at n moment under number radar fix system.αdAnd αvRespectively space
Distance and speed weighted factor, αdAnd αvValue empirically value is set.
The corresponding observed quantity of minimum value will be chosen in each distance met the requirements as the relating dot of target tracker.
S304, determination Kalman filtering gain corresponding with relating dot, according to relating dot, Kalman filtering gain and third shape
State predicted value is updated the second status predication value, obtains first state estimated value.
In the embodiment of the present invention, the second status predication value of target tracker is updated according to relating dot, obtains the
One state estimation, wherein for first state estimated value the n-th moment motion state vectorUpdate equation are as follows:
Wherein, xc(n,pi) it is after correcting in piThe lateral estimated distance at n moment under number radar fix system,To repair
In p after justiThe lateral estimating speed at n moment, y under number radar fix systemc(n,pi) after amendment in piUnder number radar fix system when n
Longitudinal estimated distance at quarter,For amendment after in piLongitudinal estimating speed at n moment under number radar fix system.
For Kalman filtering gain, calculated by formula (14).
Wherein,For observation noise, for characterizing the inaccuracy of radar measurements.Hc(n,pi) it is observational equation hc
Jacobian form, Hc(n,pi) it is as follows:
After amendment, motion state vector s of the first state estimated value at the n-th momentcThe minimum prediction error matrix of (n | n)
Are as follows:
In the embodiment of the present invention, in order to which unified each radar output is under vehicle body unified coordinate system, first state estimated value exists
The motion state vector at the n-th momentIt transforms under vehicle body coordinate system, obtains the second state estimation in the fortune at the n-th moment
Dynamic state vector s (n), and the minimum prediction error matrix of first state estimated value is updated.Second state estimation is at n-th
The calculation formula of the motion state vector s (n) at quarter are as follows:
Wherein, x (n, pi) be under vehicle body coordinate system the n moment lateral estimated distance, vx(n,pi) it is in vehicle body coordinate system
The lateral estimating speed at lower n moment, y (n, pi) longitudinal estimated distance at n moment, v under vehicle body coordinate systemy(n,pi) it is vehicle body
Longitudinal estimating speed at n moment under coordinate system.Minimum of second state estimation in the motion state vector s (n) at the n-th moment is pre-
Survey covariance matrix update are as follows:
In actual use, other modes can also be used and determines relating dot, such as first determination is with the second status predication value n-th
The motion state vector at momentThe nearest each observed quantity of distance judges that each observed quantity whether there is in target
In the neighborhood of tracker, using nearest observation point in neighborhood as relating dot or other methods for determining relating dot.
In the embodiment of the present invention, determine target tracker in the side of the pursuit gain at current time according to the second state estimation
Method process as shown in figure 5, comprising steps of
S401, the quantity for obtaining the second state estimation.
S402, judge whether quantity is 1.
S403, if so, using the second state estimation as target tracker current time pursuit gain.
In the embodiment of the present invention, if quantity is 1, using second state estimation as target tracker current time with
Track value.
S404, if it is not, summation is weighted to the second state estimation, using obtained weighted results as target tracker
In the pursuit gain at current time.
In the embodiment of the present invention, if quantity is not 1, illustrate that target tracker has appeared in the overlay region of radar, the present invention
It in embodiment, is illustrated so that target tracker appears in the overlapping region of two radars as an example, it is assumed that the of target tracker
Motion state vector s (n, p of the two-state estimated value at the n-th moment1) and s (n, p2), it obtains and generates each of the two final results
The amplitude state amount of a relating dotWith the distance state amount of relating dotIn addition, the embodiment party
Formula only the case where there are radar-covered areas in the presence of being overlapped, will guarantee that radar-covered area is not overlapped in the design phase,
Do not need to carry out above-mentioned judgement, directly using the second state estimation as target tracker current time pursuit gain.
Two the second state estimations are calculated separately in the corresponding weight w of motion state vector at the n-th moment1And w2, calculate
Formula is as follows:
Motion state vector according to formula (21) to each second state estimation at the n-th moment is weighted summation,
Using obtained weighted results as target tracker current time pursuit gain.
S (n)=w1s(n,p1)+w2s(n,p2) (21)
Wherein, s (n) is pursuit gain of the target tracker at current time, s (n, p1) it is target tracker p1At the n moment
Second state estimation, s (n, p2) it is target tracker p2In second state estimation at n moment.
Really the formula of shaping is not limited to this weight, can such as pass through pre-set mode or other Weight Determinations
It is set.
More radar target tracking methods based on Extended Kalman filter that the present invention provides a kind of, spreading kalman is filtered
Wave is generalized in distributed more radar information fusion treatments.It is special for each radar fix system disunity of distributed multiple radar system
It is not that can not export the problem of calculating radial velocity component of the target relative to vehicle body coordinate system by single radar, present invention introduces
Coordinate system transformation method, readjusts the process flow of traditional Kalman filter algorithm, passes through coordinate before information update and becomes
Its corresponding minimum prediction error matrix of motion state of changing commanders vector sum transforms under corresponding radar fix system, sits in the radar
Mark system is lower to carry out information update using radar surveying value.Result will be finally updated again to be transformed under vehicle body coordinate system, realizes more thunders
Up to the fusion of data.
The present invention relates to millimetre-wave radar data processing methods more particularly to multi-section separate radar data fusion to track
Method is applied in the data processing of vehicle-mounted millimeter wave radar sensor and information fusion system.By expanded Kalman filtration algorithm
It is generalized in more radar sensor fusion trackings, solves the limitation that single portion's radar radial velocity measurement value can not decompose, utilize
Information update processing is realized in the coordinate transform of its corresponding minimum prediction error matrix of motion state vector sum.
It is vehicle-mounted to radar data tracking based on above-mentioned one kind in the embodiment of the present invention, in the embodiment of the present invention, also
A kind of trailer-mounted radar digital servosystem is provided, the structural block diagram of tracking system is as shown in Figure 6, comprising:
Obtain module 501, the first determining module 502, the first conversion module 503, update module 504, the second conversion module
505 and second determining module 506.
Wherein,
Module 501 is obtained, for obtaining first state predicted value of the current target tracker under vehicle body coordinate system；
First determining module 502, for determining that beam coverage area includes target tracker according to first state predicted value
The radar of position, wherein the beam coverage area of each radar is different；
First conversion module 503 includes target tracker for first state predicted value to be converted to beam coverage area
The second status predication value under the corresponding radar fix system of the radar of position；
Update module 504 obtains first state estimated value for being updated to the second status predication value；
Second conversion module 505, for first state estimated value to be converted to the second state estimation under vehicle body coordinate system
Value；
Second determining module 506, for determining target tracker in the tracking at current time according to the second state estimation
Value.
The invention discloses a kind of trailer-mounted radar digital servosystems, comprising: obtains current target tracker in vehicle
First state predicted value under body coordinate system determines that beam coverage area includes target tracker according to first state predicted value
The beam coverage area of the radar of position, each radar is different；First state predicted value is converted into beam coverage area
The second status predication value under the corresponding radar fix system of radar including target tracker position is simultaneously updated it,
First state estimated value is obtained, first state estimated value is converted into the second state estimation under vehicle body coordinate system, according to the
Two-state estimated value determines target tracker in the pursuit gain at current time.Technical solution of the present invention, when radar fix system with
It when vehicle body coordinate system disunity, is converted by coordinate twice, coordinate unification will be measured, realized commonly tracking is calculated in radar
Method is applied to progress target following processing under the application scenarios.
In the embodiment of the present invention, the first determining module 502 includes:
First determination unit and the second determination unit.
Wherein,
First determination unit, for determining target tracker position according to first state predicted value；
Second determination unit, for carrying out pair the beam coverage area of target tracker position and each radar
Than determining that beam coverage area includes the radar of target tracker position.
In the embodiment of the present invention, update module 504 includes:
Computing unit, third determination unit, selecting unit and updating unit.
Wherein,
Computing unit, for third state predicted value, third state predicted value to be calculated according to the second status predication value
The each observation for including the radar of target tracker position with beam coverage area is flux matched；
Third determination unit is located at target tracker for determining from each observed quantity according to third state predicted value
Observed quantity in neighborhood；
Selecting unit, for according to third state predicted value from be located at target tracker neighborhood in observed quantity in selection with
Relating dot of the nearest observed quantity of target tracker as target tracker；
Updating unit, for determining Kalman filtering gain corresponding with relating dot, according to relating dot, Kalman filtering gain
With third state predicted value, the second status predication value is updated, first state estimated value is obtained.
In the embodiment of the present invention, the second determining module 506 includes:
Acquiring unit, judging unit, the 4th determination unit and weighted sum unit.
Wherein,
Acquiring unit, for obtaining the quantity of the second state estimation；
Judging unit, for judging whether quantity is 1；
4th determination unit, for if so, using the second state estimation as target tracker current time tracking
Value；
Weighted sum unit, for if it is not, summation is weighted to the second state estimation, by obtained weighted results work
For target tracker current time pursuit gain.
In the embodiment of the present invention, weighted sum unit includes:
Subelement is obtained, determines subelement and weighted sum subelement.
Wherein,
Subelement is obtained, for obtaining the corresponding amplitude state amount of each relating dot and distance state amount；
Subelement is determined, for determining that each second state estimation is corresponding according to amplitude state amount and distance state amount
Weight；
Weighted sum subelement, for being weighted summation to each second state estimation according to each weight, will
The weighted results arrived as target tracker current time pursuit gain.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
For device class embodiment, since it is basically similar to the method embodiment, so being described relatively simple, related place ginseng
See the part explanation of embodiment of the method.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
A kind of trailer-mounted radar data tracking method provided by the present invention and system are described in detail above, herein
In apply that a specific example illustrates the principle and implementation of the invention, the explanation of above example is only intended to sides
Assistant solves method and its core concept of the invention；At the same time, for those skilled in the art, think of according to the present invention
Think, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as pair
Limitation of the invention.
Claims (10)
1. a kind of trailer-mounted radar data tracking method characterized by comprising
Obtain first state predicted value of the current target tracker under vehicle body coordinate system；
According to the first state predicted value, determine that beam coverage area includes the radar of the target tracker position,
Wherein, the beam coverage area of each radar is different；
The first state predicted value is converted into the radar pair that beam coverage area includes the target tracker position
The second status predication value under the radar fix system answered；
The second status predication value is updated, first state estimated value is obtained；
The first state estimated value is converted into the second state estimation under the vehicle body coordinate system；
Determine the target tracker in the pursuit gain at the current time according to second state estimation.
2. the method according to claim 1, wherein determining wave cover according to the first state predicted value
Region includes the radar of the target tracker position, comprising:
The target tracker position is determined according to the first state predicted value；
The target tracker position and the beam coverage area of each radar are compared, determine beam coverage area
Radar including the target tracker position.
3. obtaining the method according to claim 1, wherein being updated to the second status predication value
One state estimation, comprising:
Third state predicted value, the third state predicted value and wave cover is calculated according to the second status predication value
Region includes that each observation of the radar of the target tracker position is flux matched；
According to the third state predicted value from determined in each observed quantity be located at the target tracker neighborhood in
Observed quantity；
It is selected and the target from the observed quantity being located in the target tracker neighborhood according to the third state predicted value
Relating dot of the nearest observed quantity of tracker as the target tracker；
Kalman filtering gain corresponding with the relating dot is determined, according to the relating dot, the Kalman filtering gain and institute
Third state predicted value is stated, the second status predication value is updated, obtains the first state estimated value.
4. according to the method described in claim 3, it is characterized in that, according to second state estimation determine the target with
Pursuit gain of the track device at the current time, comprising:
Obtain the quantity of second state estimation；
Judge whether the quantity is 1；
If so, using second state estimation as the target tracker the current time pursuit gain；
If it is not, summation is weighted to second state estimation, using obtained weighted results as the target tracker
In the pursuit gain at the current time.
5., will according to the method described in claim 4, it is characterized in that, be weighted summation to second state estimation
Obtained weighted results as the target tracker the current time pursuit gain, comprising:
Obtain the corresponding amplitude state amount of each relating dot and distance state amount；
The corresponding weight of each second state estimation is determined according to the amplitude state amount and the distance state amount；
Summation is weighted to each second state estimation according to each weight, using obtained weighted results as described in
Pursuit gain of the target tracker at the current time.
6. a kind of trailer-mounted radar digital servosystem characterized by comprising
Module is obtained, for obtaining first state predicted value of the current target tracker under vehicle body coordinate system；
First determining module, for determining that beam coverage area includes the target following according to the first state predicted value
The radar of device position, wherein the beam coverage area of each radar is different；
First conversion module includes the target tracker for the first state predicted value to be converted to beam coverage area
The second status predication value under the corresponding radar fix system of the radar of position；
Update module obtains first state estimated value for being updated to the second status predication value；
Second conversion module, for the first state estimated value to be converted to the second state estimation under the vehicle body coordinate system
Value；
Second determining module, for determining the target tracker at the current time according to second state estimation
Pursuit gain.
7. system according to claim 6, which is characterized in that first determining module includes:
First determination unit, for determining the target tracker position according to the first state predicted value；
Second determination unit, for carrying out pair the beam coverage area of the target tracker position and each radar
Than determining that beam coverage area includes the radar of the target tracker position.
8. system according to claim 6, which is characterized in that the update module includes:
Computing unit, for third state predicted value to be calculated according to the second status predication value, the third state is pre-
Measured value and beam coverage area include that each observation of the radar of the target tracker position is flux matched；
Third determination unit is located at the mesh for determining from each observed quantity according to the third state predicted value
Mark the observed quantity in tracker neighborhood；
Selecting unit, for being selected from the observed quantity being located in the target tracker neighborhood according to the third state predicted value
Select the relating dot with the nearest observed quantity of the target tracker as the target tracker；
Updating unit, for determining Kalman filtering gain corresponding with the relating dot, according to the relating dot, the Kalman
Filtering gain and the third state predicted value, are updated the second status predication value, obtain the first state and estimate
Evaluation.
9. system according to claim 6, which is characterized in that second determining module includes:
Acquiring unit, for obtaining the quantity of second state estimation；
Judging unit, for judging whether the quantity is 1；
4th determination unit, for if so, using second state estimation as the target tracker when described current
The pursuit gain at quarter；
Weighted sum unit, for if it is not, summation is weighted to second state estimation, by obtained weighted results work
For the target tracker the current time pursuit gain.
10. system according to claim 9, which is characterized in that the weighted sum unit includes:
Subelement is obtained, for obtaining the corresponding amplitude state amount of each relating dot and distance state amount；
Subelement is determined, for determining each second state estimation according to the amplitude state amount and the distance state amount
It is worth corresponding weight；
Weighted sum subelement, for being weighted summation to each second state estimation according to each weight, will
The weighted results arrived as the target tracker the current time pursuit gain.
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