CN112859059A - Target detection and tracking system and method - Google Patents

Target detection and tracking system and method Download PDF

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Publication number
CN112859059A
CN112859059A CN202110328232.XA CN202110328232A CN112859059A CN 112859059 A CN112859059 A CN 112859059A CN 202110328232 A CN202110328232 A CN 202110328232A CN 112859059 A CN112859059 A CN 112859059A
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information
tracking
target object
target
detection signal
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王姗
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Jiangxi Shangsi Futun Technology Co Ltd
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Jiangxi Shangsi Futun Technology Co Ltd
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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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/62—Sense-of-movement determination
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques

Abstract

The invention provides a target detection and tracking system and a method, wherein the target detection and tracking system comprises: millimeter wave radar group and central control module, wherein, millimeter wave radar group includes: the system comprises a plurality of millimeter wave radars, a plurality of radar sensors and a plurality of control modules, wherein the millimeter wave radars are respectively used for sending a first detection signal according to an enabling signal, receiving a corresponding second detection signal, acquiring to-be-detected information of a target object according to the second detection signal, performing target filtering on the target object according to the to-be-detected information to acquire tracking information of the target object in the current frame, and acquiring state information and classification information of the target object according to the tracking information of the target object, wherein the second detection signal is a detection signal obtained by reflecting the first detection signal by the target object; and the central control module is used for executing a corresponding control strategy according to the tracking information, the state information and the classification information. Therefore, the detection range is improved, and the flexibility and the robustness of the system are greatly improved.

Description

Target detection and tracking system and method
Technical Field
The invention relates to the technical field of radar detection, in particular to a target detection and tracking system and a target detection and tracking method.
Background
The millimeter wave radar works in all weather, is not influenced by severe weather such as illumination, rain, snow and sand, has the advantages of long detection distance, high precision, low cost, high privacy and the like, and is widely applied to the fields of intelligent driving, smart cities and the like. For example, in the application of indoor radar, the millimeter wave radar can sense key information such as personnel category, position and activity state with high precision on the premise of not invading privacy, and necessary sensing end data is provided for the decision of the intelligent home related controller.
In the related art, the millimeter wave radar system is limited in detection range, easy to generate information isolated island, and poor in flexibility and robustness.
Disclosure of Invention
In order to solve the technical problems, the invention provides a target detection and tracking system, which adopts a plurality of millimeter wave radars to detect and track targets, thereby not only improving the detection range, effectively avoiding the situation of information isolated island, but also greatly improving the flexibility and robustness of the system.
The technical scheme adopted by the invention is as follows:
an object detection and tracking system, comprising: the millimeter wave radar group comprises a plurality of millimeter wave radars, the millimeter wave radars are respectively used for sending a first detection signal to a radar to-be-sensed area according to an enabling signal, receiving a corresponding second detection signal, acquiring to-be-detected information of a target object according to the second detection signal, performing target filtering on the target object according to the to-be-detected information to acquire tracking information of the target object in a current frame, and acquiring state information and classification information of the target object according to the tracking information of the target object, wherein the second detection signal is a detection signal obtained by reflecting the first detection signal by the target object; and the central control module is used for executing a corresponding control strategy according to the tracking information, the state information and the classification information.
The millimeter wave radar includes a micro-processing unit configured to: converting the second detection signal from an analog radio frequency signal to a digital baseband signal; and converting the data baseband signal from a time domain to a frequency domain, and performing clutter suppression on a distance dimension, a Doppler dimension and an angle dimension by using a target detector to acquire the information to be detected.
The information to be detected comprises one or more of radial speed, radial distance, azimuth angle, elevation angle and signal-to-noise ratio.
The micro-processing unit is further specifically configured to: and performing target filtering on the target object according to the information to be detected by adopting a tracking algorithm and an associated algorithm, wherein the tracking algorithm comprises one or more algorithms of Kalman filtering, unscented Kalman filtering and extended Kalman filtering, and the associated algorithm comprises one or more algorithms of GNN, JPDA, PDA, MHT and KBEST.
The central control module is further configured to, before executing a corresponding control strategy according to the tracking result, the state information, and the classification information of the target object: and converting the coordinate systems of the millimeter wave radars into a scene global coordinate system, and performing target fusion on the target object.
A target detection and tracking method comprises the following steps: sending a first detection signal to a radar to-be-sensed area according to an enabling signal, and receiving a corresponding second detection signal, wherein the second detection signal is a detection signal obtained by reflecting the first detection signal by a target object; acquiring to-be-detected information of the target object according to the second detection signal, performing target filtering on the target object according to the to-be-detected information to acquire tracking information of the target object of the current frame, and acquiring state information and classification information of the target object according to the tracking information of the target object; and executing a corresponding control strategy according to the tracking information, the state information and the classification information.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above object detection and tracking method when executing the computer program.
A non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the object detection and tracking method described above.
The invention has the beneficial effects that:
the invention adopts a plurality of millimeter wave radars to detect and track the target, thereby not only improving the detection range and effectively avoiding the situation of generating an information isolated island, but also greatly improving the flexibility and the robustness of the system.
Drawings
FIG. 1 is a block diagram of a target detection and tracking system according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a plurality of millimeter wave radar deployment orientations in accordance with an embodiment of the present invention;
fig. 3 is a flowchart of a target detection and tracking method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
FIG. 1 is a block schematic diagram of a target detection and tracking system according to an embodiment of the present invention.
As shown in FIG. 1, a target detection and tracking system of an embodiment of the present invention may include a millimeter wave radar suite 100 and a central control module 200, where the millimeter wave radar suite 100 includes a plurality of millimeter wave radars 110 (only two shown in FIG. 1).
The millimeter wave radars 110 are respectively configured to send a first detection signal according to an enable signal, receive a corresponding second detection signal, obtain to-be-detected information of a target according to the second detection signal, perform target filtering on the target according to the to-be-detected information to obtain tracking information of the target in a current frame, and obtain state information and classification information of the target according to the tracking information of the target, where the second detection signal is a detection signal obtained by reflecting the first detection signal by the target; the central control module 130 is used for executing a corresponding control strategy according to the tracking information, the state information and the classification information.
In particular, for a given application scenario (e.g. an indoor scenario), a region of interest (ROI), i.e. a radar to be perceived region, may be determined first. Generally for room regions, as shown in fig. 2, the a region may be an ROI region and the B region may be a non-ROI region.
Further, for a given application scenario, a plurality of millimeter wave radars 110 may be deployed to form a sensing network, and as shown in fig. 2, 4 millimeter wave radars 110 may be deployed in a room, so that the detection range of the millimeter wave radar 110 covers the entire ROI area.
After the deployment of the plurality of millimeter wave radars 110 is completed, an enable signal may be sent to each millimeter wave radar 110, where the enable signal is derived from at least one of the master radar and the central control module 200, and the master radar is a millimeter wave radar considered to be selected in the sensor network, that is, each millimeter wave radar may be triggered by the enable signal in a unified manner. After receiving the enable signal, each millimeter wave radar 110 may send a first detection signal to a radar area to be sensed through an antenna and a radio frequency front end (MMIC) disposed therein, and receive a corresponding second detection signal. Then, the micro-processing unit arranged inside the millimeter-wave radar 110 performs signal processing on the second detection signal to obtain the information to be detected of the target object. The information to be detected comprises one or more of radial speed, radial distance, azimuth angle, elevation angle and signal-to-noise ratio.
It should be noted that each millimeter wave radar 110 is provided with an antenna, where the antenna is a microstrip patch antenna, and a wave-absorbing material may be placed in a region around the antenna to reduce interference caused by multiple reflections of signals. The antenna is configured for N transmitting and M receiving, and both N and M are integers greater than or equal to 1. The microstrip antenna and the radio frequency front end (MMIC) may be a discrete scheme or an integrated scheme, the integrated scheme is an on-chip antenna scheme (AOP), and the frequency range of the millimeter wave radar 110 may be 30GHz to 300 GHz. The radio frequency front end (MMIC) and the micro-processing unit may be a discrete chip solution or an integrated SOC, wherein the micro-processing unit 120 may include one or more of an ARM, a DSP, and an FPGA.
Each millimeter wave radar 110 may further include a power module and a memory, wherein the power module is configured to supply power to the device circuit, and the input power may be strong power, such as a 220V power, or weak power, such as a 12V power; the memory is used for storing instructions of data signal processing, data processing algorithms and the like.
According to one embodiment of the present invention, a millimeter wave radar may include a micro-processing unit, wherein the micro-processing unit is configured to: converting the second detection signal from an analog radio frequency signal into a digital baseband signal; and converting the time domain to the frequency domain of the data baseband signal, and performing clutter suppression on a distance dimension, a Doppler dimension and an angle dimension by using a target detector to acquire information to be detected.
Specifically, firstly, the second detection signal can be converted from an analog radio frequency signal to a digital baseband signal through the micro-processing unit, then, the converted data baseband signal is converted from a time domain to a frequency domain through the micro-processing unit, wherein the conversion can be realized by adopting a conversion mode of fast fourier transform, and finally, clutter suppression is performed on a distance dimension, a doppler dimension and an angle dimension through the micro-processing unit by utilizing the target detector, and information to be detected is extracted. Wherein, the target detector can be at least one of a constant false alarm detector, a Kalman filter, a median filter and an index filter.
According to an embodiment of the present invention, the micro processing unit is further specifically configured to: and performing target filtering on the target object according to the information to be detected by adopting a tracking algorithm and an association algorithm, wherein the tracking algorithm comprises one or more algorithms of Kalman filtering, unscented Kalman filtering and extended Kalman filtering, and the association algorithm comprises one or more algorithms of GNN, JPDA, PDA, MHT and KBEST.
Specifically, after the micro-processing unit 120 obtains the information to be detected, the information to be detected may be input into a radar tracking subunit in the micro-processing unit 120 as a measurement, the radar tracking subunit performs target filtering on the target object according to the information to be detected by using a tracking algorithm and an association algorithm, and outputs the tracking information of the target object of the current frame after association, update, combination, separation, initiation, extinction, and other processes.
Further, after acquiring the tracking information of the target object, the micro-processing unit 120 may acquire the state information and the classification information of the target object according to the tracking information of the target object, and input all the state information and the classification information to the central control module 200 through the communication carrier, where the tracking information, the state information, and the classification information of each target object correspond to one millimeter wave radar. It should be noted that the sensing network formed by the millimeter-wave radars 110 may be connected to the central control module 200 through a communication carrier, and the central control module 200 may be connected to the end network through the communication carrier, where the communication mode includes, but is not limited to, bluetooth, ZigBee, WiFi, NFC, power carrier, ethernet, 4G/5G/6G, and the like.
According to an embodiment of the present invention, the central control module 200 is further configured to, before executing the corresponding control strategy according to the tracking result, the state information and the classification information of the target object: and converting the coordinate systems of the millimeter wave radars into a scene global coordinate system, and performing target fusion on the target object.
Specifically, the central control module 200 may complete information time synchronization, traverse each target, complete coordinate system transformation, and transform from the radar local coordinate system to the scene global coordinate system. As a possible implementation, the coordinate system may be converted by the following formula:
Figure BDA0002995410230000061
Figure BDA0002995410230000062
Figure BDA0002995410230000063
Figure BDA0002995410230000064
Figure BDA0002995410230000065
Figure BDA0002995410230000066
Figure BDA0002995410230000067
Figure BDA0002995410230000068
Figure BDA0002995410230000069
wherein r isx、ryAnd rzCoordinates of a target object in a radar coordinate system on an x axis, a y axis and a z axis; v. ofx、vyAnd vzThe speed of a target object in a radar coordinate system on an x axis, a y axis and a z axis; a isx，ay，azAcceleration of a target object in a radar coordinate system on an x axis, a y axis and a z axis;
Figure BDA00029954102300000610
and
Figure BDA00029954102300000611
coordinates of a target object in a scene global coordinate system on an x axis, a y axis and a z axis;
Figure BDA00029954102300000612
and
Figure BDA00029954102300000613
the speed of a target object in a scene global coordinate system on an x axis, a y axis and a z axis is obtained;
Figure BDA00029954102300000614
and
Figure BDA00029954102300000615
acceleration of a target object in a scene global coordinate system on an x axis, a y axis and a z axis is obtained; theta and phi are conversion angles.
Since different millimeter wave radars may detect the same target object, target fusion may be performed on the target object in the central control module 200.
Specifically, first, a matrix is recorded
Figure BDA0002995410230000071
Where M represents the number of maximum targets that the millimeter wave radar 110 can track,Lthe number of millimeter wave radars 110 representing the deployment of an application scenario,
Figure BDA0002995410230000072
the millimeter wave radar 110 having ID i detects the presence indication amount of the target object having ID j, wherein,
Figure BDA0002995410230000073
indicating the presence of an object with an ID of j,
Figure BDA0002995410230000074
and indicating that the target object with the ID of j does not exist, and completing matrix F element filling according to the matrix F element definition according to the data information of the target object transmitted to the central control module 200 by the millimeter wave radar 110 deployed in the application scene.
Second, traverse all the element pairs of the matrix F
Figure BDA0002995410230000075
Where i ≠ k, as the element of matrix FWhen both elements in the element pair are 0, i.e.
Figure BDA0002995410230000076
Skipping and not processing; when both elements of a pair of elements of the matrix F are 1, i.e.
Figure BDA0002995410230000077
And calculating the correlation between the object with the ID j and the object with the ID l according to the Mahalanobis distance, and fusing the two objects if the Mahalanobis distance is smaller than a first preset value. And if the Mahalanobis distance is larger than the first preset value, skipping and not processing. The target fusion method is to perform weighted average on the correlation attributes of the two targets.
As a possible implementation manner, the method for target fusion specifically includes the following steps: let the existence time of the target object with ID j be TjThe existence time of the target object with ID of l is TlComparison of TjAnd TlThe size of (2). If T isj＞TlThen, then
Figure BDA0002995410230000078
If T isj<＝TlThen, then
Figure BDA0002995410230000079
And writes the results back to matrix F.
In addition, when
Figure BDA0002995410230000081
Or
Figure BDA0002995410230000082
Otherwise, skip no processing.
Further, after traversing the element pairs of the matrix F, extracting the target objects corresponding to the non-zero elements in the matrix F as a global tracking target object list.
After the global tracking target list is obtained, the central control module 200 may perform unified management, and execute a corresponding control strategy by combining the tracking information, the state information, and the classification information. For example, in a room, the target object is generally a person, and thus, in conjunction with the global tracking target object list, the corresponding control strategy is performed without violating the tracking information, the status information, and the classification information.
Therefore, the invention adopts a plurality of millimeter wave radars to detect and track the target, thereby not only improving the detection range, effectively avoiding the condition of generating an information isolated island, but also greatly improving the flexibility and the robustness of the system.
In summary, according to the target detection and tracking system of the embodiment of the invention, the plurality of millimeter wave radars respectively send the first detection signal to the radar to-be-sensed area according to the enable signal, receive the corresponding second detection signal, obtain the to-be-detected information of the target object according to the second detection signal, perform target filtering on the target object according to the to-be-detected information to obtain the tracking information of the target object in the current frame, obtain the state information and the classification information of the target object according to the tracking information of the target object, and execute the corresponding control strategy according to the tracking information, the state information and the classification information through the central control module. Therefore, a plurality of millimeter wave radars are adopted for target detection and tracking, the detection range is widened, the condition of information isolated island is effectively avoided, and the flexibility and the robustness of the system are greatly improved.
Corresponding to the target detection and tracking system of the above embodiment, the invention further provides a target detection and tracking method.
As shown in fig. 3, the target detecting and tracking method of the embodiment of the present invention may include the following steps:
and S1, sending a first detection signal to the radar area to be sensed according to the enabling signal, and receiving a corresponding second detection signal. The second detection signal is a detection signal of the first detection signal after the first detection signal is reflected by the target object.
And S2, acquiring to-be-detected information of the target object according to the second detection signal, performing target filtering on the target object according to the to-be-detected information to acquire tracking information of the target object of the current frame, and acquiring state information and classification information of the target object according to the tracking information of the target object.
And S3, executing corresponding control strategies according to the tracking information, the state information and the classification information.
It should be noted that, details that are not disclosed in the object detecting and tracking method according to the embodiment of the present invention refer to details that are disclosed in the object detecting and tracking system according to the embodiment of the present invention, and detailed descriptions thereof are omitted here.
According to the target detection and tracking method provided by the embodiment of the invention, a first detection signal is sent to a radar to-be-sensed area according to an enabling signal, a corresponding second detection signal is received, information to be detected of a target object is obtained according to the second detection signal, target prediction is carried out on the target object according to the information to be detected so as to obtain tracking information of the target object of a current frame, state information and classification information of the target object are obtained according to the tracking information of the target object, and a corresponding control strategy is executed according to the tracking information, the state information and the classification information. Therefore, a plurality of millimeter wave radars are adopted for target detection and tracking, the detection range is widened, the condition of information isolated island is effectively avoided, and the flexibility and the robustness of the system are greatly improved.
The invention further provides a computer device corresponding to the embodiment.
The computer device of the embodiment of the invention comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and when the processor executes the computer program, the target detection and tracking method of the embodiment is realized.
According to the computer equipment provided by the embodiment of the invention, a plurality of millimeter wave radars are adopted for target detection and tracking, so that the detection range is improved, the condition of generating an information isolated island is effectively avoided, and the flexibility and robustness of the system are greatly improved.
The present invention also provides a computer program product corresponding to the above embodiments.
The instructions in the computer program product, when executed by a processor, may perform the object detection and tracking method of the above-described embodiments.
According to the computer program product provided by the embodiment of the invention, a plurality of millimeter wave radars are adopted for target detection and tracking, so that the detection range is improved, the condition of generating an information isolated island is effectively avoided, and the flexibility and robustness of the system are greatly improved.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (8)

1. An object detection and tracking system, comprising: a millimeter-wave radar group and a central control module, wherein,
the millimeter wave radar group comprises a plurality of millimeter wave radars, the millimeter wave radars are respectively used for sending a first detection signal to a radar to-be-sensed area according to an enabling signal, receiving a corresponding second detection signal, acquiring to-be-detected information of a target object according to the second detection signal, performing target filtering on the target object according to the to-be-detected information to acquire tracking information of the target object of a current frame, and acquiring state information and classification information of the target object according to the tracking information of the target object, wherein the second detection signal is a detection signal obtained by reflecting the first detection signal through the target object;
and the central control module is used for executing a corresponding control strategy according to the tracking information, the state information and the classification information.
2. The target detection and tracking system of claim 1, wherein the millimeter wave radar includes a micro-processing unit to:
converting the second detection signal from an analog radio frequency signal to a digital baseband signal;
and converting the data baseband signal from a time domain to a frequency domain, and performing clutter suppression on a distance dimension, a Doppler dimension and an angle dimension by using a target detector to acquire the information to be detected.
3. The object detection and tracking system of claim 2, wherein the information to be detected includes one or more of radial velocity, radial distance, azimuth, elevation, and signal-to-noise ratio.
4. The target detection and tracking system of claim 2, wherein the micro-processing unit is further configured to: and performing target filtering on the target object according to the information to be detected by adopting a tracking algorithm and an associated algorithm, wherein the tracking algorithm comprises one or more algorithms of Kalman filtering, unscented Kalman filtering and extended Kalman filtering, and the associated algorithm comprises one or more algorithms of GNN, JPDA, PDA, MHT and KBEST.
5. The system for detecting and tracking the target of claim 1, wherein the central control module is further configured to, prior to executing the corresponding control strategy based on the tracking result, the state information, and the classification information of the target: and converting the coordinate systems of the millimeter wave radars into a scene global coordinate system, and performing target fusion on the target object.
6. A target detection and tracking method is characterized by comprising the following steps:
sending a first detection signal to a radar to-be-sensed area according to an enabling signal, and receiving a corresponding second detection signal, wherein the second detection signal is a detection signal obtained by reflecting the first detection signal by a target object;
acquiring to-be-detected information of the target object according to the second detection signal, performing target filtering on the target object according to the to-be-detected information to acquire tracking information of the target object of the current frame, and acquiring state information and classification information of the target object according to the tracking information of the target object;
and executing a corresponding control strategy according to the tracking information, the state information and the classification information.
7. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the object detection and tracking method of claim 6.
8. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the object detection and tracking method of claim 6.
CN202110328232.XA 2021-03-26 2021-03-26 Target detection and tracking system and method Pending CN112859059A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113486300A (en) * 2021-07-02 2021-10-08 南通大学 Unmanned vehicle multi-target tracking method
CN113777600A (en) * 2021-09-09 2021-12-10 北京航空航天大学杭州创新研究院 Multi-millimeter-wave radar cooperative positioning tracking method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113486300A (en) * 2021-07-02 2021-10-08 南通大学 Unmanned vehicle multi-target tracking method
CN113777600A (en) * 2021-09-09 2021-12-10 北京航空航天大学杭州创新研究院 Multi-millimeter-wave radar cooperative positioning tracking method
CN113777600B (en) * 2021-09-09 2023-09-15 北京航空航天大学杭州创新研究院 Multi-millimeter wave radar co-location tracking method

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