Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (5): 1420-1427.doi: 10.13229/j.cnki.jdxbgxb20180673

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Vehicle multi-sensor target tracking and fusion algorithm based on joint probabilistic data association

Peng-yu WANG1(),Shi-jie ZHAO1,Tian-fei MA1(),Xiao-yong XIONG1,Xin CHENG2   

  1. 1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
    2. School of Information Science and Engineering, Harbin Institute of Technology in Weihai, Weihai 264209, China
  • Received:2018-06-26 Online:2019-09-01 Published:2019-09-11
  • Contact: Tian-fei MA E-mail:16907977@qq.com;matf@jlu.edu.cn

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Abstract:

To solve the problem of intelligent vehicle forward multi-sensor multi-target tracking and fusion, an algorithm of vehicle multi-sensor target tracking and fusion based on modified joint probabilistic data association is proposed. First, according to the relative motion of the vehicle coordinate system and sensor coordinate system, the multi-sensor data is transformed. Then, the single-sensor multi-target tracking based on modified joint probabilistic data association, the multi-sensor track correlation based on correlation sequential track association and convex combination fusion are adopted to achieve stable tracking and accurate fusion of the target. Finally, the experimental vehicle equipped with millimeter-wave radar and camera is tested in actual traffic environment. The results show that the target is tracked steadily and the fusion results have good accuracy which verify the feasibility and effectiveness of the proposed algorithm.

Key words: vehicle engineering, joint probabilistic data association, multi-sensor, target tracking, fusion

CLC Number: 

  • U461.91

Fig.1

Coordinate system"

Fig.2

Logic chart of module of effective target sustained"

Fig.3

Multi-sensor target tracking and fusion algorithm based on modified JPDA"

Fig.4

Scenario of a road experiment"

Table 1

Measure performance of sensors"

设备 测量性能
毫米波雷达 长距模式 距离范围/m:0.20~250 精度/m： ± 0.40 角度范围/(°): ± 9 精度/(°) : ± 0.1
短距模式 距离范围/m : 0.20 ~ 70 精度/m: ± 0.10 角度范围/(°) : ± 45 精度/(°): ± 1.0
速度范围/(km·h): - 400 ~ + 200 精度/(km·h): ± 0.10
摄像头 分辨率: 1280 × 960 像素/M: 1.2 焦距/mm: 5.47
陀螺仪 加速度/g: ± 4 精度/%: ± 1
光电测速仪 速度范围/(km·h): 0.5 ~ 400 精度/%: ± 0.1

卫星

导航

RTK(RMS) 平面/(mm+ppm):10+1 高程/(mm+ppm):15 +1

观测精度(RMS) 码伪距/cm:10 载波相位/mm:1

Fig.5

Comparison of before and after JPDA modified for main target tracking"

Fig.6

Comparison of longitudinal and lateral distance reference values, fusion and state estimation"

Fig.7

Comparison of longitudinal and lateral velocity reference values, fusion and state estimation"

Fig.8

Comparison of longitudinal and lateral acceleration reference values, fusion and state estimation"

Table 2

RMSE of state estimate"

设备 距离/m 速度/(m·s-1) 加速度/(m·s-2)
纵向 侧向 纵向 侧向 纵向 侧向
摄像头 0.1243 0.0918 0.3046 0.4176 0.2149 0.4520
雷达 0.0160 0.0181 0.0469 0.0401 0.0475 0.0338
融合 0.0085 0.0133 0.0195 0.0238 0.0132 0.0163

Fig.9

Comparison of different target tracking algorithms for longitudinal distance"

Table 3

Comparison of different target tracking"

项 目 JPDA MHT EKF+NN
纵向距离/m 0.0085 0.0146 0.0453
侧向距离/m 0.0133 0.0184 0.0489
纵向速度/(m·s-1) 0.0195 0.0220 0.1139
侧向速度/(m·s-1) 0.0238 0.0257 0.1441
纵向加速度/(m·s-1) 0.0132 0.0172 0.1145
侧向加速度/(m·s-1) 0.0163 0.0197 0.0866
计算时间/s 8.7334 12.9186 6.4251
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