基于联合概率数据关联的车用多传感器目标跟踪融合算法

doi:10.13229/j.cnki.jdxbgxb20180673

Abstract

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

Peng-yu WANG,Shi-jie ZHAO,Tian-fei MA,Xiao-yong XIONG,Xin CHENG. Vehicle multi-sensor target tracking and fusion algorithm based on joint probabilistic data association[J].Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1420-1427.

Figures/Tables 12

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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

Table 1

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Table 2

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Table 3

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设备	距离/m		速度/(m·s^-1)		加速度/(m·s^-2)
设备	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

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

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

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