CN-116027276-B - Road section multi-radar detection area track connection optimization method

CN116027276BCN 116027276 BCN116027276 BCN 116027276BCN-116027276-B

Abstract

The invention discloses a road section multi-radar detection area track connection optimization method, which solves the problems that in the prior art, a single radar detection range is not full, a complete track of a vehicle on a middle road section cannot be obtained, and the obtained track is easy to jump, and comprises the following steps that S1, radar layout points are selected to define a radar connection area; S2, acquiring a target track set detected by a radar, screening the target track set to obtain a target track set after de-duplication, S3, judging whether the target track set after de-duplication is a multi-radar engagement area, performing engagement with the radar track or multi-radar track according to a judgment result, and S4, traversing all target tracks, and analyzing the rest candidate tracks to obtain a complete track of a road section. The radar is distributed on the middle road section to carry out the joint of the same radar track and multiple radar tracks, so that complete track information of the vehicle on the middle road section is obtained, the accuracy is high, the matching is quick, and meanwhile, the jump is effectively prevented.

Inventors

YU XIAOLU
WANG LIANG
WANG WEI
SHEN BIN
HU LINGLONG
Rong Dingding

Assignees

浙江中控信息产业股份有限公司

Dates

Publication Date: 20260505
Application Date: 20221201

Claims (10)

1. The road section multi-radar detection area track connection optimization method is characterized by comprising the following steps of: S1, selecting radar layout points to define a radar engagement area; S2, acquiring a target track set detected by a radar, and screening the target track set to obtain a target track set after de-duplication; When the multi-radar track is connected, B1 is used for screening the candidate track set of the main track based on a space-time range, further screening the candidate track set of each target main track in the main track based on track characteristics, traversing each target track to obtain the candidate track set of each target main track, B2 is used for traversing each target track to obtain a candidate track unique to each target track, screening the main track unique to the candidate track, B3 is used for expanding the searching range to carry out secondary matching of the target main track and the candidate track if the candidate track is not matched, and if the candidate track is not matched, the candidate track is failed to connect, and the latest point of the main track is positioned in the target track of the multi-radar connection area Z 0 , and virtual points are added, if the candidate track is successfully matched, the latest track point space-time parameter of the candidate track is the latest track point parameter of the main track in the marking period; And S4, traversing all the target tracks, and analyzing the rest candidate tracks to obtain a complete track set of each target vehicle.
2. The method for optimizing track engagement of multiple radar detection areas of road segments according to claim 1, wherein the step S2 is further expressed as: S2.1, if the radar X 1 and the radar X 2 are respectively millimeter wave radars arranged at two adjacent radar arrangement points, acquiring a target track set detected by the radar X 1 , screening the target track set positioned in a multi-radar engagement area Z 0 at the current moment, and marking the target track set as a set A after de-duplication; S2.2, acquiring a target track set detected by the radar X 2 , screening the target track set which is positioned in the same radar joint area Z 2 at the current moment, and marking the target track set as a set C after de-duplication.
3. The method for optimizing track engagement of multiple radar detection areas of road segments according to claim 2, wherein the step S3 is further expressed as: The method comprises the steps of carrying out track engagement on each target track in a set A, carrying out track engagement on each target track in the set A, obtaining a new track point in a time period of each target track (T-T, T), updating each target track in the set A, screening and deduplicating candidate track sets detected by a radar X 2 , wherein for each target track, the total track point number is more than or equal to N 1 in the time period (T-T, T) and the track points belong to a multi-radar engagement area Z 0 , so as to obtain a set D; And (3) judging the state of each target track in the set B and the set C without multiple radar connection areas, wherein if the target track does not generate a new track point in the (T-T, T) period, the target track jumps, is connected with the radar track, and the successfully connected target track is stored in the set G, otherwise, the target track does not jump, and the detection state information corresponding to the target track in the (T-T, T) period is stored in the set G.
4. A method for optimizing track engagement of multiple radar detection areas in a road segment according to claim 1, 2 or 3, wherein in the step S3, the track engagement with the radar further comprises: A1, screening to obtain a candidate track set of the main track based on a space-time range, and further screening the candidate track set of each target main track in the obtained main track based on track characteristics; A2, calculating the distance d between the first track point of each target of the candidate track and the last track point of the main track, selecting the candidate track with the smallest d to match with the main track, giving the ID of the main track to the candidate track, ending the connection with the radar track of the main track of the target, if one candidate track meets the connection condition of multiple target tracks, connecting the candidate track with the target track with the smallest d, if the connection is successful, adding a tag mark_id to the target track, marking mark_id=1, completing the connection with the radar track, and if the connection is failed, entering A3; A3, if the latest point of the main track is positioned in the multi-radar engagement area Z 0 , adding a mark_id to the target track, marking mark_id=0, and carrying out multi-radar area track engagement, and if the latest point of the main track is positioned in the same radar engagement area Z 1 , adding a virtual point.
5. The method for optimizing track engagement of multiple radar detection areas on a road segment according to claim 4, wherein the step A1 is further expressed as: A1.1, detecting a track point of a candidate track L 1 and a track point before a jump of a main track L 0 by the same radar based on a space-time range condition, wherein the time of the first track point of the candidate track L 1 is later than the time of the last track point of the main track L 0 , the time difference is within the range of (0, T 1 ), T 1 is a track matching time threshold value 1, the longitude and latitude difference value of the first track point of the candidate track L 1 relative to the last track point of the main track L 0 is within the range of (Lon 1 and (Lat 1), the track point of the candidate track L 1 within the range of (T-T, T) is more than or equal to N 3 ,N 3 and is a candidate track screening threshold value 3, acquiring a candidate track set, if the candidate track is 0, matching fails, and A3 is entered, otherwise, and A1.2 is entered; A1.2, selecting a candidate track set which satisfies that the included angle between a vector formed by the 1 st point and the 1+N 4 th point on the candidate track and a vector formed by the last 1 point and the 1+N 4 st point on the main track is smaller than or equal to alpha 1 ,α 1 and is smaller than alpha 2 , wherein the candidate track set satisfies that the included angle between a vector formed by the last point on the main track and the first point on the candidate track and a vector formed by the last 1 point and the 1+N 4 st point on the main track is smaller than alpha 2 , alpha 2 is a track matching angle threshold 2, if the candidate track is 0, the matching fails, and A3 is entered, and otherwise, A2 and N 4 are candidate track screening thresholds 4.
6. The method for optimizing multi-radar detection area trajectory engagement of a road segment of claim 1, wherein said multi-radar trajectory engagement further comprises storing the object ID of the main trajectory, the object ID of the engaged candidate trajectory, and the detected state information in the set G.
7. The method for optimizing track engagement of multiple radar detection areas of road segments according to claim 6, wherein the step B1 further comprises: Acquiring space-time parameters of track points in a marking period in a target track set A of a multi-radar joint region Z 0 after the duplication elimination for the same joint target, performing point location matching on space-time parameters of each point of a candidate track by traversing the space-time parameters of each point of the candidate track, wherein if the time corresponding to the candidate track point is within [ T iR_1 -T i ,t iR_1 +T i ], or the difference value between the longitude latitude of the candidate track point and the longitude latitude of the main track point is within the range of Lon i and Lat i , the point location matching is successful, T iR_1 is the current detection time of the candidate track point, T i is the joint matching configuration parameter, lon i is the distance threshold of the same radar matching parameter, and Lat i is the distance threshold of the multi-radar matching parameter; Based on track characteristics, the space-time parameters of the latest point and the 1+N 4 point of the candidate track and the space-time parameters of the latest point and the 1+N 4 point of the main track are taken, if the main track has two track points in the marking period, the space-time parameters of the two points are taken, and if the main track has only one point in the marking period, the space-time parameters of the point and the space-time parameters of the track point with the maximum time of the target track in the last period of the marking period are taken.
8. The method for optimizing track engagement of multiple radar detection areas on road segments according to claim 6 or 7, wherein the method further comprises the constraint condition when screening based on track characteristics: For a target track which is successfully matched with the radar track or fails to be matched with the radar track but has the latest point of the main track positioned in a multi-radar joint area Z 0 , the constraint condition of a direction angle is met, wherein the included angle between a vector formed by the 1 st point and the 1+N 4 th point on the candidate track and a vector formed by the last 1 st point and the 1+N 4 th point on the main track is smaller than or equal to alpha; For a target track successfully matched with the radar track, the speed constraint condition is satisfied, namely, the speed V R is calculated according to the X coordinates of the 1st point and the 1+N 4 st point on the candidate track, the speed V V is calculated according to the X coordinates of the last 1 point and the 1+N 1 st point on the main track, the condition that |V V -V R | is less than or equal to the father Vx is satisfied, and the father Vx is the track matching radial speed threshold.
9. The method for optimizing track engagement of multiple radar detection areas on road segments according to claim 6 or 7, wherein the step B2 further comprises: If the target track is matched with a plurality of candidate tracks, the distance d between the track point of the main track in the marking period and each track point in the candidate tracks is calculated, the fatd of each track point is summed to obtain fatd sum , each candidate track is traversed to obtain a plurality of candidate tracks with the smallest fatd sum ,∆d sum as the track which is uniquely connected with the target track, if the candidate track with the smallest fatd sum is a plurality of candidate tracks with the smallest fatd, the candidate track with the smallest fatd is regarded as the track which is uniquely connected with the target track, each target track is traversed to obtain the unique candidate track of each target track, and if one candidate track accords with the connection condition of the plurality of target tracks, the candidate track is connected with the target track with the smallest fatd sum .
10. The method for optimizing track engagement of multiple radar detection areas of a road segment of claim 4, wherein said adding virtual points further comprises: Obtaining longitude, latitude and coordinates of the nearest track point and the 1+N 4 track points of the main track, and calculating longitude speeds V lon , latitude speeds V lat and K of the two track points, wherein K is the ratio of the x-distance difference value to the y-distance difference value of the two track points; And adding virtual points based on information, wherein if |V lon |≤V 0 or |V lat |≤V 0 ,V 0 is a simulated point speed threshold, and the accumulated virtual point number of the main track is smaller than N 5 , adding one virtual point to the main track, if |V lon |>V 0 or |V lat |>V 0 is smaller than N 5 , connecting for N 6 times is unsuccessful, adding one virtual point to the main track, and if the accumulated virtual point number of the main track is larger than N 5 , deleting the main track from the target track set, wherein N 5 is a candidate track screening threshold 5,N 6 , and the candidate track screening threshold 6 is a candidate track screening threshold.

Description

Road section multi-radar detection area track connection optimization method Technical Field The invention relates to the technical field of intelligent traffic, in particular to a road section multi-radar detection area track connection optimization method. Background The detection and management of road traffic safety depends on advanced sensor detection technology, and millimeter wave radar terminal equipment is widely used in sensor technology of traffic infrastructure in urban intersection environment nowadays for acquiring real-time traffic information on roads. The effective detection distance of the millimeter wave radar device installed at the intersection is generally about 200m, a complete intersection detection area can be formed by installing a plurality of radars at different directions, and for a road section between two intersections, a single radar cannot complete detection of the whole road section, so that a complete track of a vehicle running on an intermediate road section cannot be obtained through single radar detection, in addition, the radar device cannot detect the problems that the vehicle speed is low, the vehicle stops and the vehicle is blocked due to the limitation of the arrangement height, and therefore, the obtained track can also have jump and the like. For the detection of the middle road section, the fusion of multi-source data is generally required to be carried out by combining with other detection technologies to obtain the complete track of the same vehicle, but in the radar detection scene, a specific solution is not provided based on track connection of multiple radar areas, so how to obtain the complete track of the vehicle running on the middle road section based on the detection information of the multiple radar areas is a problem to be solved in the application field of the current radar in the traffic scene. Disclosure of Invention The invention aims to solve the problems that in the prior art, for a road section between two intersections, a single radar detection range is not full, a complete track of a vehicle on an intermediate road section cannot be obtained, and the obtained track is easy to jump. In order to achieve the purpose, the invention adopts the following technical scheme that the road section multi-radar detection area track connection optimization method comprises the following steps: S1, selecting radar layout points to define a radar engagement area; S2, acquiring a target track set detected by a radar, and screening the target track set to obtain a target track set after de-duplication; S3, judging whether the target track set subjected to de-duplication is a multi-radar engagement area, if so, firstly engaging with the radar track, screening candidate tracks, and then engaging with the multi-radar track, if not, judging whether track jump occurs, and if so, engaging with the radar track; And S4, traversing all the target tracks, and analyzing the rest candidate tracks to obtain a complete track set of each target vehicle. According to radar detection capability, selecting radar arrangement points on a road section, arranging double radars at the same radar arrangement point to detect two opposite running traffic flows, regarding two adjacent radar arrangement points, wherein an intermediate area is a multi-radar area, two radar detection ranges in the multi-radar area need to be overlapped, and completing whole road section arrangement to realize the whole coverage of the road section detection range. The method for linking the regional track of the multiple radar regions in two different vehicle running directions is the same. According to the method, the radar is distributed on the middle road section to carry out the joint of the same radar track and the multiple radar tracks, so that complete track information of the vehicles on the middle road section is obtained, the accuracy is high, the matching is quick, the jump is effectively prevented, and meanwhile, an important reference basis can be provided for the detection and management of urban road traffic safety. Preferably, the step S2 is further expressed as: S2.1, if the radar X 1 and the radar X 2 are respectively millimeter wave radars arranged at two adjacent radar arrangement points, acquiring a target track set detected by the radar X 1, screening the target track set positioned in a multi-radar engagement area Z 0 at the current moment, and marking the target track set as a set A after de-duplication; S2.2, acquiring a target track set detected by the radar X 2, screening the target track set which is positioned in the same radar joint area Z 2 at the current moment, and marking the target track set as a set C after de-duplication. If the radars X 1 and X 2 are millimeter wave radars mounted at two adjacent radar layout points, respectively, the cross detection range of the radars X 1 and X 2 is defined as a multi-radar engagement region Z 0, the region where the radars X 1 do