Research On Multi-target Tracking Algorithm Based On Adaptive Cruise Control

With the continuous economic development,the demand for automobiles has been growing.Environmental pollution and safety problems have also been increasing.The continuous development of intelligent cars can effectively solve these problems,intelligent car has become an important trend in the future development of the car.Adaptive cruise control system is an indispensable function in intelligent vehicles,and the premise of adaptive cruise control system is to get accurate parameters of vehicle ahead.The multi-target tracking algorithm can effectively obtain the data needed by adaptive cruise system.Based on the above background,this paper mainly studies the multi-target tracking algorithm based on millimeter wave radar and vision sensor.Firstly,a sensing system of adaptive cruise control system based on millimeter-wave radar and vision sensor is proposed.The data acquisition method of millimeter-wave radar and data preprocessing are described.The millimeter-wave radar data and visual sensor data are fused to obtain more accurate data.Secondly,the track start and end algorithm in multi-target tracking is studied.In this paper,we focus on the track initiation algorithm based on Hough Transform.Aimed at the real-time problem of vehicle identification,a fast random Hough Transform track initiation algorithm is proposed.By adding sampling termination rules,The starting time.Next,we focus on state estimation in multi-target tracking and data association algorithm.Aiming at the high maneuverability of strong maneuvering targets,a variable structure and multi-model algorithm is proposed,and it can effectively estimate the maneuvering state of the maneuvering targets through adaptive structure.Aiming at the characteristics of vehicle target tracking clutter density,a joint data association algorithm based on full neighbor fuzzy clustering is proposed to realize the effective data association of the dense clutter environment and ensure the real-time performance of the system.Finally,an adaptive cruise based intelligent vehicle environment awareness system is built.By adding sensors such as millimeter wave radar and Mobileye,the multi-target tracking software system for vehicles was designed.Finally,urban road conditions and learning conditions were tested.The results show that the proposed algorithm can accurately and quickly achieve multi-target tracking.