Research On Multi-Target Tracking Algorithm Of Vehicle-Mounted Millimeter-Wave Radar

With the continuous and rapid development of China's economy and society,the number of cars is increasing,and traffic safety has become a problem that cannot be ignored in today's society.Millimeter-wave radar has the advantages of large signal bandwidth,small size and little influence from the external environment.It plays an important role in advanced driving assistance system and unmanned driving application.Multi-target recognition and tracking is the key and difficult point in the development of vehicle-mounted millimeter-wave radar,its performance affects the stability of the whole vehicle environmental monitoring system directly.In this paper,the key technology of millimeter-wave radar multi-target tracking algorithm is studied based on a scientific research project of the space academy,analyzed and verified by simulation and field experiment.Firstly,the working principle of millimeter wave radar is introduced,the working system classification of radar is mainly discussed,the waveform design of MFSK radar used in this paper and the principles of ranging,velocity and angle measurement are mainly introduced.Secondly,the difficult problems of track initiation and track data correlation are studied deeply.This paper discusses the annular gate which is suitable for this paper,several classical methods of track initiation and track data correlation are analyzed.On this basis,the track initiation method combined with 2/3 and 3/4 ratio,and the correlation algorithm of the nearest neighbor domain data used in this paper are proposed according to the actual situation.Some methods of radar data preprocessing and track management are introduced to improve track quality and display effect.Then,the target tracking filtering algorithm of radar is studied,the kalman filtering algorithm and extended kalman filtering algorithm are discussed.The filtering model,filtering process,state vector initialization and filtering parameter calculation of the two are studied respectively.The filtering effect of multi-target tracking in millimeter-wave radar is analyzed experimentally.The reason why the extended kalman filter is not effective in this paper is analyzed through comparative study.Finally,a multi-target tracking algorithm suitable for the vehicle-mounted millimeter-wave radar used in this paper is designed based on the kalman filtering algorithm.The multi-target tracking effect of the algorithm is verified in the simulation and a variety of field experiment scenarios(static test dynamic test,actual roadster test),the existing problems of the algorithm are analyzed by experimental results.