The invention relates to a method for stabilizing a track of a queuing vehicle at an intersection based on a 4D millimeter wave radar, and the method comprises the steps: obtaining 4D millimeter wave radar point cloud data and road calibration information; preprocessing the millimeter wave radar point cloud data according to the intersection calibration information; dBSCAN clustering is carried out on the preprocessed 4D millimeter wave point cloud; associating the generated track with the clustered bounding box, and generating a new track from the unassociated clustering box; after the track enters the queuing area, queuing area track management is realized according to track indexes of front and back frames of lanes, K-Means clustering is performed on the point cloud of the queuing area according to the track index of the current frame of lanes, and the track of the queuing area is associated with the clustering after clustering; and outputting stable track information.
本发明涉及一种基于4D毫米波雷达实现路口排队车辆的航迹稳定方法,其中,所述方法包括:获取4D毫米波雷达点云数据和道路标定信息;根据路口标定信息对毫米波雷达点云数据进行预处理;对预处理后的4D毫米波点云进行DBSCAN聚类;把已生成的航迹与聚类的边界框进行关联,未关联上的聚类框生成新航迹;航迹进入排队区域后,根据前后两帧车道航迹索引实现排队区域航迹管理,再根据当前帧车道航迹索引,对排队区域点云进行K‑Means聚类,聚类后把排队区域航迹与聚类进行关联;输出稳定的航迹信息。
Method for stabilizing track of queuing vehicle at intersection based on 4D millimeter wave radar
基于4D毫米波雷达实现路口排队车辆的航迹稳定方法
13.12.2024
Patent
Elektronische Ressource
Chinesisch
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