The invention discloses a vehicle-mounted multi-agent system for multi-target pedestrian detection and tracking. The vehicle-mounted multi-agent system comprises a data field, a distance measurement agent, an identification agent and a tracking agent. And the distance measurement intelligent body receives the vehicle-mounted sensing information, measures and calculates the position and distance of each target, evaluates the approaching urgency degree of the target, and broadcasts the position, distance and tracking task of the target meeting preset requirements to a data field. And the identification agent measures and calculates the position and the type of each target according to an image in the vehicle-mounted sensing information, takes the matched target as a target to be tracked, and broadcasts the position, the distance and the pedestrian tracking task of the target to be tracked to a data field. And the tracking agent tracks the to-be-tracked target according to the position, the distance and the driving image of the to-be-tracked target in the data domain, and outputs a historical track and a predicted track. Compared with an existing centralized control system structure, the system has higher flexibility.
本发明公开了一种面向多目标行人检测与跟踪的车载多智能体系统,包括数据域、测距智能体、识别智能体和跟踪智能体。测距智能体接收车载传感信息并测算各目标的位置和距离,评估目标的临近紧迫程度,并将满足预设要求的目标的位置、距离和跟踪任务广播至数据域。识别智能体根据车载传感信息中的图像测算各目标的位置和类型,将匹配的目标作为待跟踪目标,并将待跟踪目标的位置、距离和行人跟踪任务广播至数据域。跟踪智能体根据数据域中的待跟踪目标的位置、距离和行车图像对待跟踪目标进行跟踪,输出历史轨迹和预测轨迹。相较于现有的集中式控制系统结构,本系统具有更高的灵活性。
Vehicle-mounted multi-agent system for multi-target pedestrian detection and tracking
一种面向多目标行人检测与跟踪的车载多智能体系统
2024-03-22
Patent
Electronic Resource
Chinese
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