The invention relates to a target tracking method and device for a vehicle and a vehicle driving system, and the method comprises the steps: obtaining an existing track of a tracking target, and obtaining the current measurement data collected by at least one sensor; wherein the existing track is constructed based on historical measurement data collected by at least two sensors; based on the mahalanobis distance and a target confidence coefficient corresponding to the current measurement data, carrying out association matching on the current measurement data and an existing track to obtain a matching result; and when determining that the measurement data matched with the existing track exists in the current measurement data according to the matching result, performing Kalman updating on the existing track according to the current measurement data. According to the method, data collected by a sensor in real time can be associated and matched with an existing track, and the matched track is associated with front and back frames, so that stable tracking of a foresight target can be improved, and the stability of foresight perception of a vehicle is improved.
本申请涉及一种用于车辆的目标跟踪方法、装置和车辆驾驶系统,其中,该目标跟踪方法包括:获取跟踪目标的已有航迹,以及获取至少一种传感器采集到的当前量测数据;其中,已有航迹基于至少两种传感器所采集到的历史量测数据构建得到;基于马氏距离和当前量测数据对应的目标置信度,将当前量测数据与已有航迹进行关联匹配,得到匹配结果;在根据匹配结果,确定当前量测数据中存在与已有航迹相匹配的量测数据时,根据当前量测数据对已有航迹进行卡尔曼更新。其能够将传感器实时采集的数据与已有航迹进行关联匹配,并对匹配好的航迹进行前后帧关联,从而能够提高对前视目标的稳定跟踪,提高车辆前视感知的稳定性。
Target tracking method and device for vehicle and vehicle driving system
用于车辆的目标跟踪方法、装置和车辆驾驶系统
2024-12-13
Patent
Electronic Resource
Chinese
Target tracking path selection method and device for intelligent driving vehicle
European Patent Office | 2020
|Tracking object merging method and device of automatic driving vehicle and target fusion system
European Patent Office | 2023
|