The invention discloses a multi-side unit cross-domain target fusion tracking system and method in a foggy day scene. The system is composed of a target detection module, a fusion tracking module and a communication module. The target detection module preprocesses original point cloud, including background filtering and ground segmentation to obtain non-ground point cloud containing noise, then filters out fog noise point cloud by adopting a point cloud space-time sequence denoising method, and extracts a target through clustering; the fusion tracking module carries out space-time fusion on the measurement sets published by the adjacent road side units and received by the road target measurement and communication module to obtain an augmented target measurement set, and a target trajectory is updated through a PHD filter; the communication module is used for receiving and sending the target measurement set between the road side units and sending the road traffic target information to the vehicle. According to the invention, continuous and stable tracking of the road target in the foggy day is realized through point cloud space-time sequence denoising and multi-road-side unit cross-domain target fusion tracking, and the safety of vehicle driving in the foggy day is enhanced.
本发明请求保护一种雾天场景下多路侧单元跨域目标融合跟踪系统及方法,该系统由目标检测模块、融合跟踪模块和通信模块组成。目标检测模块对原始点云预处理,包括背景滤波、地面分割得到含有噪声的非地面点云,再采用点云时空序列去噪方法滤除雾噪声点云,再通过聚类提取目标;融合跟踪模块将道路目标量测和通信模块接收到的相邻路侧单元发布的量测集进行时空融合得到增广的目标量测集,再通过PHD滤波器以更新目标轨迹;通信模块用于路侧单元之间接收和发送目标量测集并向车辆发送道路交通目标信息。本专利通过点云时空序列去噪以及多路侧单元跨域目标融合跟踪来实现雾天道路目标的连续稳定跟踪,增强雾天车辆行驶的安全性。
Multi-side unit cross-domain target fusion tracking system and method in foggy day scene
一种雾天场景下多路侧单元跨域目标融合跟踪系统及方法
2025-02-14
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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