OBJECT FUSION SYSTEM OF MULTIPLE RADAR IMAGING SENSORS

摘要

A method of detecting and tracking objects using multiple radar sensors. Objects relative to a host vehicle are detected from radar data generated by a sensing device. The radar data includes Doppler measurement data. Clusters are formed, by a processor, as a function of the radar data. Each cluster represents a respective object. Each respective object is classified, by the processor, as stationary or non-stationary based on the Doppler measurement data of each object and a vehicle speed of the host vehicle. Target tracking is applied, by the processor, on an object using Doppler measurement data over time in response to the object classified as a non-stationary object; otherwise, updating an occupancy grid in response to classifying the object as a stationary object.

主权项

1. A method of detecting and tracking objects using multiple radar sensors comprising:
detecting objects relative to a host vehicle from radar data generated by a sensing device, the radar data including Doppler measurement data; forming clusters, by a processor, as a function of the radar data, each cluster representing a respective object; classifying, by the processor, each respective object as stationary or non-stationary based on the Doppler measurement data of each object and a vehicle speed of the host vehicle; and applying target tracking, by the processor, on an object using Doppler measurement data over time in response to the object classified as a non-stationary object, otherwise, updating an occupancy grid in response to classifying the object as a stationary object.