US 12,222,729 B2
Target tracking method and device
Tianpei Wang, Hebei (CN); Longbao Zhen, Hebei (CN); Jianyong Ge, Hebei (CN); Yaxing Ren, Hebei (CN); Kai Zhang, Hebei (CN); Rutao Han, Hebei (CN); Lin He, Hebei (CN); Xiaochuan Li, Hebei (CN); and Xiao Yang, Hebei (CN)
Assigned to GREAT WALL MOTOR COMPANY LIMITED, Hebei (CN)
Appl. No. 17/281,562
Filed by GREAT WALL MOTOR COMPANY LIMITED, Hebei (CN)
PCT Filed Sep. 27, 2019, PCT No. PCT/CN2019/108404
§ 371(c)(1), (2) Date Mar. 30, 2021,
PCT Pub. No. WO2020/063818, PCT Pub. Date Apr. 2, 2020.
Claims priority of application No. 201811154331.5 (CN), filed on Sep. 30, 2018.
Prior Publication US 2021/0365039 A1, Nov. 25, 2021
Int. Cl. G05D 1/00 (2024.01); B60W 40/02 (2006.01); G01S 13/86 (2006.01)
CPC G05D 1/0257 (2013.01) [B60W 40/02 (2013.01); G05D 1/0088 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); G01S 13/865 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A target tracking method, comprising:
reading a target fusion list at the current time from one or more sensors of a vehicle by a processor, wherein the target fusion list comprises one or more target attribute sets in which each of one or more environmental targets corresponds to one target attribute set, the target attribute set comprises one or more parameter attribute sets of an environmental targ et detected by each of one or more sensors, the parameter attribute set at least comprises one or more of: a longitudinal speed, a longitudinal distance, and a target ID;
judging whether the target fusion list at the current time is an initial target fusion list based on whether there is a stored target fusion list by the processor;
determining a target tracking list at the current time according to the target fusion list at the current time and a stored target tracking list at the previous time by the processor, if the target fusion list at the current time is not the initial target fusion list, wherein the target tracking list comprises a parameter attribute set and a fusion tracking ID corresponding to each selected environmental target, and the determining comprising:
according to the target tracking list at the previous time, predicting a parameter attribute set for each environmental target in the target tracking list to obtain a predicted target list;
matching a target ID set of each environmental target in the target fusion list at the current time and a target ID set of each environmental target in the predicted target list;
according to a matching result, executing the following steps for an any environmental target in the target fusion list at the current time to determine a fusion tracking ID of the any environmental target:
if the target ID set of the any environmental target does not have a same sub-ID as in the target ID set of each environmental target in the predicted target list, assigning a new fusion tracking ID to the any environmental target;
if the target ID set of the any environmental target has one or more same sub-IDs as in a target ID set of a first environmental target in the predicted target list, determining whether a first difference between a longitudinal distance of the any environmental target and a predicted longitudinal distance of the first environmental target in the predicted target list is less than a first preset value, and determining whether a second difference between a longitudinal speed of the any environmental target and a longitudinal speed of the first environmental target in the predicted target list is less than a second preset value;
if the first difference is less than the first preset value and the second difference is less than the second preset value, using a fusion tracking ID of the first environmental target as the fusion tracking ID of the any environmental target; and
if the first difference is not less than the first preset value and/or the second difference is not less than the second preset value, assigning a new fusion tracking ID to the any environmental target; and
transmitting the target tracking list to a decision-making system of the vehicle by the processor;
tracking an interested environmental target of the vehicle in real-time using the fusion tracking ID in the target tracking list by the decision-making system;
wherein, the target fusion list further comprises a coincidence degree of each environmental target, and the coincidence degree is the number of sensors capable of detecting the environmental target, and the method further comprises: monitoring an environmental target with a coincidence degree of 1 by the processor, and if the existence time of the environmental target with the coincidence degree of 1 is greater than a third preset value, encompassing a parameter attribute set and a fusion tracking ID of the environmental target with the coincidence degree of 1 into the target tracking list to be output.