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1. WO2020133449 - TARGET TRACK DETERMINATION METHOD, TARGET TRACKING SYSTEM, AND VEHICLE

Publication Number WO/2020/133449
Publication Date 02.07.2020
International Application No. PCT/CN2018/125723
International Filing Date 29.12.2018
IPC
G05D 1/02 2006.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G01C 21/00 2006.1
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
CPC
G01C 21/00
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
G01C 21/16
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
10by using measurements of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
G01C 21/165
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
10by using measurements of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
165combined with non-inertial navigation instruments
G01C 21/28
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
G01S 13/58
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
13Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
50Systems of measurement based on relative movement of target
58Velocity or trajectory determination systems; Sense-of-movement determination systems
G01S 13/583
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
13Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
50Systems of measurement based on relative movement of target
58Velocity or trajectory determination systems; Sense-of-movement determination systems
583using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
Applicants
  • 深圳市大疆创新科技有限公司 SZ DJI TECHNOLOGY CO., LTD. [CN]/[CN]
Inventors
  • 李怡强 LI, Yiqiang
  • 陈雷 CHEN, Lei
  • 陆新飞 LU, Xinfei
Agents
  • 北京友联知识产权代理事务所(普通合伙) YOULINK INTELLECTUAL PROPERTY LAW FIRM
Priority Data
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) TARGET TRACK DETERMINATION METHOD, TARGET TRACKING SYSTEM, AND VEHICLE
(FR) PROCÉDÉ DE DÉTERMINATION DE SUIVI DE CIBLE, SYSTÈME DE SUIVI DE CIBLE ET VÉHICULE
(ZH) 目标航迹确定方法、目标跟踪系统与车辆
Abstract
(EN)
The present application provides a target track determination method, a target tracking system, and a vehicle. The target track determination method comprises: detecting a target of an intersection to be passed, and obtaining detection information of the target at the current time; generating a plurality of estimated tracking tracks of the target according to the detection information of the target at the current time and path information of said intersection; and determining an actual tracking track of the target according to detection information of the target at the next time and the plurality of generated estimated tracking tracks. According to the technical solution of the present application, no matter which direction the target is moving with respect to the radar, a complete actual tracking track can be obtained, and thus the accuracy and reliability of performing subsequent operations and calculations by using the actual tracking track can be improved while the actual tracking track is kept intact.
(FR)
La présente invention concerne un procédé de détermination de suivi de cible, un système de suivi de cible et un véhicule. Le procédé de détermination de suivi de cible consiste : à détecter une cible d'une intersection devant être franchie, et à obtenir des informations de détection de la cible au moment actuel ; à générer une pluralité de pistes de suivi estimées de la cible en fonction des informations de détection de la cible au moment actuel et des informations de trajet de ladite intersection ; et à déterminer une piste de suivi réelle de la cible en fonction d'informations de détection de la cible au moment suivant et de la pluralité de pistes de suivi estimées générées. Selon la solution technique de la présente invention, quelle que soit la direction dans laquelle le véhicule se déplace par rapport au radar, une piste de suivi réelle complète peut être obtenue, et ainsi la précision et la fiabilité de réalisation d'opérations et de calculs ultérieurs à l'aide de la piste de suivi réelle peuvent être améliorées tandis que la piste de suivi réelle est maintenue intacte.
(ZH)
本申请提供了一种目标航迹确定方法、目标跟踪系统与车辆,其中,所述目标航迹确定方法包括:探测待经过路口的目标,并获取所述目标的当前时刻的探测信息;根据目标的当前时刻的探测信息与待经过路口的路径信息,生成目标的多个预估跟踪航迹;根据目标的下一个时刻的探测信息与生成的多个预估跟踪航迹,确定目标的实际跟踪航迹。根据本申请的技术方案,无论目标相对雷达的处于何种移动方向,都能够得到完整的实际跟踪航迹,进而能够在实际跟踪航迹保持完整的情况下,提升采用该实际跟踪航迹执行后续操作与计算的准确性与可靠性。
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