Research On Target Tracking Algorithm Based On Automotive Millimeter-Wave Radar

Automobile millimeter-wave radar is an important sensor in the automatic driving system.One of the urgent problems to be solved for the safety of autonomous driving is the accuracy of the automobile millimeter-wave radar tracking target.After receiving the ADC sampling data,the automobile millimeter-wave radar obtains the original target data with distance,velocity and angle information through the radar signal processing,and then processes the original point data through the target tracking algorithm to obtain the estimated position of the target.Finally,the trajectory of the target is formed.The application scenario of automotive millimeter-wave radar is very complex,which requires high stability and accuracy of target tracking.It is necessary to find a target tracking algorithm suitable for automotive millimeter-wave radar.Automotive millimeter-wave radar is used as the research object in this thesis,and makes following research work around the radar target tracking algorithm and realization:Firstly,the basic concept and hardware structure of automobile millimeter wave are introduced.In order to understand the characteristics of radar original target data better,Signal processing flow of Automobile Millimeter wave radar is analyzed in detail,and the MATLAB simulation of radar signal processing is given.Radar signal processing mainly includes data acquisition,two-dimensional Fourier transform,two-dimensional peak search,constant false alarm rate(CFAR)detection and digital beamforming(DBF).Radar target list is output after radar signal processing.Secondly,the system model of target tracking algorithm is studied,including the motion state equation and measurement equation of target.The common linear and non-linear filtering algorithms such as standard Kalman filter(KF),extended Kalman filter(EKF)and unscented Kalman filter(UKF)are analyzed in detail.The MATLAB simulation of filtering algorithm is given.Thirdly,aiming at the target tracking problem of automobile millimeter-wave radar in engineering application,the flow of radar data processing is studied.Radar data processing includes track initiation,target tracking and data interconnection.Sliding window method,nearest neighbor method and optimal matching method in radar data processing are studied.The maneuvering model algorithm is studied,and the MATLAB simulation of the actual radar target raw data is given by using the target tracking algorithm based on Singer model.The target tracking algorithm based on the Singer model with reasonable parameter settings can meet the sensor index requirements of adaptive cruise control(ACC)in the automatic driving system.Finally,the target tracking algorithm is transplanted into the processing chip of the automobile millimeter-wave radar.