Research And Implementation Of Visual System Based On Vehicle-borne Radar

With the continuous increase of car ownership,car driving accidents bring great losses to people's lives and property safety.Vehicle-borne millimeter-wave radar can improve the safety of the vehicle's driving.It is very important to effectively display the target information detected by the vehicle radar and camera image information to developers and users.Therefore,the realization of the visualization system of vehicle radar has important theoretical value and practical significance.The key of vehicle radar visualization system is the accurate tracking of targets,which has become a hot topic in domestic and abord research in recent years.Relying on scientific research projects,this topic focuses on target tracking,vehicle radar and machine vision fusion,data storage,and target display in a vehicle radar visualization system.The following tasks are performed:1)Analyzing the principle of vehicle-borne millimeter-wave radar system and the principle of detecting targets,researching the requirements and development environment of vehicle-borne radar visualization system and giving the system module division and system information processing flow.Analyzing and implementing the data transmission method based on serial port or TCP protocol.Analyzing the characteristics of three common thread safe methods in.NET.Illustrating the method of data saving based on multimedia timers through Aforge and SteamWriter.2)Conducted research on observation models and system models.The Kalman filter,the extended Kalman filter(EKF)and the unscented Kalman filter(UKF)in the tracking filter are analyzed in detail,and the simulation analysis is performed according to the linear system and the nonlinear system.Researching and simulating the Logic method and the modified Logic method of track initiation.Analyzing the Nearest Neighor Standard Fiter,Probabilistic Data Association algorithm(PDA),Joint Probability Data Association algorithm(JPDA),Cheap JPDA and depth-first search method in data association,and doing simulation analysis based on single target and multiple targets.3)Analyzeing the spatial fusion model of vehicle radar and machine vision images,establish the conversion relationship between the position of the target and the camera image through the vehicle radar coordinate system,the world coordinate system,the camera coordinate system and the image pixel coordinate system,and derive the intrinsic parameters of the camera.The expression,the intrinsic parameters of the camera are solved according to the camera calibration method of Zhang Zhengyou.Aiming at the inconsistency between the target display refresh rate and the camera image acquisition rate of the visualization system,the characteristics of time alignment based on time stamp and thread synchronization are analyzed.Aiming at the inconsistency between the refresh rate of the target's display and the acquisition rate of the camera image,the method of time alignment based on time stamp and thread synchronization was analyzed.4)On the basis of the above research,this thesis has completed a vehicle-borne radar visualization system including data transmission,track initiation,target tracking,displaying and refreshing target,and data playback.This system is developed in Microsoft Visual Studio on the.NET platform.The experimental results are given based on the measured data.Experiments show that the system can realize various functions and meet design requirements.