Research On Vehicle Detection And Tracking Technology Based On Radar And Camera Video Fusion

With the development of economy,people's living standards keeps improving,leading to the popularization of cars.A car brings convenience for people's transportation,however,the frequent of traffic accidents has been increased as well,which not only seriously damages the people's life and property safety,but also brings great hidden trouble to the social stability.In recent years,with the development of the front end of monolithic microwave integrated circuits(MMIC)operating and millimeter wave devices,the technology of millimeter wave radar also gets mature.In many medium and high-end vehicles,or even ordinary low-end cars,millimeter wave radars have been installed,which promptes the development of fields such as smart cities and the unmanned vehicles.This paper introduces the basic characteristics of millimeter wave radar.Based on the linear frequency modulated continuous wave(LFMCW)radar system,three approaches are analyzed and compared.Moreover,their advantages and disadvantages are analyzed to fulfill the demands for different application scenarios.Finally,a millimeter wave radar system is built up based on the theoretical analysis.The signal processing board is designed using FieldProgrammable Gate Array(FPGA)and Digital Signal Processor(DSP),and DSP chip TMS320C6748 is chosen as the master controller to realize the signal processing algorithms,and hence information of the target is effectively obtained.The main work of this paper includes three aspects,they are1?The principles of range,velocity,and angle measurements of the millimeter wave radar are analyzed.Three approaches,including multiply-cycle linear frequency modulated continuous wave wave,variable-cycle positive and negative linear frequency modulated continuous wave,positive and negative linear frequency modulated continuous wave associated with single frequency signal,are simulated and compared.Through the comparison of the three approaches,the appropriate algorithm is selected and transplanted into the DSP hardware;2?24G antenna and radio frequency scheme design,performance test of antenna layout,antenna transmit power,antenna beam angle,maximum range of action,etc;3?The DSP signal processing module,related hardware circuit and their Printed Circuit Board(PCB)are designed.Using FPGA+DSP multi-core heterogeneous framework,the millimeter wave radar signal processing board is realized.Moreover,Finite Impulse Response(FIR)filter,fast Fourier transform(FFT),Kalman filter and other signal processing algorithm modules are designed in DSP.The designed algorithm is transplanted into the self-designed DSP signal processing board to realize the basic functions.