Research On VANET Detection And Tracking Technology Based On Roadside Millimeter Wave Radar

As an important member of intelligent transportation system,VANET has broad development prospects and can be applied to smart cities,smart mines and smart ports.Detecting and tracking the VANET through roadside millimeter wave radar can judge whether the vehicles on the road have violations,can send warnings to the vehicles on the road to help reduce traffic accidents,and it also provides a prerequisite for the realization of automatic driving.Based on the key project of NSFC(NO.61531007)"theory and key technology of indefinite flat self-organizing wireless network",this paper mainly studies the detection and tracking technology of VANET based on roadside millimeter wave radar,including the working principle of roadside millimeter wave radar,signal processing,clustering algorithm,target absolute positioning algorithm,filtering algorithm,data association algorithm,etc.It provides conditions for the practical application of roadside millimeter wave radar in the detection and tracking of VANET.The work of this paper is as follows:(1)The tracking scheme of VANET based on roadside millimeter wave radar is designed.DBSCAN clustering algorithm is selected according to the characteristics of millimeter wave radar target data.Because the radar is a nonlinear system,EKF is used to track and filter the target.At the same time,in order to correlate the measured information with the correct target track and ensure the tracking of multiple targets in the clutter environment,JPDA algorithm is selected.Finally,the algorithm simulation and experiments show that the tracking effect of the scheme is good.(2)A target classification and recognition method based on DBSCAN is proposed.Based on DBSCAN,this method classifies and identifies different targets according to the number of data points in different clusters,so as to obtain different target types corresponding to different clusters.Simulation results show that the target classification success rate of this method is 92.87%,and it can classify and recognize targets in traffic environment.(3)A least square absolute location algorithm is proposed.The absolute positioning problem of VANET is studied,the coordinate conversion absolute positioning algorithm is improved,and the least square method is proposed to determine the coordinate conversion matrix.The simulation results show that the error of least square absolute positioning is reduced by 48.37%,and the parameters of coordinate transformation matrix are more accurate.