车载多雷达多帧检测前跟踪算法

doi:10.12305/j.issn.1001-506X.2026.10.10

摘要/Abstract

摘要：

为解决平台运动及多视角雷达视域错位情况下的车载多雷达系统弱目标跟踪难题，提出车载雷达多帧检测前跟踪方法。提出跨坐标系状态转移范围搜索策略，通过建立不同时刻来自不同雷达量测数据的映射关系，充分利用目标的时空相关性进行能量积累提高信噪比。由于多部雷达的不同分布及视域错位，当目标运动在雷达视域边界，其存在状态可能改变。因此，提出多帧检测架构，可根据目标存在状态自适应调整检测门限。仿真和实测数据处理结果表明，所提算法能有效实现车载多雷达系统对微弱目标的准确跟踪。

关键词: 车载多雷达系统, 多帧检测前跟踪算法, 微弱目标跟踪, 视域错位

Abstract:

To address the challenge of weak target detection and tracking in automotive multi-radar systems under platform motion and misaligned fields of view （FOVs）, this paper proposes a multi-frame track-before-detect （MF-TBD） method for automotive radars. A state transition strategy is proposed to establish mapping relationships between measurements from different radars, enabling spatiotemporal energy integration for signal-to-noise ratio （SNR） enhancement. Due to that the different distributions and FOV misalignments of multiple radars may cause target existence uncertainty, an adaptive multi-hypothesis detection framework is further proposed. The results of simulation and real measurement data processing show that the proposed algorithm can effectively achieve accurate detection and tracking of weak targets for automotive multi-radar systems.

Key words: automotive multi-radar system, multi-frame track-before-detect algorithm, weak target detection, misaligned field of view (FOV)

中图分类号:

TN 953

苗青, 李武军, 易伟. 车载多雷达多帧检测前跟踪算法[J]. 系统工程与电子技术, 2026, 48(10): 3372-3384.

Qing Miao, Wujun Li, Wei Yi. Automotive multi-radar multi-frame track-before-detect method[J]. Systems Engineering and Electronics, 2026, 48(10): 3372-3384.

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参数名称	参数值	参数名称	参数值
$ \Delta r $/m	0.5	$ {\alpha ^1} $/（°）	$ {40 } $
$ \Delta d $/（m/s）	2	$ {\alpha ^2} $/（°）	$ {80 } $
$ \Delta \theta $/（°）	$ {5 } $	$ {{\boldsymbol{p}}^1} $/m	$ ( - 2\;{\mathrm{}},2.5\;{\mathrm{}}) $
$ \Delta t $/s	1	$ {{\boldsymbol{p}}^2} $/m	$ (2\;{\mathrm{}},2.5\;) $

算法	量测区域大小
算法	30×30	45×45	60×60
ADT-MS-TBD	0.481	0.564	0.687
DP-TBD	0.191	0.275	0.387
SFD	0.017	0.031	0.043

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