An Road Boundary Detection Algorithm Based on Radar that Can Improve Multiple-Target Tracking Performance for Autonomous Vehicles on Highway Condition

Radar is playing more and important role in multiple object detection and tracking system due to the fact that Radar can not only determine the velocity instantly but also it is less influenced by environment conditions. However, Radar faces the problem that it has many detection clutter，false alarms and detection results are easily affected by the reflected echoes of road boundary in traffic scenes. Besides this, With the increase of the number of targets and the number of effective echoes, the number of interconnection matrices increases exponentially in joint probability data association, which will seriously affect the real-time and accuracy of high-speed scene algorithms.in the tracking system. So, A method of using millimeter wave radar to detect and fit the boundary guardrail of high-speed road is proposed, and the fitting results are applied to the vehicle detection and tracking system to improve the tracking accuracy. Through the comparison and verification of ablation experiments, this method can screen out the impact of the guardrail reflection echo on the vehicle detection and tracking in real time, and improve the stability of the detection and tracking system.