Vehicle tracking detection method and device based on roadside sensor

The invention relates to a vehicle tracking detection method based on a roadside sensor, and the method comprises the steps: respectively associating a plurality of target vehicles with point cloud data measured by the roadside sensor, so as to obtain a plurality of target objects aggregated by the point cloud data; and determining whether to merge and/or finely adjust two target objects in the plurality of target objects in a manner of projecting towards a direction in which a plurality of edges of the two target objects are parallel. The invention further relates to vehicle tracking detection equipment based on the roadside sensor, a computer storage medium, a computer program product and a radar tracking system. 本发明涉及一种基于路侧传感器的车辆跟踪检测方法，所述方法包括：将多个目标车辆和由所述路侧传感器测量的点云数据分别进行关联，以便获得由所述点云数据聚合成的多个目标物；以及通过朝着所述多个目标物中的两个目标物的多条边平行的方向进行投影的方式，来确定是否对所述两个目标物进行合并和/或微调。本发明还涉及一种基于路侧传感器的车辆跟踪检测设备、计算机存储介质、计算机程序产品以及雷达跟踪系统。