Night pedestrian detection method

According to the night pedestrian detection method provided by the invention, partial details are improved based on an existing YOLOv5 algorithm network structure, so that the network has better detection performance, and the precision and speed of a fusion algorithm are further ensured. According to the method, the radar initial data are preprocessed, interference of invalid targets on the radar data is reduced, the algorithm operation speed is improved, the radar data are detected and tracked by adopting the unscented Kalman filtering algorithm, the radar detection false alarm rate is reduced, and the reliability and stability of the radar data are improved. In order to solve the problem that a single sensor cannot accurately obtain comprehensive state information of a night pedestrian target, the performance advantages of the infrared camera and the millimeter wave radar are fully utilized, and the situations of missing detection, false detection and the like of the single sensor on the target detection pe