The invention aims to provide a novel
thunder-vision fusion method, so as to solve the problem that
thunder-vision fusion is relatively tedious in a traditional mathematical method, and further improve the safety of an automatic driving
system. The invention provides a front
vehicle detection method based on
deep learning, and the method employs the data fusion of a
millimeter wave radar and a camera, and achieves the
vehicle detection (Deep-ROI, DR) through ROI correlation. Pictures shot under different conditions are
cut into images with the same size to create a dep-fusion
data set, a new method for manufacturing a
radar data set is provided, multi-dimensional information of an effective target is projected to pixel points, and matrix format data with the same size as the images are generated. A
backbone network of the
deep learning network comprises two pipelines which are used for
processing radar data and image data respectively, and
two parameter association credibility (R parameter) and environment characteristics (E parameter) are added on the basis of a Resnet model for fusion. And the constructed
deep learning network module is trained by using multiple frames of images containing different light and weather conditions and
radar data.