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Intelligent vehicle multi-laser radar fusion recognition method based on target features

A technology of intelligent vehicles and target features, which is applied in the field of intelligent vehicle environment perception, can solve the problems of insufficient target category recognition ability, and achieve the effects of enhancing safety, improving accuracy and reliability, and expanding perception capabilities

Active Publication Date: 2016-06-22
CHONGQING UNIV OF POSTS & TELECOMM
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AI Technical Summary

Problems solved by technology

[0009] The present invention aims at the problem that the traditional smart vehicle multi-lidar data fusion method: the grid map fusion method has insufficient ability to identify target categories

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  • Intelligent vehicle multi-laser radar fusion recognition method based on target features
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  • Intelligent vehicle multi-laser radar fusion recognition method based on target features

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Embodiment Construction

[0034] The present invention provides a target feature-based intelligent vehicle multi-lidar fusion recognition system and method. The system and method use the target feature to fuse the multi-lidar, improve the system's ability to perceive the target after the fusion, and enhance the intelligent vehicle's unmanned Safety in driving and assisted driving.

[0035] The specific embodiments of the present invention will be described below with reference to the drawings and specific examples.

[0036] Such as figure 1 Shown is the overall framework of intelligent vehicle multi-lidar data fusion system based on target features. The system consists of single-line lidar, four-line lidar, satellite positioning system and computer. The system includes five processes: geometric feature extraction, target fusion, target tracking, target correction, and target rasterization.

[0037] Such as figure 2 Shown is the overall flow chart of the intelligent vehicle multi-lidar data fusion method ba...

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Abstract

The present invention provides an intelligent vehicle multi-laser radar fusion recognition method based on target features, relates to the field of intelligent vehicle environment perception. The method comprises the following steps: 1, performing pretreatment of collected data, extracting target geometric features and determining the type of the target; 2, calculating the geometry conformability degree of the target, and performing target matching according to the geometry conformability degree; 3, fusing the target geometric features through adoption of a method based on distance weight fusion; 4, tracking the target through adoption of a multi-feature target tracking method, and obtaining the relative movement features of the target; 5, obtaining the absolute movement features of the target through adoption of the vehicle movement features collected by a global positioning system; 6, correcting the type of the target according to the absolute movement features of the target and a target feature model; and 7, performing rasterization of the target features, and performing grid expression. The intelligent vehicle multi-laser radar fusion recognition method based on target features is configured to fuse the multi-laser radar through adoption of target features to improve the target recognition capability of a system and enhance the safety of a vehicle in the driving process.

Description

Technical field [0001] The invention belongs to the technical field of intelligent vehicle environment perception, relates to multi-sensor fusion technology, and is mainly an intelligent vehicle multi-lidar fusion recognition method based on target characteristics. Background technique [0002] An intelligent vehicle is a vehicle that has functions such as environment perception, planning and decision-making, and operation control, and can realize unmanned driving. It can rely on its own multiple sensors to collect road and obstacle information around the vehicle in real time to realize unmanned driving and automatic obstacle avoidance, thereby reducing traffic accidents and improving traffic safety. [0003] Among them, environmental perception technology is the difficulty and key point in smart vehicles. [0004] In traditional environmental perception, a single sensor can no longer provide sufficient environmental information for the system due to its own limitations; therefore, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G01S7/48
CPCG01S7/4802G06T2207/30252G06T2207/30261G06T2207/10044G06V40/10G06V20/56G06V20/58G06V20/584G06V10/20G06V10/267G06V10/40G06V10/751G06V2201/08G06F18/23G06F18/253
Inventor 李银国田甄岑明邓永生冯辉宗赵文旋
Owner CHONGQING UNIV OF POSTS & TELECOMM
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