Sensor self-checking system of intelligent driving vehicle and multi-sensing fusing system

Abstract

The invention discloses a sensor self-checking system of an intelligent driving vehicle. The sensor self-checking system is an integrated multi-sensor self-checking system, when states of all sensors of the intelligent driving vehicle are detected, self-checking results of all the sensors are integrated, the checking results are classified, sense redundancy brought by multiple sensors with the same classification is utilized, sensor fault testing and detection are further conducted, and the comprehensive sensor state of the intelligent driving vehicle is reasonably judged. The invention further provides an intelligent driving vehicle multi-sensing fusing system, the sensor self-checking system completes self-checking and state judgment of an integrated sensor, and self-checking information sent by the sensor self-checking system is utilized to be subjected to information fusing processing at the same time, according to a dynamic result of sensor self-checking and with the combination of a planning controlling algorithm, a sensitive degree of misinformation and a missing report are subjected to intelligent fusing, and the intelligent driving vehicle is helped to make a more reasonable plan and controlling strategy.

Description

technical field [0001] The invention belongs to the field of intelligent driving technology (including automatic driving and unmanned driving), and in particular relates to a sensor self-inspection system for an intelligent driving car and a multi-sensor fusion system based on the sensor self-inspection system, so as to realize multiple sensors in the intelligent driving car. (millimeter-wave radar, lidar, ultrasonic radar, camera, GPS, inertial navigation, etc.) algorithm fusion and self-calibration to ensure that smart driving cars can correctly use the environmental information sensed by each sensor to ensure the safety and user experience of smart driving . Background technique [0002] Sensors such as cameras, millimeter-wave radars, lidars, and ultrasonic radars are important perception devices for intelligent driving vehicles. The information provided by these sensors plays a vital role in the perception of the external world by intelligent driving vehicles and in det...

AI Technical Summary

Problems solved by technology

In addition to checking the status of each sensor, this sensor self-inspection system can also "report" the inspection results to the multi-sensor fusion algorithm in a specific way, so that the multi-sensor fusion algorithm can use the self-inspection results of each sensor and Use the redundancy of sensor perception information to make reasonable planning and control, but there is no such system in the prior art

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