Laser radar and machine vision-based information fusion and vehicle detection system

Abstract

The invention relates to a laser radar and machine vision-based information fusion and vehicle detection system. The system comprises a millimeter-wave radar data processing module, a radar and visiondata fusion module and an air of interest-based image detection and verification module, wherein the millimeter-wave radar data processing module is capable of obtaining a relatively reliable and accurate effective target and movement state information of the effective target to serve as input of a multi-sensor data fusion module; the radar and vision data fusion module is capable of obtaining aprojection point, on a machine vision image pixel plane, of a front vehicle detected by millimeter-wave radar, establishing an area of interest around the projection point and completing multi-sensordata space fusion; and the image detection and verification module is capable of correctly positioning the size and position of an imaging area of the front vehicle and verifying whether the imaging area is a vehicle image or not. According to the system, barriers in front of vehicles can be effectively detected, and effective tracking targets can be correctly, stably and reliably screened throughcarrying out data analysis and processing on data acquired by sensors.

Description

technical field [0001] The invention relates to an information fusion vehicle detection system based on laser radar and machine vision, belonging to the field of intelligent vehicle detection. Background technique [0002] Safety is an eternal theme around cars. Facing the severe traffic safety situation, in order to ensure the safety of passengers and reduce economic and property losses, automobile consumers have higher and higher expectations for automobile safety. Traditional automobile passive safety technology and its safety measures can no longer meet the requirements of modern traffic safety. Standards, advanced automotive active safety technology with prevention as the core, has become the development direction of today's traffic safety, and with the rapid progress of science and technology, the starting point of the car intelligent assisted driving system and intelligent transportation committee to solve traffic safety problems, has won More and more attention. ...

AI Technical Summary

Problems solved by technology

The combination of lidar and camera makes up for the shortcomings that the camera is difficult to obtain accurate distance information and the amount of obstacle information obtained by lidar is small. However, the frequency of visible light bands used by lidar and vision is relatively high, and environmental factors such as rain, snow, and fog greatly weaken the the perception ability of the sensor

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