Multi-source target fusion method based on track matching

A fusion method and target technology, applied in the field of automatic driving and advanced assisted driving, can solve the problem of frequent interruption of target trajectory

Active Publication Date: 2018-07-13
XI AN JIAOTONG UNIV
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  • Claims
  • Application Information

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Problems solved by technology

The multi-source target fusion method of the present invention can provide strong evidence of the existence of the target, can solve the problem of frequent interruption of the target trajectory caused by inaccurate target position in the image, and can improve the accuracy and reliability of environment perception in the process of automatic driving

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  • Multi-source target fusion method based on track matching
  • Multi-source target fusion method based on track matching
  • Multi-source target fusion method based on track matching

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Embodiment Construction

[0056] The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0057] reference Figure 1 to Figure 3 , The multi-source target fusion method based on trajectory matching of the present invention includes the following steps:

[0058] Step 1. Use multiple sensors to collect target information, including image sensors for providing category information, 8-line lidar, 16-line lidar, millimeter-wave radar, etc. The image sensor is a camera.

[0059] Step 2: Use a unified time coordinate system and geographic coordinate system to perform time registration and spatial registration of the target information collected by each sensor. That is, the target information of each sensor adopts a unified time coordinate system and a geographic coordinate system to align time and space to obtain a unified target state vector.

[0060] reference figure 2 , In step 2, the time synchronization method is adopted to perform multi-sensor...

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Abstract

The invention discloses a multi-source target fusion method based on track matching. The multi-source target fusion method includes the steps: acquiring target information by the aid of various sensors; performing time alignment and space alignment on the target information acquired by the sensors; matching image target tracks with target tracks acquired by the other sensors, and supplementing information of the target tracks in the other sensors through information of the image target tracks if the image target tracks can be successfully matched with the target tracks acquired by the other sensors; selecting a target track generating result of a single sensor, a target matching result among different sensors and a track matching result among different sensors as three evidences of targetexistence, calculating probability of the three evidences of the target existence, and taking the probability as basic probability assignment of a DS (dempster-shafer) evidence theory; performing target existence fusion and category fusion by the aid of the DS evidence theory; outputting a fusion result. The method can solve the problem that a global target track is frequently interrupted as an image target position is inaccurate, and accuracy and reliability can be improved.

Description

Technical field [0001] The invention belongs to the technical field of automatic driving and advanced assisted driving, and particularly relates to a multi-source target fusion method based on trajectory matching. Background technique [0002] In the process of autonomous driving and advanced assisted driving, there are many dynamic obstacle targets in traffic scenes, such as vehicles, pedestrians, and bicycles. The speed, category, position, orientation and other information of the dynamic obstacle target are attribute information that affects the safety and comfort of automatic driving and assisted driving, especially the category information, which is related to the decision accuracy of the control planning module . [0003] At present, different types of target sensing sensors are mostly used to obtain various information of dynamic obstacle targets. There are many kinds of target sensing sensors, such as lidar, camera, millimeter wave radar and so on. At present, with the r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62
CPCG06V40/10G06V20/58G06F18/25
Inventor 孙宏滨史菊旺王文秀冯超兰旭光辛景民郑南宁
Owner XI AN JIAOTONG UNIV
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