Sensing information fusion method

Abstract

Embodiments of the present invention relate to a sensing information fusion method. The method comprises the steps of: acquiring first obstacle information, second obstacle information, third obstacleinformation, vehicle positioning information and vehicle speed information collected by different sensors; performing time synchronization of the first obstacle information, the second obstacle information, the third obstacle information, the vehicle positioning information and the vehicle speed information; performing preprocessing of the first obstacle information, the second obstacle information, the third obstacle information, the vehicle positioning information and the vehicle speed information after time synchronization; performing global matching of the information collected by each sensor after preprocessing to obtain a matching result; and according to the matching result, performing multi-target Kalman filtering tracking, and obtaining obstacle fusion data. The sensing information fusion method can achieve perception of unmanned sweeper for the environment road condition can make more accurate obstacle avoidance decision and obstacle avoidance control so as to enhance the intelligence of the vehicles and facilitate achieving of unmanned automatic driving sweeping.

Description

technical field [0001] The invention relates to a sensing information fusion method, in particular to a sensing information processing method for low-speed unmanned automatic driving vehicles. Background technique [0002] In recent years, autonomous driving technology has always been a hot topic of concern, and driverless cars are one of the products that apply autonomous driving technology. A driverless car is a smart car that senses the road environment through the on-board sensor system, automatically plans the driving route, and controls the vehicle to reach the predetermined target. information to control the steering and speed of the vehicle so that the vehicle can travel safely and reliably on the road. [0003] At present, most of the autonomous driving technologies are based on passenger car systems, which have strict requirements on the perception accuracy and range of autonomous driving, vehicle control, etc., and the cost is relatively high. Therefore, the auto...

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Problems solved by technology

[0004] In addition, the existing automatic driving technology is generally equipped with laser radar, ultrasonic radar and other devices. These sensors are responsible for the perception and detection range of different areas and are relatively independent, resulting in a smal...

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