Preceding vehicle detection method based on Bayesian statistical decision

A detection method and statistical decision-making technology, applied in computing, computer parts, instruments, etc., can solve the problem of poor detection accuracy of the vehicle ahead, and achieve the effect of improving detection accuracy, improving efficiency and shortening calculation time.

Inactive Publication Date: 2018-11-06
HUBEI INST OF SPECIALTY VEHICLE
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Problems solved by technology

[0004] The object of the present invention is to provide a kind of front vehicle detection method based on Bayesian stat

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  • Preceding vehicle detection method based on Bayesian statistical decision
  • Preceding vehicle detection method based on Bayesian statistical decision
  • Preceding vehicle detection method based on Bayesian statistical decision

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Embodiment Construction

[0050] The technical solution of the present invention is further described below, but the scope of protection is not limited to the description.

[0051] Such as figure 1 As shown, the present invention includes a controller arranged on the vehicle, a single-line laser radar and a camera arranged at the front end of the vehicle, and the single-line laser radar and the camera are electrically connected to the controller; the controller includes a laser radar information processing module, Machine vision information processing module and radar vision information fusion decision-making module.

[0052] The laser radar information processing module preliminarily judges whether the obstacle is a front vehicle through the following steps:

[0053] 1) The single-line laser radar collects and obtains the position information of the obstacle in front of the vehicle, including the distance between the obstacle in front and the vehicle, and the offset angle of the obstacle in front of ...

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Abstract

The invention relates to a preceding vehicle detection method based on Bayesian statistical decision. A preceding vehicle detection system comprises a controller disposed on a host vehicle, a single-line laser radar and a camera which are disposed at the front end of the host vehicle and which are electrically connected with the controller. The controller includes a laser radar information processing module, a machine vision information processing module, and a radar visual information fusion decision module. The radar visual fusion decision module includes secondary information fusion which comprises firstly establishing a time-space correspondence model of radar visual information so as to lay the foundation for establishing a visual region of interest; and secondly establishing a vehicle verification function to perform Bayesian decision based on a minimum posterior risk principle to finally verify the existent accuracy of a preceding vehicle. Compared with a traditional preceding vehicle detection system based on laser radar and machine vision, the preceding vehicle detection method of the present invention adds the Bayesian statistical decision based on a minimum posterior risk criterion to the information fusion module so as to effectively reduce a false alarm rate and improve the preceding vehicle detecting accuracy of an intelligent system.

Description

technical field [0001] The invention relates to a detection method for a preceding vehicle based on Bayesian statistical decision-making, and belongs to the field of intelligent vehicle detection. Background technique [0002] Smart cars belong to the key areas of the "Made in China 2025" development plan, and the car intelligent assisted driving system is a smart car technology that consumers pay more attention to and promote faster. Automobile intelligent assisted driving system means that the on-board computer detects the surrounding traffic environment information through the road environment perception system, and analyzes and makes decisions in combination with the vehicle's motion state or the driver's physiological state. At present, research on intelligent assisted driving systems mainly focuses on vehicle collision avoidance, intelligent car following, lane departure warning, and auxiliary lane change systems. [0003] Front vehicle detection is the key technology...

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Application Information

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IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/56G06F18/232G06F18/24155G06F18/253
Inventor 万志敏王婷黄其柏李善德郑伟光
Owner HUBEI INST OF SPECIALTY VEHICLE
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