Bend target identification system and method based on multi-sensor fusion

A multi-sensor fusion and target recognition technology, which is applied in character and pattern recognition, radio wave measurement systems, instruments, etc., can solve the problems of large amount of calculation, low accuracy rate, and difficulty in applying to the driving environment, so as to improve utilization rate and improve The effect of detection accuracy

Active Publication Date: 2018-12-07
北京踏歌智行科技有限公司
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AI Technical Summary

Problems solved by technology

This type of detection method is easily affected by the surrounding environment, and it is difficult to apply to driving environments such as vehicle occlusion and light changes.
The model-based detection method mainly uses a specific parameter model to match lane lines. For example, a hyperbolic model is used for lane line detec

Method used

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  • Bend target identification system and method based on multi-sensor fusion
  • Bend target identification system and method based on multi-sensor fusion
  • Bend target identification system and method based on multi-sensor fusion

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Embodiment 1

[0030] The highway curve recognition system and method based on the fusion of vision and millimeter-wave radar provided by the embodiment of the present invention has a schematic diagram of its principle framework as shown in figure 1 shown. The camera and the millimeter-wave radar perform information preprocessing after obtaining the information respectively. For the radar information, the static target information and the moving target information are retained after filtering the empty signal and invalid signal. Considering that for highways, there are generally guardrails, which are distributed on both sides of the road according to certain rules, contain rich road shape information, and are usually detected by radar. Therefore, the lane line information at a distance can be inferred based on the information of the stationary target returned by the radar. For the image information, the edge of the road is extracted after information preprocessing, and the road is divided i...

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Abstract

The invention discloses a bend target identification system and method based on multi-sensor fusion, which mainly aims at a problem of front target detection of a vehicle at the bend of expressway. The lane line is divided into a straight line portion of the near view field and a curve portion of the far view field. For information acquisition of a camera, lane line fitting and tracking at the near view field are completed by using Hough transform and Kalman filtering, and curve fitting at the far view field is completed by using a BP neural network. For information acquisition of radar, information of a static object group is extracted, and curve fitting is performed by using the BP neural network. through space-time alignment, the lane line information acquired by vision and the lane line information acquired by the radar are fused to determine a travelable region of the lane where the vehicle is located, and finally a bend target identification algorithm based on the fusion of the camera and the millimeter wave radar is provided by combining the travelable region and the lane line type so as to realize detection for targets at the bend.

Description

technical field [0001] The present invention relates to the field of intelligent terminals, in particular to a multi-sensor fusion-based highway curve target recognition system and method. Background technique [0002] The problem of target recognition and tracking on curves has always been an important topic in the field of environmental perception, which is of great significance to the development of ADAS systems. Taking the ACC system as an example, the existing method mainly automatically adjusts the speed of the cruise vehicle and maintains a safe distance from the vehicle in front of the lane based on millimeter-wave radar information. However, on a curved road section, there are usually multiple target vehicles in front of it. At this time, the system often appears confusion or loss of target vehicles, which may cause rear-end collisions due to abnormal acceleration or deceleration of cruise vehicles. In addition, considering the characteristics of the radar itself, ...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/62G06T7/277G01S13/93
CPCG06T7/277G01S13/931G06T2207/30256G06V20/588G06F18/25
Inventor 余贵珍张思佳张力牛欢张艳飞
Owner 北京踏歌智行科技有限公司
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