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
CN108960183AActive Publication Date: 2018-12-07北京踏歌智行科技有限公司
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
北京踏歌智行科技有限公司
Publication Date
2018-12-07

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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.
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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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