A radar measurement distance fusion method, device and terminal

A technology for measuring distances and fusion methods, applied in the direction of measuring devices, radio wave measuring systems, instruments, etc.

Active Publication Date: 2021-09-14
ZHEJIANG GEELY AUTOMOBILE RES INST CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is that there is a measurement blind area in the setting of a separate radar group

Method used

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  • A radar measurement distance fusion method, device and terminal
  • A radar measurement distance fusion method, device and terminal
  • A radar measurement distance fusion method, device and terminal

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0067] An embodiment of the present invention provides a radar measurement distance fusion method, such as figure 1 As shown, the method includes:

[0068] S1. Obtain a first measurement distance corresponding to the first radar group;

[0069] S2. Obtain a second measurement distance corresponding to the second radar group;

[0070] S3. Obtain a second fusion weight corresponding to the second radar group and a first fusion weight corresponding to the first radar group according to the second measurement distance;

[0071] S4. According to the first measurement distance, the second measurement distance, the first fusion weight, and the second fusion weight, obtain a measurement distance after radar set data fusion.

[0072] Specifically, the first radar group is a three-lidar group arranged on the top of the vehicle, and the second radar group is a forward-facing lidar and a backward-facing lidar arranged at the front and rear of the vehicle. The setting of the second rada...

Embodiment 2

[0113] A feasible embodiment of the present invention provides a radar measurement distance fusion device. Specifically, such as Figure 5 As shown, the device includes: a first measurement distance obtaining module 201, a second measurement distance obtaining module 202 and a distance fusion module 203;

[0114] The first measurement distance obtaining module 201 is configured to obtain a first measurement distance corresponding to the first radar group;

[0115] The second measurement distance obtaining module 202 is configured to obtain a second measurement distance corresponding to the second radar group;

[0116] The distance fusion module 203 is configured to obtain a measurement distance after radar set data fusion according to the first measurement distance and the second measurement distance.

[0117] Further, as Figure 6 As shown, the distance fusion module 203 includes a fusion weight obtaining unit 2001 and a fusion measurement distance obtaining unit 2002;

...

Embodiment 3

[0141] An embodiment of the present invention provides a terminal, and the terminal includes the aforementioned radar measurement distance fusion device.

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Abstract

The present invention relates to the field of intelligent driving, and proposes a radar measurement distance fusion method, device and terminal. The method includes obtaining the first measurement distance corresponding to the first radar group, obtaining the second measurement distance corresponding to the second radar group, according to For the second measurement distance, the second fusion weight corresponding to the second radar group and the first fusion weight corresponding to the first radar group are obtained, according to the first measurement distance, the second measurement distance, the first fusion weight and the second fusion weight The fusion weight is used to obtain the measurement distance after the radar group data is fused. The method sets the second radar group on the detection range of the first radar group, which makes up for the blind area existing in the detection of the first radar group, provides a larger monitorable area for road surface detection, and enhances the safety of automatic driving.

Description

technical field [0001] The invention relates to the field of intelligent driving, in particular to a radar measurement distance fusion method, device and terminal. Background technique [0002] A self-driving car is a smart car that realizes unmanned driving through a computer system. According to the classification standard of SAE, automatic driving is divided into six levels: L0, L1, L2, L3, L4 and L5. The higher the level of automatic driving, the lower the degree of user participation. Therefore, in the process of realizing automatic driving, The collection and judgment of the surrounding environment information is very important, and the collection and judgment of the surrounding information are usually carried out by various sensors, and the laser radar is used as one of the sensors for collecting the surrounding environment. [0003] As the level of autonomous driving increases to L3 or above, the autonomous driving system increasingly needs to obtain accurate self-l...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): G01S13/08G01S13/931G01S13/87
Inventor陈帅邓堃贺杰
OwnerZHEJIANG GEELY AUTOMOBILE RES INST CO LTD