A forward collision warning method and system based on vision and radar fusion

A technology of collision warning and radar, applied in the field of forward collision warning based on vision and radar fusion and its system, can solve problems such as reduction, achieve the effects of reducing false alarm rate, reducing visual reliability, and reducing time

Active Publication Date: 2022-08-09
YANGZHOU RUI KONG AUTOMOTIVE ELECTRONICS
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Problems solved by technology

And if autonomous driving becomes widespread, that number could be significantly reduced

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  • A forward collision warning method and system based on vision and radar fusion
  • A forward collision warning method and system based on vision and radar fusion
  • A forward collision warning method and system based on vision and radar fusion

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Embodiment Construction

[0066] The present invention will be further explained below in conjunction with the accompanying drawings and embodiments.

[0067] A forward collision warning method based on vision and radar fusion, including the following steps:

[0068] Step S100, the radar works to obtain the signal of obstacles around the vehicle;

[0069] In step S110, the radar acquisition signals are classified according to the first-level collision area, the second-level collision area, and the third-level collision area; the first-level collision area is a range of 6m in width and 0-120m in longitudinal distance with the vehicle as the coordinate origin; The second-level collision area is a range of 6m in width and 120-180m in the longitudinal distance with the vehicle as the coordinate origin; the third-level area is in addition to the first-level and second-level collision areas, with the vehicle as the coordinate origin. The longitudinal distance is 0-120m Within the range, the visual acquisiti...

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Abstract

The invention discloses a forward collision early warning method based on vision and radar fusion, which includes the following steps: step S100, the radar works to obtain obstacle signals around the vehicle; Collision area and tertiary collision area are classified; step S120, determine whether there is a radar signal in the secondary collision area, if so, track the obstacle of the radar signal, and go to step S130, if otherwise, it is determined that there is no target in the area, proceed to Step S130; Step S130, determine whether there is an obstacle signal in the primary collision area, if so, go to Step S140, otherwise go to Step S300; Step S140, sort the radar signals according to the distance; Step S150, select the most recent occurrence without visual confirmation Collision radar signal. The radar of the invention delimits the recognition area, reduces the time for the processor to recognize the vehicle in the image; the vision can filter out the radar virtual target, and reduces the false alarm rate; the radar provides the system with more accurate distance and speed information.

Description

technical field [0001] The invention relates to the technical field of vehicle safety assisted driving, in particular to a forward collision warning method and system based on fusion of vision and radar. Background technique [0002] With the popularity of automobiles, people pay more and more attention to automobile safety. According to the World Health Organization, 1.24 million people die in traffic accidents every year, most of which are caused by human factors. And if driverless cars become widespread, that number could be significantly reduced. Forward Collision Warning (FCW) is an indispensable part of the process of autonomous driving. The forward collision warning system can monitor the vehicle ahead through the radar system at all times, judge the distance, orientation and relative speed between the vehicle and the vehicle in front, and warn the driver when there is a potential collision danger. Therefore, there is an urgent need for those skilled in the art to ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S13/931G01S13/86B60W30/095B60W50/14G06K9/00G06T7/277G06T7/70
CPCG01S13/931G01S13/867B60W30/095B60W50/14G06T7/277G06T7/70G06T2207/30261G06V20/58B60W2554/00
Inventor 陈军王延帅袁江
Owner YANGZHOU RUI KONG AUTOMOTIVE ELECTRONICS
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