Multi-source sensor data fusion system and multi-source sensor data fusion method
A technology of data fusion and source sensor, applied in the direction of radio wave measurement system, instrument, measurement device, etc., can solve the problem of not being able to meet the safe driving requirements of self-driving vehicles
Active Publication Date: 2020-02-14
BEIJING JINGWEI HIRAIN TECH CO INC
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Problems solved by technology
At present, the perception system based on a single sensor cannot meet the safe driving requirements of self-driving vehicles, and self-driving vehicles will be equipped with millimeter wave radar, camera, laser radar and other sensors at the same time
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Embodiment Construction
[0030] The invention provides a multi-source sensor data fusion system and method to realize data fusion.
[0031] The use of multi-source sensor fusion systems (such as lidar, millimeter-wave radar, and cameras) is a general consensus in the industry, and this has brought about the need for multi-source sensor fusion.
[0032] Multi-source sensor fusion is to use computer technology to fuse and process the data collected by various sensors to obtain the best results.
[0033] figure 1 An exemplary structure of a multi-source sensor data fusion system is shown, including:
[0034] Millimeter wave radar 1, camera 2, first fusion module 3, laser radar 4 and second fusion module 5.
[0035] figure 2 An exemplary flow of the multi-source sensor data fusion method performed by the above-mentioned multi-source sensor data fusion system is shown, including:
[0036] S1: The millimeter-wave radar detects obstacles in real time, and outputs information about the obstacles detected...
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The embodiment of the invention provides a multi-source sensor data fusion system and a multi-source sensor data fusion method so as to realize multi-source sensor fusion. The system comprises a millimeter wave radar, a camera, a first fusion module, a laser radar and a second fusion module, wherein the millimeter wave radar is used for detecting obstacles in real time and outputting relevant information of the obstacles detected at every time; the relevant information output by the millimeter wave radar is first obstacle information; the camera is used for detecting the obstacles in real timeand outputting the relevant information of the obstacles detected at every time; the relevant information output by the camera is second obstacle information; the first fusion module is used for fusing the first obstacle information and the second obstacle information output at the same time to obtain an intermediate fusion result; the laser radar is used for detecting the obstacles in combination with the intermediate fusion result and outputting the relevant information of the obstacles detected at the same time; the relevant information output by the laser radar is third obstacle information; and the second fusion module is used for fusing the intermediate fusion result and the third obstacle information to obtain a final fusion result.
Description
technical field [0001] The invention relates to the technical field of automotive electronics, in particular to a multi-source sensor data fusion system and method. Background technique [0002] Self-driving vehicles are an important development direction of the future of automobiles. At present, the perception system based on a single sensor cannot meet the safe driving requirements of self-driving vehicles, and self-driving vehicles will be equipped with millimeter wave radar, camera, laser radar and other sensors at the same time. [0003] Millimeter-wave radar, camera, lidar and other sensors will collect data when they are working, and how to process these data is a hot research topic at present. Contents of the invention [0004] In view of this, embodiments of the present invention provide a multi-source sensor data fusion system and method, so as to realize multi-source sensor fusion. [0005] In order to achieve the above purpose, embodiments of the present inve...
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IPC IPC(8): G01S13/931G01S13/86G01S17/86G01S17/931
CPCG01S13/931G01S13/867G01S13/865
Inventor 葛彦悟万国强朱明黎家园
Owner BEIJING JINGWEI HIRAIN TECH CO INC