Vehicle target sensing system and method

Abstract

The invention discloses a vehicle target sensing system and method. The system comprises a front fisheye camera, a left fisheye camera, a right fisheye camera and a look-around controller. The front fisheye camera, the left fisheye camera and the right fisheye camera are electrically connected with the look-around controller. Meanwhile, image information in the driving environment is collected andtransmitted to the look-around controller in real time, and after the look-around controller processes the image information, a vehicle ID, vehicle coordinates, front wheel coordinates, rear wheel coordinates and the vehicle course angle of the vehicle target are combined to serve as vehicle target information to be output. Theinvention can achieve the fine and accurate sensing of the vehicle target in a driving environment, and provides a reliable basis for a driving decision.

Description

technical field [0001] The invention belongs to the field of automobile intelligent driving, and in particular relates to a vehicle object perception system and method. Background technique [0002] With the development of automobile intelligence, automobile intelligent products are developing from traditional advanced driver assistance systems to automatic driving systems, and the application scenarios are gradually upgrading from simple to complex. For example, lane departure warning system, automatic emergency braking system, cruise control system, adaptive cruise system, limited automatic driving system, etc. These systems use millimeter-wave radar and cameras to perceive the driving environment. The main perceived environmental information includes lane lines, vehicle targets, and pedestrian target information. Among them, the vehicle object perception information is the main input information for the collision avoidance function of the intelligent driving system, whic...

AI Technical Summary

Problems solved by technology

This method can only give the overall relative position coordinates of a vehicle target, and cannot accurately locate the position and attitude of the vehicle target relative to the vehicle (that is, the heading angle of the vehicle cannot be determined). If the vehicle is controlled based on this information, it is easy to cause a risk of collision

[0004] In order to determine the heading angle of the vehicle, the current solution is to estimate the heading angle of the vehicle target according to the driving path of the vehicle target. This estimated heading angle is not accurate enough to provide a reliable basis for driving decisions (ie, vehicle control).

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