Vehicle detection method for intelligent vehicle under severe weather conditions

Abstract

The invention discloses a vehicle detection method for an intelligent automobile under severe weather conditions, and solves the problem that the intelligent automobile is difficult to detect in severe environments such as night, rainy days, foggy days and snowy days. The method includes: performing vehicle target detection and image capture through a millimeter-wave radar and a thermal imaging camera respectively; projecting a vehicle target detected by the millimeter-wave radar to an infrared thermal image captured by the thermal imaging camera through coordinate transformation to obtain approximate position distribution of the vehicle detection target in the infrared thermal image; extracting and segmenting a vehicle region of interest; performing hypothesis verification on the region of interest of the vehicle by adopting a DMP target detection algorithm, and performing regression prediction on a detection frame of the vehicle; fusing the detection targets of the millimeter-wave radar and the thermal imaging camera by calculating a cost matrix, and finally tracking the fused vehicle detection target by adopting Kalman filtering.

Description

technical field [0001] The invention relates to the field of intelligent vehicle environment perception, in particular to a vehicle detection method in bad weather based on fusion of infrared thermal image and millimeter wave radar information. Background technique [0002] Environmental perception is the basis and premise of intelligent vehicle decision-making and motion control, and vehicles, as the main participants in traffic, are the key objects of environmental perception. The real-time and accuracy of vehicle detection under good weather conditions have reached a very high level, but vehicle detection under severe weather conditions (night, rain, snow, fog) still has many challenges. [0003] In their paper "Robust vehicle detection under various environments to realize road traffic flow surveillance using an infrared thermal camera", Iwasaki Y et al. used infrared thermal images to detect obvious grayscale and texture features in areas such as tires, exhaust pipes, a...

AI Technical Summary

Problems solved by technology

[0006] The invention proposes a vehicle detection method for smart cars under bad weather conditions, which solves the problem of difficult vehicle detection for smart cars in harsh environments such as night, rainy days, foggy days, and snowy days

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