Multi-sensor target fusion method and device, vehicle and storage medium

A multi-sensor and fusion method technology, applied in the field of vehicle information processing, can solve the problems of redundancy, inability to correctly judge the surrounding environment conditions, contradictions, etc., achieve accurate real-time correct response, and improve the effect of environmental perception

Pending Publication Date: 2020-09-22
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, multiple different types of sensors obtain different parts and categories of information. These information may complement each other, but

Method used

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  • Multi-sensor target fusion method and device, vehicle and storage medium
  • Multi-sensor target fusion method and device, vehicle and storage medium
  • Multi-sensor target fusion method and device, vehicle and storage medium

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Experimental program
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Embodiment 1

[0026] figure 1 It is a flow chart of a multi-sensor target fusion method provided by Embodiment 1 of the present invention. This embodiment is applicable to a variety of sensor information fusion situations. The method can be executed by a multi-sensor target fusion device, which can be and / or hardware implementation.

[0027] like figure 1 As shown, the method specifically includes the following steps:

[0028] Step 110, acquiring original radar signals collected by multiple forward millimeter-wave radars and original camera signals collected by cameras.

[0029] Among them, the forward millimeter-wave radar and the camera can be set in front of the vehicle to collect road information in front of the vehicle and around the vehicle. There can be multiple forward millimeter-wave radars. For example, the forward millimeter-wave radar can be divided into front long Range millimeter-wave radar, front left mid-range millimeter-wave radar, front right mid-range millimeter-wave r...

Embodiment 2

[0044] figure 2 It is a flow chart of a multi-sensor target fusion method provided by Embodiment 2 of the present invention. In this embodiment, on the basis of the foregoing embodiments, the foregoing multi-sensor target fusion method is further optimized.

[0045] like figure 2 As shown, the method specifically includes:

[0046]Step 201, acquiring original radar signals collected by multiple forward millimeter-wave radars and original camera signals collected by cameras.

[0047] Specifically, vehicle road signals collected by multiple forward-facing millimeter-wave radars and cameras arranged in front of the vehicle may be acquired respectively, and defined as original radar signals and original camera signals respectively.

[0048] Step 202, extracting parameter values ​​from the original radar signal and the original camera signal, and reorganizing each parameter value according to a preset standard to form a radar recombined signal and a camera recombined signal co...

Embodiment 3

[0108] The multi-sensor target fusion device provided in the embodiment of the present invention can execute the multi-sensor target fusion method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. image 3 It is a structural block diagram of a multi-sensor target fusion device provided in Embodiment 3 of the present invention, as shown in image 3 As shown, the device includes: a signal acquisition module 310 , a signal screening module 320 and a signal fusion module 330 .

[0109] The signal acquisition module 310 is configured to acquire raw radar signals collected by a plurality of forward millimeter wave radars and original camera signals collected by cameras, the forward millimeter wave radars and cameras are arranged in front of the vehicle.

[0110] The signal screening module 320 is configured to compare the original radar signal and the original camera signal, and filter out r...

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Abstract

The invention discloses a multi-sensor target fusion method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring original radar signals acquired by a plurality of forward millimeter wave radars and original camera signals acquired by a camera, wherein the forward millimeter wave radars and the camera are arranged in front of a vehicle; comparing the original radar signal with the original camera signal, and screening out a radar matching signal and a camera matching signal matched with a target; and fusing the radar matching signal and the camera matching signal, and outputting target fusion information. The problem that the vehicle cannot correctly judge the surrounding environment condition due to redundancy and contradiction of different information collected by multiple sensors on the vehicle is solved, complementation and fusion of the information collected by the multiple sensors of the vehicle are achieved, the environmental perceptioncapacity of the vehicle is improved, and correct response can be made accurately in real time in a complex environment.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of vehicle information processing, and in particular to a multi-sensor target fusion method, device, vehicle and storage medium. Background technique [0002] The traffic environment in which self-driving vehicles are located is complex and dynamic. Improving the environmental awareness of the self-driving system enables the self-driving vehicle to make accurate and real-time correct responses in complex environments. This is the technical basis for realizing vehicle self-driving . [0003] The perception system designed for a single sensor can no longer meet the detection requirements of autonomous vehicles in complex environments. Therefore, it is necessary to configure multi-sensors for autonomous vehicles to achieve high perception capabilities of vehicles. [0004] At present, the sensors of the autonomous driving perception system include cameras, lidar, millimeter-wave radar, ul...

Claims

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Application Information

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IPC IPC(8): G06K9/62G06K9/00G01S13/86G01S13/931
CPCG01S13/867G01S13/931G06V20/56G06F18/251
Inventor 曲白雪王祎男祁旭白天晟杨航祝铭含
Owner CHINA FIRST AUTOMOBILE
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