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

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...

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 there may also be redundancy and contradictions, resulting in the inability of autonomous vehicles to correctly judge the surrounding environment.

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