Method, system, computer device and readable storage medium for target information fusion
A technology of target information and computer programs, applied in computer parts, calculation, character and pattern recognition, etc., can solve the problems of false triggering of functions, large error of target vehicle position, etc., reduce false alarm rate, improve position recognition accuracy, Purpose and benefits Concise and easy-to-understand effects
Active Publication Date: 2021-08-24
福瑞泰克智能系统有限公司
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[0006] The embodiment of the present application provides a method, system, computer equipment, and computer-readable storage medium for target information fusion, so as to at least solve the problem of using large targets as point targets for radar recognition in the related art, so that the position error of the target vehicle output by fusion If it is too large, it is easy to cause false triggering of FCW or AEB functions
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[0042] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
[0043] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar scenarios. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of ...
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The present application relates to a method, system, computer equipment, and readable storage medium for target information fusion, wherein the target information fusion method includes: acquiring the first motion information and the second motion information of the target vehicle after space-time registration, according to According to the geometric relationship between the multiple reference points of the target vehicle and the autonomous vehicle, the first reference point is determined, and the second reference point of the target vehicle is determined according to the direction of motion of the target vehicle relative to the autonomous vehicle, and the first reference point and the second The two reference points are fused to determine the measurement reference point, and the measurement motion information of the target vehicle is calculated according to the measurement reference point, the first motion information and the second motion information. Through this application, the problem of using large targets as point targets for radar recognition, making the position error of the target vehicle output by fusion is too large, and easily causing false triggering of FCW or AEB functions, improves the position recognition accuracy of large targets and reduces False alarm rate for FCW or AEB functions.
Description
technical field [0001] The present application relates to the technical field of intelligent driving, in particular to a method, system, computer equipment and readable storage medium for target information fusion. Background technique [0002] In the field of intelligent driving, intelligent driving vehicles need to sense the surrounding environment in real time through the equipped sensors to respond to potential threats in a timely manner. Due to the advantages and disadvantages of sensor performance, in order to reduce the calculation burden of the fusion center in related technologies, a distributed fusion structure is usually used. Perception, filtering, motion state estimation and other attribute judgments, and then the estimation results are sent to the fusion center for unified processing to complete the fusion tracking of obstacles. [0003] A self-driving vehicle equipped with an Advanced Driving Assistance System (ADAS) usually uses a millimeter-wave radar and a...
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IPC IPC(8): B60W30/095B60W50/00G06K9/00
CPCB60W30/0953B60W50/00B60W2050/0043G06V20/584
Inventor 刘嵩刘熙吴孟张天宇
Owner 福瑞泰克智能系统有限公司