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A target-level multi-sensor fusion method for smart cars

A multi-sensor fusion and smart car technology, applied in the field of sensor fusion, can solve the problems of target detection loss, repeated detection, blind spots, etc., and achieve the effect of avoiding discontinuous target motion trajectory

Active Publication Date: 2022-07-19
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since each sensor has its own detection range, when it is arranged on the vehicle, it is inevitable that there will be overlapping detection areas or even blind areas, resulting in loss of target detection or repeated detection

Method used

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  • A target-level multi-sensor fusion method for smart cars
  • A target-level multi-sensor fusion method for smart cars
  • A target-level multi-sensor fusion method for smart cars

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Embodiment Construction

[0063] The method of the invention is realized by a target-level multi-sensor fusion system of an intelligent car, wherein a target-level multi-sensor fusion system of an intelligent car includes a coordinate conversion module, a time synchronization module, a target association module, a state estimation and a New target generation module, track management module, target motion state prediction module and output management module;

[0064] The coordinate conversion module unifies the measurement values ​​of each sensor to the target into the vehicle coordinate system;

[0065] The time synchronization module converts the longitudinal distance, relative longitudinal velocity, relative longitudinal acceleration, lateral distance, relative lateral velocity and relative lateral acceleration between the target and the vehicle in the vehicle coordinate system input by the coordinate conversion module at the moment when the sensor data is received at the fusion center Compensate for...

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Abstract

The invention belongs to the technical field of sensor fusion, and in particular relates to a target-level multi-sensor fusion method for an intelligent vehicle; By tracking all targets detected by multiple sensors globally, and fusing the repeatedly detected targets, the fusion center can obtain the continuous motion trajectories of all targets within the detection range of each sensor, and then track all targets. Management, screening out the new candidate targets in all the targets in this cycle after track management, that is, the targets that have not been completed in the track generation judgment, and regard the remaining targets and their motion states as obstacles to the multi-sensor fusion finally output by the fusion center in this cycle Physical test results. The invention can realize stable and accurate detection and tracking of the targets around the vehicle, and can avoid problems such as repeated detection of targets in overlapping detection areas.

Description

technical field [0001] The invention belongs to the technical field of sensor fusion, in particular to a target-level multi-sensor fusion method for an intelligent vehicle. Background technique [0002] With the rapid development of automobile intelligence and automation, the field of automobile autonomous driving technology has attracted more and more attention. Environment perception is an important and indispensable link in the automatic driving of automobiles. In order to meet the needs of automatic driving of automobiles, the intelligent automobile environment perception system needs to conduct comprehensive and accurate perception and detection of vehicles, pedestrians, bicycles and other objects in the traffic environment around the vehicle. probe. [0003] In order to meet the environmental perception requirements of autonomous driving, vehicles are often equipped with multiple or even multiple environmental sensors, such as millimeter-wave radar and camera sensors....

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34G01S13/931G01S13/86G05D1/02
CPCG01C21/3415G01S13/931G01S13/86G05D1/0214
Inventor 蔡坤阳曲婷赖锋曲文奇高炳钊陈虹
Owner JILIN UNIV