Laser radar and millimeter wave radar deeply fused obstacle detection method and system

Abstract

The invention discloses an obstacle detection method based on laser radar and millimeter wave radar deep fusion, and the method comprises the following steps of: 1, carrying out preprocessing and target extraction on original point cloud data of a laser radar, and carrying out combined online calibration on the two items; 2, eliminating a millimeter wave radar false alarm sensing model; 3, comparing the millimeter wave returned distance information of an obstacle with the laser radar returned point distance information so as to filter the interference of rain, fog and dust; and 4, removing false detection information of the millimeter wave radar and the laser radar based on the step 3 and the step 4. According to the obstacle detection method based on laser radar and millimeter wave radardeep fusion, high-precision detection based on laser radar and millimeter wave radar deep fusion can be effectively realized through setting of the steps 1 to 4.

Description

technical field [0001] The present invention relates to an obstacle detection method based on deep fusion of laser radar and millimeter wave radar, and more specifically relates to an obstacle detection method and system based on deep fusion of laser radar and millimeter wave radar. Background technique [0002] The realization of automobile intelligence is an important trend in the development of the automobile industry, and environmental perception technology is one of the core technologies of intelligent vehicle technology. Environmental perception technology provides environmental information for decision-making, control and other technologies by acquiring and analyzing sensor data. Among them, obstacle detection is one of the important functions of the perception system, and the accuracy of its detection results has an important impact on the performance of the perception system, and the detection results mainly depend on the accuracy of the sensor detection results. M...

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Problems solved by technology

[0006] Combining the above methods of laser radar and millimeter-wave radar fusion detection, the main problems are: the fusion described above is to perform fusion processing on the data after detection and processing, and does not eliminate the impact caused by the inherent defects of the sensor itself

None of the above patents removes the false alarms of the millimeter-wave radar, so the millimeter-wave detection information used in the fusion process may originate from false alarms, resulting in false detections; when the lidar encounters rain, fog and dust, it will generate multiple echoes. None of the above methods distinguish the echo of the target from the interference echo generated by rain, fog and dust, which will also reduce the accuracy of detection to a certain extent.

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