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

A millimeter wave radar and obstacle detection technology, applied in the field of obstacle detection, can solve problems such as multiple echoes, false detection, and reduced detection accuracy.

Active Publication Date: 2020-12-15
HUNAN UNIV
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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 mi

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

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Embodiment Construction

[0030] The present invention will be described in further detail below in conjunction with the embodiments given in the accompanying drawings.

[0031] Such as figure 1 Shown is the flow chart of the obstacle detection method for deep fusion of lidar and millimeter-wave radar involved in the present invention, and the main steps are as follows:

[0032] 1) Multi-level sensor joint online calibration. The levels involved in the present invention mainly include the data level and the target level, and the data of different levels are converted through processing. For homogeneous sensors, data-level joint online calibration can be directly performed, while heterogeneous sensors need to be preprocessed because the raw data are different. The heterogeneous sensors involved in this patent refer to the joint calibration between lidar and millimeter-wave radar, because millimeter-wave radar outputs target information. At this time, the original point cloud data of lidar needs to be ...

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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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Application Information

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IPC IPC(8): G01S17/931G01S13/931G01S13/87G01S7/41G01S7/48
CPCG01S17/931G01S13/931G01S13/87G01S7/411G01S7/4802Y02A90/10
Inventor 谢国涛张静徐彪秦兆博秦晓辉王晓伟秦洪懋边有钢胡满江丁荣军
Owner HUNAN UNIV
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