A method and system for target detection

Abstract

The present application provides a target detection method and system, which relate to the technical field of automatic driving. Among them, the method of target detection includes: obtaining the image data and radar data of the target in front of the vehicle; obtaining the environmental information of the environment in which the vehicle is located; detecting the target according to the confidence coefficient of the image data, radar data and image data, the confidence coefficient and the environmental information The indicated harshness of the environment is negatively correlated, and the product of the confidence coefficient and the confidence of the target detected based on the image data is the final confidence of the target in the image data. Determine the confidence coefficient of the image data through the environmental information of the vehicle, and then determine whether to use image data to detect targets based on the confidence coefficient of the image data, which can avoid determining whether to use image data for detection based on thresholds such as image brightness, color shift, or clarity. target, thereby effectively reducing the false detection rate of the target and improving the accuracy of target detection.

Description

technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a target detection method and system. Background technique [0002] With the widespread application of autonomous driving technology, it is becoming more and more important to detect objects during driving. At present, a variety of sensors are mainly used on the vehicle to detect the target through the data output by the various sensors. In practical applications, optical sensors such as cameras, infrared, thermal, and lasers are often used to obtain image data of the target, and millimeter-wave radar sensors are used to obtain radar data such as the distance between the target and the vehicle and the speed of the target. Radar data fusion, based on the fused data to detect the target. [0003] However, in harsh environments, the effectiveness of image data acquired by optical sensors such as cameras, infrared, thermal, and lasers will be reduced, but th...

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Problems solved by technology

[0004] However, due to the variability of the environment, the environment in which the target is located is not always the same. Therefore, it is impossible to accurately determine whether to use an optical sensor based on whether the brightness, color cast or sharpness of the image data reaches the set threshold. Collected image data for target detection

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