A method and system for vehicle road multi-sensor data fusion
A multi-sensor, data fusion technology, applied in road vehicle traffic control systems, collision avoidance systems, traffic control systems, etc., can solve the problems of insufficient estimation accuracy and difficulty in application, and improve convenience, speed, and accuracy The effect of error estimation and high-precision perception fusion
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Embodiment 1
[0040] like figure 1 As shown, in one aspect, the present invention provides a vehicle-road multi-sensor data fusion method, comprising:
[0041] Step S110: Acquire each of the first collected data, each of the second collected data and each of the third collected data, and perform synchronous processing on the first collected data, the second collected data, and the third collected data; wherein the The first collected data is roadside sensing data obtained by roadside sensors, and the roadside sensing data includes at least the position information, speed information and heading information of the vehicle, and the second collected data is obtained from the networked vehicle. High-precision positioning data and vehicle The vehicle-end state data is composed of motion state data, and the third collected data is the vehicle-end perception data of the state of objects in the environment outside the vehicle obtained by the vehicle-mounted sensor.
[0042] The first collected dat...
Embodiment 2
[0064] In another aspect, the present invention provides a vehicle-road multi-sensor data fusion system, wherein,
[0065] a roadside sensing unit to obtain the first collected data;
[0066] The vehicle-end sensing unit obtains the second collected data;
[0067] The vehicle-end perception unit obtains the third collection data;
[0068] a synchronization processing unit, which performs synchronization processing according to the first collected data, the second collected data and the third collected data;
[0069] a map forming unit, respectively performing target matching according to the first collection data, the second collection data and the third collection data to form a matching result, and forming a first error map and / or a second error map according to the matching result;
[0070] The fusion unit forms a fusion data output according to the matching result, and / or the first error map and the second error map.
[0071] The working principle of the above-mentioned...
Embodiment 3
[0073] In yet another aspect, the present invention further provides a computer-readable storage medium on which a computer program is stored, wherein when the program is executed by a processor, any one of the above-mentioned roadside sensing based on crossing points is implemented The management method, specifically: in a state in which the first collection data and the second collection data are obtained, first prediction data is formed according to the first collection data, and second prediction data is formed according to the second collection data;
[0074] Calculate and form the similarity of each target according to the first prediction data and the second prediction data, and form a matching set according to the similarity;
[0075] A set of matching data with the greatest similarity is obtained, and a matching target object is obtained according to the matching data.
[0076] storage medium - any of various types of memory devices or storage devices. The term "stor...
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