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Multi-sensor arrangement and evaluation method for intelligent automobile environment perception

A multi-sensor, smart car technology, applied in instruments, data processing applications, special data processing applications, etc., can solve the scientific and effective multi-sensor layout scheme, which has not formed a widely recognized evaluation system, and is difficult to arrange the effect of unified evaluation of the scheme. and other problems, to achieve the effect of low cost, less blind spots, and high redundancy

Pending Publication Date: 2021-08-13
HUNAN UNIV
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Problems solved by technology

[0004] However, at present, there is no widely recognized evaluation system for the scientificity and effectiveness of the multi-sensor layout scheme, and it is difficult to form a unified evaluation of the effect of the existing layout scheme

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  • Multi-sensor arrangement and evaluation method for intelligent automobile environment perception

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Embodiment Construction

[0045] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0046] As mentioned above, the arrangement scheme of sensors urgently needs a scientific and reasonable evaluation method, so as to improve the deficiencies of the existing arrangement schemes of sensors. Moreover, after the layout plan is determined, the installation pose of each sensor is determined accordingly. For the perception system, the initial state needs to be maintained to maintain the stability of the system. During use, it is necessary to keep the configuration parameters of the sensor stable during the operation of the layout plan. The configuration parameters of the sensor include: X-axis offset, Y-axis offset, Z-axis offset, roll angle, yaw angle And the pitch angle, the parameter changes of the sensor need to be monitored and corrected in time, so as to increase the stability of the sensor of the smart car and provide a stable hardwar...

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Abstract

The invention discloses a multi-sensor arrangement and evaluation method for intelligent automobile environment perception, and the method comprises the steps: building detection region models of various sensors, setting an arrangement scheme evaluation index, building an evaluation hierarchical structure through employing an analytic hierarchy process, and enabling the evaluation hierarchical structure to comprise a scheme layer, a criterion layer and a target layer, wherein the scheme layer comprises the multi-sensor arrangement scheme, the criterion layer comprises the evaluation indexes, the target layer comprises an evaluation result, and a judgment matrix between the evaluation indexes is constructed by using a consistent matrix method; determining the weight of each evaluation index in the criterion layer by using a judgment matrix; and calculating according to the value and the weight of each evaluation index to obtain an evaluation result of the multi-sensor arrangement scheme. According to the method, the corresponding quantitative indexes are formulated, so that the evaluation method is more scientific, and the multi-sensor arrangement method based on the evaluation method is high in redundancy, few in blind area and low in cost.

Description

technical field [0001] The invention relates to the technical field of automatic driving sensors, in particular to a multi-sensor arrangement and evaluation method for intelligent vehicle environment perception. Background technique [0002] Automobile intelligence and networking are important trends in the development of the automobile industry. Environmental perception technology is one of the core technologies of intelligent vehicles. It provides environmental information support for technical links such as decision-making and control by acquiring and analyzing sensor data. Among them, the sensor is the primary component of the perception system. The data acquired by a single sensor is single, which cannot effectively support the requirements of intelligent vehicle environment perception, so multi-sensor fusion technology is required. Multi-sensors include lidar, millimeter wave radar, ultrasonic radar, camera, wheel speed sensor, etc. The installation position of the ...

Claims

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Application Information

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IPC IPC(8): G06F30/18G06F30/15G06F17/16G06Q10/06G06Q50/30
CPCG06F30/18G06F30/15G06Q10/06393G06F17/16G06Q50/40
Inventor 谢国涛毛一鸣徐彪边有钢秦兆博秦晓辉王晓伟秦洪懋胡满江丁荣军
Owner HUNAN UNIV
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