Dust and fog weather road environment sensing system based on multi-sensor fusion

Abstract

The invention discloses a dust and fog weather road environment sensing system based on multi-sensor fusion. The system comprises a sensor module, a multi-sensor information fusion module, an autonomous environment sensing system module, a network connection information data protocol definition module, a network connection information and multi-sensor information fusion system module, and an environment information dynamic and static target road information module. The system has the beneficial effects that the sensor is compensated by introducing data of an automatic driving vehicle aiming at the situation that the automatic driving vehicle needs to run on a fluctuating and bumpy unstructured road surface so as to influence the sensing of the sensor on the surrounding environment, so that the identification and continuous tracking of the automatic driving vehicle on surrounding vehicles are completed; and meanwhile, for the problem that the agglomerate fog affects the vehicle-mounted vision, a defogging algorithm model in the agglomerate fog scene is used for image processing to obtain a clear video image, so that the recognition accuracy is improved, and safe and high-effect operation of the unmanned vehicle is ensured.

Description

technical field [0001] The invention relates to the technical field of automatic driving of mining trucks, in particular to a multi-sensor fusion-based road environment perception system for dust and fog weather. Background technique [0002] At present, with the continuous development of technology, in the transportation of unstructured roads, unmanned driving is also combined with different scenarios, such as mines, and its accurate identification of the environment is the key to the application of this technology. But there are following problems in the prior art: [0003] 1. The visibility of the driving scene in the foggy environment is low, and the color and contrast of the front-end video image of the vehicle are seriously attenuated, which reduces the clarity of the image; [0004] 2. The mountainous environment is very different from the conventional structured road environment, and the accurate description of obstacles still has insufficient pertinence; [0005] ...

AI Technical Summary

Problems solved by technology

[0003] 1. The visibility of the driving scene in the foggy environment is low, and the color and contrast of the front-end video image of the vehicle are seriously attenuated, which reduces the clarity of the image;

[0004] 2. The mountainous environment is very different from the conventional

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