Perception fusion method of automatic driving system

Abstract

The invention discloses a perception fusion method for an automatic driving system, and the method comprises the steps: calibrating a millimeter-wave radar and a camera based on a laser radar; based on a laser radar, calibrating information collected by the millimeter wave radar and the camera, respectively identifying a target in each piece of information, and obtaining target parameter information of each target; on the basis of the target parameter information, adopting an unscented Kalman filtering algorithm and a global matching method to carry out sensing fusion and matching, and obtaining the state update quantity of the matched and tracked target at the current moment; and updating the matched and tracked target based on the state update quantity of the matched and tracked target, comparing the tracked target at the current moment with the tracked target at the previous moment, and identifying a new tracked target. According to the invention, based on the data received by the plurality of sensors, the targets of the plurality of sensors are fused by using the unscented Kalman filtering algorithm, the target detection and target tracking effects are improved, and the stable operation of the automatic driving perception function is ensured.

Description

technical field [0001] The invention belongs to the technical field of automatic driving, and more specifically relates to a perception fusion method of an automatic driving system. Background technique [0002] Autonomous driving is currently the cutting-edge technology field of new energy vehicles, with huge development potential and space. The task of autonomous driving environment perception is to use sensors to perceive the surrounding environment and provide decision-making basis for autonomous vehicles, which is the first step in the realization of autonomous driving. Autonomous driving technology as a whole is subject to the perception ability of the car. Perception technology is the core and the bottleneck. The current technology is not mature. Autonomous driving perception technology usually uses several commonly used sensors such as lidar, camera, and millimeter-wave radar. Each type of sensor has its own advantages and disadvantages, and its characteristics are ...

AI Technical Summary

Problems solved by technology

[0003] At present, domestic sensor suppliers operate independently, providing their own products and algorithms, lack of collaborative integration of products, and are still very weak in the field of sensor fusion technology, which is still in its infancy and lacks mature and perfect technologies. Therefore, based on multi-sensor fusion technology Highly accurate and stable automatic driving perception function is of great significance

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