Data processing method and device, equipment and storage medium
A technology for data processing and target data, applied in the field of vehicles, which can solve the problems of inability to target data fusion and low fusion accuracy.
Active Publication Date: 2022-04-01
AUTOMOTIVE INTELLIGENCE & CONTROL OF CHINA CO LTD
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[0005] The present invention provides a data processing method, device, equipment and storage medium to solve the problems in the prior art that the target data obtained by ordinary cameras cannot be fused with the target data obtained by millimeter-wave radar, or the target data obtained by cameras at different times cannot be The target data is fused, and there is a problem of low fusion accuracy
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[0070] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention.
[0071] figure 1 An application scenario diagram of a data processing method provided by an embodiment of the present invention, such as figure 1 As shown, the perception fusion module is one of the upper-level application software of the automatic driving operating system. Based on the perception fusion module, it can realize the fusion of targets near the self-vehicle, and it is a pre-processing module for decision-making planning. Wherein, the perception fusion module may acquire target data corresponding to the millimeter-wa...
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The invention provides a data processing method and device, equipment and a storage medium. The method comprises the following steps: receiving target data sent by a camera and / or a millimeter wave radar; when the data received for two adjacent times are the data corresponding to the camera, calculating a plurality of association features between each detection target and each tracking target, and determining the tracking target corresponding to each detection target according to the plurality of association features; when the data corresponding to the camera and the data corresponding to the millimeter-wave radar are received for two adjacent times, performing perspective transformation on the coordinate data of the grounding point of the millimeter-wave radar and obtaining a two-dimensional grounding point coordinate difference score; or, performing inverse perspective transformation on the target data of the grounding point of the camera to obtain a three-dimensional grounding point coordinate difference score, and further determining the corresponding relation of the targets in the two kinds of data, thereby realizing fusion based on a plurality of association features, associating different types of target data based on the grounding point coordinates of the camera, and improving the accuracy of target data fusion. And the target fusion accuracy is improved.
Description
technical field [0001] The present invention relates to the technical field of vehicles, in particular to a data processing method, device, equipment and storage medium. Background technique [0002] At present, vehicles with automatic driving systems have begun to be gradually introduced to the market, which has greatly promoted the development of intelligent transportation. A vehicle with an automatic driving system perceives the surrounding environment in real time through sensors installed on the vehicle. [0003] In order to ensure safe driving, it is usually necessary to deploy multiple different types of sensors on the vehicle to fully collect the environmental information around the vehicle to achieve the effect of redundant observation. For example, cameras and millimeter-wave radars need to be installed in vehicles. It is necessary to fuse the data obtained by the camera and the data obtained by the millimeter-wave radar to become a unique interpretation of the s...
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IPC IPC(8): G06T17/00G06T19/00G06T7/73G06T7/277G06T7/246G06T5/50G06K9/62G06V10/74
Inventor 胡孟琦尚进丛炜
Owner AUTOMOTIVE INTELLIGENCE & CONTROL OF CHINA CO LTD