Target sensing method, device and system suitable for rainy environment
A target and environment technology, applied in measurement devices, radio wave measurement systems, use of re-radiation, etc., to achieve the effect of overcoming unstable perception results and overcoming too many false alarm obstacle points
Pending Publication Date: 2022-06-03
CHANGSHA XINGSHEN INTELLIGENT TECH CO LTD
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The invention only selects the results of different sensors for fusion output according to different weather conditions, but even in the same weather, such as light rain, moderate rain, heavy rain or heavy rain, the affected situation of the main sensing device is also different, so the solution lacks Quantify the impact of the same weather
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[0044] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.
[0045] like figure 1 As shown, the target perception method applicable to the rainy environment according to the embodiment of the present invention includes:
[0046] Get the rainfall in a rainy environment;
[0047] Adjust the configuration parameters of the lidar and the millimeter-wave radar according to the rainfall, and generate a sensing strategy corresponding to the current rainy environment; the configuration parameters include the sensing range;
[0048] The output results of the lidar and millimeter-wave radar under the corresponding configuration parameters are obtained respectively, and then the output results are fused to obtain the target information.
[0049] In the rainy environment, when the rainfall reaches a certain level, the lidar has more false alarms of raindrops in the distant air, and the imaging is relatively good in ...
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The invention discloses a target sensing method, device and system suitable for a rainy environment. The method comprises the following steps: acquiring rainfall in the rainy environment; adjusting configuration parameters of the laser radar and the millimeter wave radar according to the rainfall; and respectively acquiring output results of the radars under the corresponding configuration parameters, and fusing the output results to obtain target information. The device comprises a rainfall detection unit, a sensing strategy generation unit, a target sensing unit and a target level fusion unit. The rainfall detection unit obtains a rainfall measurement value and converts the rainfall measurement value into a rainfall grade; the sensing strategy generation unit generates a sensing strategy suitable for the current scene according to the rainfall level; the target sensing unit extracts dynamic and static obstacle targets based on a sensing strategy; and the target-level fusion unit performs target-level fusion based on the target result and outputs target information. The system provided by the invention corresponds to the method. The method has the advantages of high target sensing precision, simple configuration, wide applicability and the like.
Description
technical field [0001] The invention mainly relates to the technical field of unmanned driving, and in particular relates to a target perception method, device and system suitable for rainy weather. Background technique [0002] Environmental perception is a basic technology for the realization of unmanned driving. Because this technology is directly related to the safety of automobile driving, it has always received great attention from the industry. One of the current mainstream configurations to realize the unmanned perception function is to use lidar as the core of perceiving the surrounding environment. This is because lidar generally has the advantages of high accuracy, wide field of view, unaffected by lighting conditions, and good stability. Operational requirements for most scenarios. Although the advantages of LiDAR are obvious, due to the disadvantages of short wavelength and weak penetrating power of laser, when encountering a medium that affects the propagation...
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IPC IPC(8): G01S13/86G01S17/86
CPCG01S13/865G01S17/86Y02A90/10
Inventor 安向京罗辉武胡庭波
Owner CHANGSHA XINGSHEN INTELLIGENT TECH CO LTD