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Data fusion reasoning method and device, electronic equipment and computer storage medium

A technology of data fusion and measurement data, which is applied to computer components, computing, and measuring devices, etc., can solve the problems of inaccurate target position perception and target tracking detection, and difficulty in accurately determining echo signals, so as to improve accuracy , Reduce the interference of errors and improve the reliability

Pending Publication Date: 2022-06-21
浙江菜鸟供应链管理有限公司
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  • Claims
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AI Technical Summary

Problems solved by technology

In this process, due to the complex and changeable environment in which the vehicle is located, it is difficult to accurately determine the echo signal from the target, which leads to inaccurate target position perception and target tracking detection based on the echo signal

Method used

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  • Data fusion reasoning method and device, electronic equipment and computer storage medium
  • Data fusion reasoning method and device, electronic equipment and computer storage medium
  • Data fusion reasoning method and device, electronic equipment and computer storage medium

Examples

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Embodiment 1

[0023] refer to Figure 1a , showing a flow chart of the steps of the data fusion method in Embodiment 1 of the present application.

[0024] Step S102: Obtain measurement data corresponding to the echo signals at the k-th time point collected by at least two radars.

[0025] In the field of automatic driving of vehicles, target objects (such as pedestrians, vehicles, fixed obstacles, etc.) within a certain range around the vehicle are detected by on-board radar, so as to control the vehicle according to the detection results, so as to realize automatic driving.

[0026] For example, by installing multiple radars on the vehicle and orienting these radars in different directions, the detection of the surroundings of the vehicle is realized. Theoretically, the radar periodically transmits detection signals. If obstacles (such as people, vehicles, walls, trees, etc.) are encountered during the propagation of the detection signals, these obstacles will reflect the detection signal...

Embodiment 2

[0050] refer to figure 2 , showing a flow chart of the steps of the data fusion method according to the second embodiment of the present application.

[0051] In this embodiment, the execution process is described by taking the data fusion method being executed in the fusion center as an example. The fusion center can be a vehicle-mounted data processing chip, which is connected with multiple radar data. This method can ensure that the measurement data of multiple radars can be transmitted to the fusion center in a timely and fast manner, and the data transmission delay is low. Alternatively, the fusion center can also be a data processing chip set outside the vehicle, which can be connected to the radar through a wired network or a wireless network, and receive the measurement data transmitted by the radar.

[0052] In this embodiment, the data fusion method includes the aforementioned steps S102 to S108. Wherein, step S104 includes the following sub-steps:

[0053] Sub-s...

Embodiment 3

[0099] refer to Figure 3a , showing a schematic flowchart of the steps of the data fusion method in Embodiment 3 of the present application.

[0100] In this embodiment, the data fusion method includes the aforementioned steps S102 to S108. Steps S110 and S112 may also be included as needed. Wherein, steps S104 to S108 may adopt any of the foregoing appropriate implementation manners.

[0101] Based on the detection and positioning of the target object, the track tracking and management of the target object can be realized. Among them, the track of the target object is used to indicate the estimated position of the target object at different times. Since the correlation measurement data contains errors and false alarms when detecting and locating the target object based on the radar-based correlation measurement data, it cannot be determined that the target object actually exists within the detection range only based on the target objects detected at one moment. For the t...

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Abstract

The embodiment of the invention provides a data fusion reasoning method and device, electronic equipment and a computer storage medium. The data fusion method is used for tracking and detecting a target object in a radar detection range, and specifically comprises the following steps: acquiring measurement data corresponding to echo signals at a kth moment acquired by at least two radars; selecting associated measurement data of the target object from the measurement data according to the predicted position area of the target object at the kth moment; the association probability of the associated measurement data and the target object is determined, and the association probability is used for indicating the possibility that the echo signal corresponding to the associated measurement data comes from the target object; and performing fusion calculation based on the predicted position of the target object indicated by the associated measurement data, the association probability corresponding to the associated measurement data and the estimated position of the target object at the (k-1) th moment to determine the estimated position of the target object at the kth moment. The data fusion method is more accurate in positioning of the target object.

Description

technical field [0001] The embodiments of the present application relate to the technical field of intelligent driving, and in particular, to a data fusion method, apparatus, electronic device, and computer storage medium. Background technique [0002] In the field of intelligent driving, in order to improve the autonomy and safety of vehicle driving, radars (such as millimeter-wave radars) can be set up at different positions of the vehicle, and the echo signals of the radars can be used to sense whether there are targets around the vehicle that the vehicle should pay attention to. These targets are tracked and detected for driving decision-making or driving assistance decision-making. In this process, since the environment where the vehicle is located is complex and changeable, it is difficult to accurately determine the echo signal from the target, which leads to inaccurate target position perception and target tracking detection based on the echo signal. SUMMARY OF THE...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/87G01S13/931G01S13/66G06K9/62
CPCG01S13/87G01S13/931G01S13/66G06F18/25
Inventor 姜义成徐旺苗振伟广盛叶刚王兵
Owner 浙江菜鸟供应链管理有限公司
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