The present application relates to a kind of road
fog dangerous working condition identification
processing method based on multi-
sensor fusion, the method includes: step 1, camera,
millimeter wave radar and
laser radar specificity degradation features under
fog environment are extracted in parallel;Step 2, based on the feature real-time evaluation sensor confidence and dynamic weighted fusion, obtain comprehensive
visibility estimation V final =η*[W
cam *V vis +W rad *φ(C rv )+W lid *ψ(1 / λ)], And dangerous working condition level;Step 3, according to dangerous working condition level, establish the accurate mapping
lookup table of grade and
vehicle control instruction, according to accurate mapping
lookup table, execute the vehicle
active safety control strategy corresponding to dangerous working condition level;Step 4, comprehensive
visibility estimation and dangerous working condition level are packaged as standard car-road cooperation message, broadcast through vehicle-mounted
communication unit, realize the vehicle-vehicle, vehicle-road early warning of over-the-
horizon.This technical scheme solves the technical problems such as the present
technology fusion level is shallow, information
utilization rate is low, output result is rough, lack of adaptive ability etc.