Method and device, computer equipment and recording medium for synchronizing multi-sensor target information fusion and multi-sensor sensing

Abstract

The present invention relates to a method and device, a computer device, and a recording medium for synchronizing multi-sensor target information fusion and multi-sensor sensing. The method for synchronizing multi-sensor target information fusion with multi-sensor sensing includes the following steps: obtaining the actual measurement results of each sensor on the target state and recording the time when each set of actual measurement results is obtained, so that for each A set of actual measurement results is recorded with a first time stamp; the moment when the target information fusion process is started is recorded as a second time stamp; each first time represented by each first time stamp and the second time stamp represented by each first time stamp are respectively calculated The time difference between the second instants; based on each calculated time difference, update its corresponding actual measurement result obtained at the first instant to obtain a corresponding estimated measurement result at the second instant; obtain fused predictions of all sensors about the target state at said second time instant; and for each set of estimated measurements, obtaining a fused prediction at said second instant based on said fused predictions and the set of estimated measurements The optimal estimation result of the corresponding sensor with respect to the target state.

Description

technical field [0001] The present invention relates to the field of vehicles, and more particularly to a method and device, computer equipment, and a recording medium for synchronizing multi-sensor target information fusion and multi-sensor sensing. Background technique [0002] In the field of automobiles, the world is striving towards the development direction of "smart driving". "Intelligent driving" can be divided into assisted driving, conditional unmanned automatic driving and fully automatic driving according to different functions. The results of object-aware sensors are fused to reduce overlapping objects and compensate for the shortcomings of different sensor results. [0003] However, in actual processing, due to the differences in algorithms of various sensor suppliers, the strength of sensor hardware performance, etc., the update speed of the sensor on the target will be affected to varying degrees, and the update speed of different sensors is not always the s...

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Problems solved by technology

[0005] However, when the sensor's recognition results about the target are updated slowly or not updated, it will lead to the problem that the optimal estimation of the fusion result is not accurate enough

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