Preceding vehicle detection method based on Bayesian statistical decision

Abstract

The invention relates to a preceding vehicle detection method based on Bayesian statistical decision. A preceding vehicle detection system comprises a controller disposed on a host vehicle, a single-line laser radar and a camera which are disposed at the front end of the host vehicle and which are electrically connected with the controller. The controller includes a laser radar information processing module, a machine vision information processing module, and a radar visual information fusion decision module. The radar visual fusion decision module includes secondary information fusion which comprises firstly establishing a time-space correspondence model of radar visual information so as to lay the foundation for establishing a visual region of interest; and secondly establishing a vehicle verification function to perform Bayesian decision based on a minimum posterior risk principle to finally verify the existent accuracy of a preceding vehicle. Compared with a traditional preceding vehicle detection system based on laser radar and machine vision, the preceding vehicle detection method of the present invention adds the Bayesian statistical decision based on a minimum posterior risk criterion to the information fusion module so as to effectively reduce a false alarm rate and improve the preceding vehicle detecting accuracy of an intelligent system.

Description

technical field [0001] The invention relates to a detection method for a preceding vehicle based on Bayesian statistical decision-making, and belongs to the field of intelligent vehicle detection. Background technique [0002] Smart cars belong to the key areas of the "Made in China 2025" development plan, and the car intelligent assisted driving system is a smart car technology that consumers pay more attention to and promote faster. Automobile intelligent assisted driving system means that the on-board computer detects the surrounding traffic environment information through the road environment perception system, and analyzes and makes decisions in combination with the vehicle's motion state or the driver's physiological state. At present, research on intelligent assisted driving systems mainly focuses on vehicle collision avoidance, intelligent car following, lane departure warning, and auxiliary lane change systems. [0003] Front vehicle detection is the key technology...

AI Technical Summary

Problems solved by technology

[0004] The object of the present invention is to provide a kind of front vehicle detection method based on Bayesian statistical decision-making, solve the technical problem of the poor detection accuracy of the front vehicle in the prior art

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