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Multi-sensor data fusion method, device and vehicle

A multi-sensor, sensor technology, applied in the field of data processing, can solve the problem that the accuracy of multi-sensor data association is not high enough

Active Publication Date: 2019-01-25
BORGWARD AUTOMOTIVE CHINA CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The present disclosure provides a multi-sensor data fusion method and device, and a vehicle to solve the problem that the accuracy of multi-sensor data association is not high enough in the related art

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  • Multi-sensor data fusion method, device and vehicle
  • Multi-sensor data fusion method, device and vehicle

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Embodiment Construction

[0047] Specific embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0048] figure 1 It is a schematic diagram of a scene shown according to an exemplary embodiment. Such as figure 1 As shown, the first sensor and the second sensor detect objects within the fan-shaped area detectable by the sensor in front of the vehicle, respectively. The two objects detected by the first sensor are T11 and T12, and the two objects detected by the second sensor are T21 and T22.

[0049] In related technologies, object association is performed by calculating the three-dimensional space Euclidean distance between objects detected by multiple sensors, that is, the object with the smallest three-dimensional space Euclidean distance detected by...

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Abstract

The present invention provides a multi-sensor data fusion method, a device and a vehicle. The invention aims to solve the problem of low association accuracy of the data of a plurality of sensors in the prior art. According to the multi-sensor data fusion method, the device and the vehicle, a plurality of sensors are used for detecting data of a plurality of dimensions of objects in the same area.The method includes the following steps that: a corresponding data interval is set for each dimension of a first object according to the data of a plurality of dimensions of the first object detectedby a first sensor, wherein the first object is any object detected by the first sensor; whether a unique second object exists in all objects detected by a second sensor is judged, and the data of each dimension of the second object are all in the data intervals set correspondingly set for the first object; and if the unique second object exists in all the objects detected by the second sensor, and the first object and the second object are associated to correspond to the same object in the area.

Description

technical field [0001] The present disclosure relates to the field of data processing, in particular, to a multi-sensor data fusion method and device, and a vehicle. Background technique [0002] More and more vehicles use sensors to collect data information of targets on the road, and use these data information to assist driving to realize automatic driving or semi-automatic driving functions. In the related art, a technical solution is proposed in which data information of a target object is collected by multiple sensors, and then the data information collected by the multiple sensors is fused to obtain the information of the target object. [0003] Before performing data fusion processing on data from multiple sensors, it is necessary to perform data association on targets collected by different sensors. For example, data association is performed on multiple obstacles detected by millimeter-wave radar and camera, and the data information of each obstacle is obtained afte...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/86G01S13/93
CPCG01S13/867G01S13/93G01S13/931
Inventor 徐西海吴明珺
Owner BORGWARD AUTOMOTIVE CHINA CO LTD
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