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Multi-sensor based smart automobile environment perception method

A technology of intelligent vehicle and environment perception, applied in the field of intelligent vehicle environment perception system, which can solve the problems of difficulty in comprehensively and quickly extracting information of the surrounding environment of the vehicle and single perception means.

Inactive Publication Date: 2019-05-14
NANCHANG HANGKONG UNIVERSITY
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  • Abstract
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Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a multi-sensor-based smart car environment perception method. The technical problem of the surrounding environment information of the car; the technical solution uses the multi-perception environment sensor composed of the ultrasonic radar sensor, the millimeter wave radar sensor and the camera sensor, and realizes the realization of the vehicle through the sensor data preprocessing algorithm, the multi-sensor data fusion algorithm and the target tracking algorithm. The detection of targets in the surrounding 360° area and the recognition of the front lane line can truly realize the perception of the surrounding environment of the vehicle without blind spots

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  • Multi-sensor based smart automobile environment perception method

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Embodiment example

[0060] An implementation case of an intelligent vehicle environment perception method, including the following process:

[0061] Step 1. Obtain the original data of the obstacles detected by the millimeter-wave radar sensor through the CAN bus technology of the automobile, and use the bubble data processing algorithm to filter out the original data of the surrounding obstacles detected by the millimeter-wave radar sensor. target.

[0062] The specific process of this step is:

[0063] 1) Transform the coordinates uniformly to form a unified standard;

[0064] 2) Screen out the obstacles in the lane;

[0065] 3) Output the original data to the data report of the obstacle;

[0066] 4) extracting the vertical distance in the obstacle as a feature quantity;

[0067] 5) Use the bubble algorithm to sort the objects with the shortest vertical distance among the obstacles;

[0068] 6) Find other physical information of the target according to the longitudinal distance of the targ...

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Abstract

The invention discloses a multi-sensor based smart automobile environment perception method. The technical scheme aims to solve the technical problems of single perception measure and difficulty in accurately, comprehensively and fully extracting information of an environment surrounding an automobile in an existing automobile environment perception system. According to the technical scheme, detection of objects surrounding the automobile by 360 degrees and a front lane line recognition function are realized by a multi-perception environment sensor consisting of an ultrasonic radar sensor, a millimeter radar sensor and a camera sensor through a sensor data preprocessing algorithm, a multi-sensor data fusing algorithm and a target tracking algorithm, and 360-degree perception for the automobile can be realized truly.

Description

technical field [0001] The invention belongs to the technical field of automotive electronics, and in particular relates to a multi-sensor-based intelligent vehicle environment perception system, which uses environment perception sensors such as cameras, millimeter-wave radars, and ultrasonic radars in combination with multi-sensor fusion algorithms to identify and track targets. Background technique [0002] Car is one of the most commonly used means of transportation in our daily life today. It is convenient for everyone's daily travel and brings great convenience to everyone. However, there are corresponding safety problems in the process of driving, that is, the increase of vehicles At present, traffic accidents caused by cars are frequent, and the number of casualties is also increasing. Therefore, everyone should pay special attention to safe driving during driving. [0003] Today, automobile safety can be roughly divided into two categories, namely passive safety and ...

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Application Information

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IPC IPC(8): G01S15/02G01S15/93G01S13/86G01S13/93
Inventor 刘晓波熊震梁春辉
Owner NANCHANG HANGKONG UNIVERSITY
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