Road information fusion system and method for automatic driving vehicle

Abstract

The invention relates to the field of intelligent transportation, and provides a road information fusion system and method for an automatic driving vehicle. The road information fusion system comprises an information acquisition unit used for acquiring various kinds of road information acquired by various types of road perception sensors of a vehicle; an information initial fusion unit, used for carrying out initial fusion on the various road information, and the initial fusion comprising information preprocessing and information validity verification; and an information depth fusion unit, used for carrying out depth fusion on the initially fused road information so as to output a road model of the vehicle, and the depth fusion comprising information coordinate conversion, road feature point extraction, lane line fitting, lane line calculation and information comprehensive management. According to the invention, initial fusion and secondary fusion are carried out on similar road information, repeated data processing processes are reduced, and the accuracy of an output road model is improved.

Description

technical field [0001] The invention relates to the field of intelligent transportation, in particular to a road information fusion system and method for automatic driving vehicles. Background technique [0002] At present, vehicles with an autonomous driving system (ADS for short) have begun to be gradually introduced to the market, which has greatly promoted the development of intelligent transportation. ADS uses the environment perception system installed on the vehicle to perceive the surrounding environment in real time, and determines the driving area of ​​the vehicle through the data returned by the sensor. Among them, the content of environmental perception can be divided into two parts, namely road information and target information, in which the target information can provide the ADS decision-making system with targets in various areas around the vehicle, allowing the decision-making system to make correct responses (overtaking, deceleration, follow-up, etc.) to r...

AI Technical Summary

Problems solved by technology

[0003] However, in the prior art, road information is mainly detected by a single road perception sensor (such as a vehicle camera), and the detection method is relatively single, and there are problems of false detection and missed detection, and the attributes of the road information output by a single road perception sensor are different. comprehensive, unbalanced

In addition, in some schemes that use different road perception sensors to detect road information, there is also a lack of data processing and data fusion mechanisms for road information obtained by different sensors, which is not conducive to ensuring the accuracy of the obtained output road model

Images