Data fusion dynamic vehicle detection method based on millimeter wave radar and machine vision

Abstract

The invention discloses a data fusion dynamic vehicle detection method based on millimeter-wave radar and machine vision. A millimeter-wave radar data processing module, a vision image processing module and a data fusion processing module are included. Firstly, through sensor joint calibration, a projection matrix of a millimeter wave radar and a visual sensor is obtained, and a conversion relation between a radar coordinate system and an image coordinate system is established; preprocessing the acquired millimeter-wave radar data, performing effective target screening, projecting a radar detection target to a visual image through a conversion relationship, and obtaining a target region of interest according to the position of the projection target; performing target information fusion according to the overlapping condition of the target region of interest obtained from the image processing algorithm and the target region of interest detected by the millimeter-wave radar; and finally,verifying whether there is a vehicle in the fused region of interest based on an image processing algorithm. According to the invention, the front vehicle can be effectively detected, and the system has good environmental adaptability and stability.

Description

technical field [0001] The invention belongs to the technical field of intelligent automobile vehicle detection, in particular to a data fusion dynamic vehicle detection method based on millimeter wave radar and machine vision. Background technique [0002] In recent years, the technology of automobile intelligence has become increasingly mature, and the intelligent assisted driving module has brought vigorous development to the intelligent driving automobile market. Among them, environmental perception ability is the basis of intelligent assisted driving technology, and the detection of obstacles in front of the vehicle is an important part of environmental perception. [0003] Existing environmental perception systems mainly rely on a single sensor, such as the patent "Vehicle Detection System and Method Based on Binocular Stereo Vision" (application number: 201510556400.5) applied by Shanghai University; the patent "a vision-based Combined vehicle detection method" (appl...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to use a single visual sensor for vehicle detection, which is easily affected by light and weather, resulting in false detection and missed detection of the target vehicle

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