Environmental perception method based on machine vision and millimeter wave radar data fusion

Abstract

The invention relates to the technical field of sensor data processing, in particular to an environmental perception method based on machine vision and millimeter wave radar data fusion. The method comprises a data acquisition step of acquiring the data of a radar system and a vision system; a data association matching step of obtaining the target object data lists detected by the two sensing systems, and performing matching association on the target object data detected by the two sensing systems; a target object tracking step of performing matching tracking on the target object, and updatingthe life cycle state of the target object; and a target object data fusion step of fusing the data signals of the target object outputted by the radar system and the visual system. According to the environment sensing method based on machine vision and millimeter wave radar data fusion, the advantages and disadvantages of two sensing systems of a vision system and a radar system can be fused to achieve the purpose of accurately sensing environment information, and the problem that a single-characteristic sensor is difficult to meet the precision and reliability requirements of a sensing system is solved.

Description

technical field [0001] The invention relates to the technical field of sensor data processing, in particular to an environment perception method based on machine vision and millimeter wave radar data fusion. Background technique [0002] Cars have become an important part of transportation and an important choice for people to travel. As the number of automobiles continues to increase, traffic safety and energy consumption have increasingly become the main factors restricting the development of the automobile industry. The emergence of new energy, intelligence, and networking technologies for automobiles provides a solution to the above problems. "Intelligent networked vehicles" is an important development direction in the future, and intelligent networked electric vehicles have become a research hotspot in the automotive industry. [0003] The key to the breakthrough of intelligent driving vehicles is to build high-precision, high-reliability and real-time environmental p...

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Problems solved by technology

[0005] The present invention intends to provide an environment perception method based on data fusion of machine vision and millimeter-wave radar, which can integrate the advantages and disadvantages of the two sensing systems of the vision system and the radar system to achieve the purpose of accurately perceiving environment information, and solve the problem that the existing technology is difficult to realize. The problem of meeting the accuracy and reliability requirements of the perception system

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