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Automatic driving dynamic target positioning method and device, electronic equipment and storage medium

A dynamic target and automatic driving technology, which is applied in image data processing, instrument, character and pattern recognition, etc., can solve the problem that the solution of dynamic target positioning is not universal

Pending Publication Date: 2020-11-24
MOMENTA SUZHOU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a dynamic target positioning method for automatic driving, which is used to solve the technical problem that the dynamic target positioning scheme is not universal in the traditional automatic driving scene

Method used

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  • Automatic driving dynamic target positioning method and device, electronic equipment and storage medium
  • Automatic driving dynamic target positioning method and device, electronic equipment and storage medium
  • Automatic driving dynamic target positioning method and device, electronic equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] Embodiment one, exemplary method

[0043] like figure 1 In the shown specific embodiment of the automatic driving dynamic target positioning method of the present invention, multiple cameras are fixed on the automatic driving vehicle, and the dynamic target is continuously photographed by multiple cameras.

[0044] Include the following steps:

[0045] S101. Obtain a plurality of image groups, each image group includes a plurality of images, each image is captured by a camera, and the images belonging to the same image group have the same acquisition time.

[0046] According to the installation position of each camera on the self-driving vehicle, different angles will appear when shooting, fully reflecting the environment around the vehicle where the camera is located. The images belonging to the same group are collected at the same time, so these images must be related to each other, and the state of the corresponding dynamic target at the shooting time can be obta...

Embodiment 2

[0083] Embodiment two, Exemplary device

[0084] Another embodiment of the present invention provides a dynamic target positioning device for automatic driving, which uses multiple cameras to continuously shoot dynamic targets, such as image 3 shown, including,

[0085] The image group obtaining module 201 is configured to obtain multiple image groups, each image group includes multiple images and each image is captured by a camera, and the images belonging to the same image group have the same collection time.

[0086] A target association module 202, configured to perform target association according to image information and preset camera internal and external reference information, and obtain first observation result information;

[0087] The initialization module 203 is used to use the first observation result of the first frame image as the initialization state quantity;

[0088] The fusion processing module 204 is used to perform state fusion processing on the first...

Embodiment 3

[0095] Embodiment 3, Exemplary computer program product and computer readable storage medium

[0096] Another embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and operable on the processor, and the processor executes the computer program to implement the above-mentioned Method steps.

[0097] The processor is preferably but not limited to a central processing unit (Central Processing Unit, CPU). For example, the processor can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field Programmable Gate Array, FPGA) or other Chips such as programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above-mentioned types of chips.

[0098] As a non-trans...

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Abstract

The invention provides an automatic driving dynamic target positioning method and device, electronic equipment and a storage medium. A plurality of cameras are fixed on an automatic driving vehicle, aplurality of cameras are used for continuously shooting a dynamic target to obtain a plurality of image groups, each image group comprises a plurality of images, each image is acquired by one camera,and the collection moments of the images belonging to the same image group are the same; performing target association according to the image information and preset camera internal and external parameter information to obtain first observation result information; taking a first observation result of the first frame image as an initialization state quantity; on the basis of initializing the statequantity, state fusion processing is carried out on the first observation result of each frame of image after the first frame of image, and state fusion is carried out with the expectation that multi-camera observation values meet Gaussian distribution; kalman filtering is carried out on a result obtained after state fusion of each frame to obtain a target state updating result, and Kalman filtering is carried out under the condition that an intra-frame target moves linearly at a constant speed.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to the positioning technology of dynamic targets during automatic driving. Background technique [0002] In the vision-based automatic driving solution, multiple cameras will be set up to collect the surrounding environment of the vehicle. The visual perception algorithm conducts in-depth analysis of the image, generates perception results for surrounding vehicles, pedestrians, cyclists, lane lines, traffic obstacles, signboards, etc. Movement makes decisions. If there is no good multi-camera 3D perception positioning, it will lead to wrong decision-making by regulation and control: 1) If the distance between the output 3D target and the vehicle is much greater than the actual distance or the speed is much lower than the actual speed, it will trigger takeover and cause safety hazards; 2) If the distance between the output 3D target and the vehicle is much smaller than the actual d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06T7/277G06T7/292
CPCG06T7/277G06T7/292G06T2207/10016G06T2207/30252G06V40/20G06V20/10
Inventor 吴迪蒋云飞
Owner MOMENTA SUZHOU TECH CO LTD
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