The invention relates to a vehicle environment perception sensor performance evaluation system and method, a laser radar set collects environment point cloud information in real time, a camera collects image information in the environment, an inertial navigation system module collects vehicle positioning information, and the laser radar set, the camera and the inertial navigation system module transmit data to a data fusion controller; the data fusion controller processes the data and then outputs the data to an industrial personal computer to serve as a true value for evaluating performance indexes of a sensor to be tested, and the industrial personal computer acquires target information collected by the sensor to be tested and stores the target information in real time; and whether the sensor meets the set performance evaluation index or not is determined by calculating the true value of the performance index of the sensor to be detected and the target information detected by the sensor to be detected. According to the invention, accurate obstacle and lane line information on a road environment can be provided, the truth value used for subsequent evaluation of the performance index of the sensor to be tested is rapidly analyzed, and the evaluation capability of the sensor performance is improved.
本发明是一种车辆环境感知传感器性能测评系统及方法,其由激光雷达组实时采集环境点云信息,摄像头采集环境中的图像信息,惯性导航系统模块采集车辆定位信息,激光雷达组、摄像头和惯性导航系统模块传输数据给数据融合控制器,数据融合控制器对数据进行处理后输出给工控机,作为评价待测传感器性能指标的真值,工控机获取待测传感器采集的目标信息并实时保存,并将评价待测传感器性能指标真值与待测传感器检测到的目标信息通过运算来判断该传感器是否满足既定性能评价指标。本发明能够提供精确的道路环境上的障碍物与车道线信息,并快速分析用于后续评价待测传感器性能指标的真值,提高对传感器性能的评测能力。
Vehicle environment perception sensor performance evaluation system and method
一种车辆环境感知传感器性能测评系统及方法
2021-04-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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