The invention provides an AEB emergency braking method and device for vehicle automatic driving. The method comprises the steps of carrying out the clustering of point cloud data collected by a laser radar through 2D spatial hash and a 2D voxel grid, so as to obtain a point cloud sensing result, carrying out the target recognition of image data collected by a camera through a target detection neural network to obtain an image perception result, performing information fusion on the point cloud sensing result and the image sensing result by adopting an information fusion neural network to obtain a dense depth map, and performing data fusion on the dense depth map and the point cloud sensing result according to the transformation matrix to obtain a 3D sensing result of the target and inputting the 3D sensing result into a decision layer of the AEB. According to the method, faster point cloud neighbor query is realized through 2D spatial Hash in the aspect of point cloud clustering, the number of points in the spatial Hash is reduced by using a 2D voxel grid, the calculation burden is reduced, a multi-level fusion algorithm is adopted for data fusion, and a more accurate 3D sensing result can be obtained.

    本发明提供一种用于车辆自动驾驶的AEB紧急制动方法、装置,所述方法包括:通过2D空间哈希和2D体素网格对激光雷达采集的点云数据进行聚类,以获取点云感知结果,并通过目标检测神经网络对摄像头采集的图像数据进行目标识别,以获取图像感知结果;采用信息融合神经网络将点云感知结果和图像感知结果进行信息融合,以获取稠密深度图;根据变换矩阵将稠密深度图与点云感知结果进行数据融合,以获取目标的3D感知结果并输入AEB的决策层。该方法在点云聚类方面通过2D空间哈希实现更快的点云近邻查询,使用2D体素网格减少空间哈希中的点数量减少计算负担,且数据融合采用多层次的融合算法,可以得到一个更为准确的3D感知结果。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    AEB emergency braking method and device for vehicle automatic driving


    Weitere Titelangaben:

    用于车辆自动驾驶的AEB紧急制动方法、装置


    Beteiligte:
    LIANG HAO (Autor:in) / SUN RONGWEI (Autor:in) / XU JIANG (Autor:in) / CAI TING (Autor:in)

    Erscheinungsdatum :

    2021-06-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06K Erkennen von Daten , RECOGNITION OF DATA / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



    Emergency braking device, control method thereof and automatic driving vehicle

    YU ZHIHUA / WANG GANGHUI / JU LIJUN et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Automatic driving vehicle, emergency braking method thereof and robot

    HU KEFAN / LU YINGXIANG / LONG YUHAN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    VEHICLE AUTOMATIC EMERGENCY BRAKING SYSTEM

    RENAUD RONALD R | Europäisches Patentamt | 2018

    Freier Zugriff

    Vehicle and automatic driving braking system and automatic driving braking method thereof

    WANG CHENG / MENG XIANGYU / WANG BIN | Europäisches Patentamt | 2020

    Freier Zugriff

    Automatic emergency braking device

    WANG JIAN / TAKAHAMA TAKU | Europäisches Patentamt | 2023

    Freier Zugriff