The invention provides a fusion processing method and device based on an unmanned vehicle and a medium, and relates to the field of unmanned driving. The method comprises the following steps: recording time when first information of a main sensor is received as first time, and acquiring a track timestamp and track information of an obstacle, a second timestamp corresponding to each auxiliary sensor and second information according to a first timestamp in the first information; according to the obtained time, information corresponding to the time is predicted through a Kalman filtering model, and compensation information corresponding to the respective compensation time difference is obtained; respectively performing information compensation correction on the first information, the second information and the track information according to the obtained compensation information; and performing data fusion on the correction compensation result according to the obstacle association relationship and the association relationship between the obstacle and the track. According to the method provided by the invention, the obtained fusion result is closer to the environment in which the vehicle is located when making the planning decision, and the performance and safety of the system can be improved.
本申请提供一种基于无人驾驶车辆的融合处理方法、装置及介质,涉及无人驾驶领域。该方法包括:记录接收到主传感器第一信息的时间为第一时间,根据第一信息中的第一时间戳获取障碍物的航迹时间戳、航迹信息、每个副传感器对应的第二时间戳以及第二信息;根据上述获得的时间,通过卡尔曼滤波模型分别对时间对应的信息进行预测处理,得到各自补偿时间差对应的补偿信息;根据上述得到的补偿信息,分别对的第一信息、第二信息和航迹信息进行信息补偿修正;根据障碍物关联关系和障碍物与航迹的关联关系,对修正补偿结果进行数据融合。本申请的方法,得到的融合结果更加贴近车辆在做出规划决策时所处于的环境,有助于提高系统的性能和安全性。
Fusion processing method and device based on unmanned vehicle, and medium
一种基于无人驾驶车辆的融合处理方法、装置及介质
2023-10-20
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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