The invention discloses a cruise target selection device and method based on multi-sensor fusion. The cruise target selection device based on multi-sensor fusion comprises a data acquisition module, a target fusion module, a self-vehicle trajectory estimation module, a target selection area generation module and a target selection module. The data acquisition module is used for acquiring target information of the millimeter wave radar, target information of the camera, lane line information and vehicle information of a vehicle; the target fusion module is used for associating a radar target with a camera target and carrying out target information fusion based on extended Kalman filtering; and the self-vehicle trajectory estimation module is used for estimating the trajectory of the vehicle according to the lane line, the self-vehicle dynamics trajectory and the nearest target trajectory. According to the cruise target selection device and method based on multi-sensor fusion, the estimation precision of the motion trail of the vehicle is improved, target selection during lane changing is more sensitive, and missed detection and false detection of cruise targets are reduced.

    本发明公开了一种基于多传感器融合的巡航目标选择装置及方法,所述基于多传感器融合的巡航目标选择装置包括数据获取模块、目标融合模块、自车轨迹估计模块、目标选择区域生成模块以及目标选择模块;所述数据获取模块用于获取毫米波雷达的目标信息、摄像头的目标信息、车道线信息以及自车的车辆信息;所述目标融合模块用于对雷达目标与摄像头目标进行关联,基于扩展卡尔曼滤波进行目标信息融合;所述自车轨迹估计模块用于根据车道线、自车动力学轨迹与最近目标轨迹。本发明提供一种基于多传感器融合的巡航目标选择装置及方法,提高自车运动轨迹的估计精度,并且在变道时的目标选择更加灵敏,减少巡航目标的漏检与误检。


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    Titel :

    Cruise target selection device and method based on multi-sensor fusion


    Weitere Titelangaben:

    一种基于多传感器融合的巡航目标选择装置及方法


    Beteiligte:
    GUO ZIMING (Autor:in) / ZHANG MIN (Autor:in) / YU ZHIJIANG (Autor:in)

    Erscheinungsdatum :

    2024-04-09


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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