The invention relates to the technical field of traffic state perception, in particular to a multi-traffic subject information fusion method for an autonomous traffic system. The method comprises the following steps: S1, fusing image data and point cloud data; and S2, estimating the state of the vehicle main body. According to the method, the Euclidean clustering algorithm and the YOLOx model are combined to process and fuse data of different dimensions, accurate detection of a long-distance and partially-shielded vehicle body is realized based on a data fusion method of confidence coefficient optimization, a data hypothesis of the highest confidence coefficient is determined by using a D-S evidence theory, and the detection accuracy is improved. Therefore, reliable vehicle body position data is obtained as state data, sensor data fusion and authenticity evaluation are effectively guaranteed, the position and the motion state of the vehicle body are described through an extended state vector and a nonlinear system model, and accurate estimation and composite positioning of the vehicle position are achieved. Fusion of a nonlinear system and multi-source information is effectively processed, and accuracy and stability of vehicle position estimation are improved.

    本发明涉及交通状态感知技术领域,尤其涉及一种面向自主式交通系统的多交通主体信息融合方法。该方法包括步骤S1,对图像数据和点云数据进行融合;步骤S2,车辆主体状态估计。本发明通过将欧氏聚类算法与YOLOx模型相结合,以对不同维度数据的处理和融合,并基于置信度优化的数据融合方法,实现远距离、部分遮挡车辆主体的准确检测,利用D‑S证据理论确定最高置信度的数据假设,从而获得可靠的车辆主体位置数据作为状态数据,有效保障传感器数据融合和真实性评估,通过扩展状态向量和非线性系统模型描述车辆主体的位置和运动状态,以实现对车辆位置的准确估计和复合定位,有效处理非线性系统和多源信息的融合,提高车辆位置估计的准确性和稳定性。


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    Titel :

    Multi-traffic subject information fusion method for autonomous traffic system


    Weitere Titelangaben:

    一种面向自主式交通系统的多交通主体信息融合方法


    Beteiligte:
    WANG PANGWEI (Autor:in) / XU JINGHUI (Autor:in) / LIU CHENG (Autor:in) / ZHANG LONG (Autor:in) / ZHANG MINGFANG (Autor:in)

    Erscheinungsdatum :

    01.11.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06V / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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