The invention provides a multi-perception fusion multi-interface compatible automobile intelligent cruise control system and method.The control system comprises a controller and a perception interfacewhich are connected, the perception interface comprises at least two of CAN-FD, LIN, a multimedia serial link, FlexRay and a vehicle-mounted Ethernet, the number of the perception interface is at least one, and the perception interface is connected with perception equipment; the perception equipment comprises at least two of a camera, a radar and a vehicle-mounted domain controller, and the number of the perception equipment is at least one. The camera is used for identifying lane lines, pedestrians, vehicles and traffic signs, the radar is used for accurately measuring distance and speed, and the controller uses the sensing information and combines steering wheel turning angle, moment, accelerator, brake, steering lamp vehicle state information and the like input by the vehicle-mounted domain controller to perform fusion by adopting an unscented Kalman filter algorithm. The multi-sensing-module fusion scheme meets the redundancy design, improves the recognition precision and recognition rate of the system, and guarantees the precision and safety of an automobile during intelligent cruise.
本发明提供一种多感知融合多接口兼容的汽车智能巡航控制系统及方法,所述控制系统包括相连的控制器和感知接口,所述感知接口包括CAN‑FD、LIN、多媒体串行链路、FlexRay以及车载以太网其中至少二种且数量至少为一,所述感知接口与感知设备相连,所述感知设备包括摄像头、雷达、车载域控制器其中至少二种且数量至少为一。摄像头对用于识别车道线、行人、车辆以及交通标识,雷达用于精准测距测速,控制器利用前述感知信息,同时结合车载域控制器输入的方向盘转角、力矩、油门、刹车、转向灯车辆状态信息等,采用无损卡尔曼滤波算法进行融合。多感知模块融合方案满足冗余设计,同时提高系统识别精度和识别率,保证汽车在智能巡航时的精准性及安全性。
Multi-perception fusion multi-interface compatible automobile intelligent cruise control system and method
多感知融合多接口兼容的汽车智能巡航控制系统及方法
2021-01-15
Patent
Electronic Resource
Chinese
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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