The invention provides a high-speed auxiliary driving control method and system combined with a weather state. The method comprises the steps that vehicle foresight wide-angle image information is recognized to obtain a visual detection result A, vehicle foresight narrow-angle image information is recognized to obtain a visual detection result B, and millimeter wave radar information is recognized to obtain a radar detection result C; obtaining the current weather type and the weather severity of each type; performing information fusion by combining the confidence coefficients of the visual detection result A and the visual detection result B, the target category and the distance to obtain a visual target fusion result D; adjusting the target fusion confidence coefficient according to the visual target fusion result D, the target detection result C and the weather state to obtain a fusion target E; and outputting transverse and longitudinal control instructions of the vehicle by combining the fusion target E and the driving state of the vehicle. According to the method, high-quality target screening of different weathers is met, vehicle transverse and longitudinal control of the NOA driving system in severe weather is adjusted in a self-adaptive mode in combination with the driving state of the vehicle and the road environment, and the control performance is good.
本发明提供一种结合天气状态的高速辅助驾驶控制方法及系统,方法包括:识别车辆前视广角图像信息得到视觉检测结果A,识别车辆前视窄角图像信息得到视觉检测结果B,识别毫米波雷达信息得到雷达检测结果C;获取当前天气类型以及各类型的天气严重程度;结合视觉检测结果A、视觉检测结果B的置信度、目标类别和距离进行信息融合,得到视觉目标融合结果D;根据视觉目标融合结果D、目标检测结果C、天气状态调整目标融合置信度,得到融合目标E;结合融合目标E以及自车行驶状态,输出车辆横纵向控制指令。本发明满足不同天气的高质量目标筛选,结合自车行车状态和道路环境自适应调节NOA驾驶系统在恶劣天气的车辆横纵向控制,控制性能较佳。
High-speed auxiliary driving control method and system in combination with weather state
一种结合天气状态的高速辅助驾驶控制方法及系统
2022-11-29
Patent
Electronic Resource
Chinese
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