The invention provides a multi-sensor synchronous fusion method and device for intelligent driving. The method comprises the following steps: acquiring the latest frame data of a plurality of sensors of different types; judging whether the timestamp corresponding to the latest frame of data of each sensor is different from the timestamp of the previous period or not; if yes, time-space conversion is carried out on the latest frame of data of each sensor, so that each sensor is synchronized to the same time and the same coordinate origin; determining association thresholds of different types of targets, and associating the association thresholds with the track to obtain associated sensors; matching the track with the measurement of the associated sensor to obtain all measurement matched with each track; constructing a new measurement according to all measurements matched with each track; the flight path is updated through new measurement; the measurement accuracy can be improved, the influence of sensor disturbance on the system is reduced, the target is accurately matched, and meanwhile, the consumption of chip computing power is reduced.
本发明提供了智能驾驶的多传感器同步融合方法和装置,包括:获取不同类型的多个传感器的最新一帧数据;判断各个传感器的最新一帧数据对应的时间戳与上一周期的时间戳是否存在区别;如果是,则对各个传感器的最新一帧数据进行时空转换,使各个传感器同步到同一时间和同步到同一坐标原点;确定不同类型目标的关联门限,并与航迹进行关联,得到关联后的传感器;将航迹与关联后的传感器的量测进行匹配,得到每条航迹匹配到的所有量测;根据每条航迹匹配到的所有量测构建新的量测;通过新的量测对航迹进行更新;可以提高量测的准确性、减小传感器扰动对系统的影响、准确的匹配目标,同时减小芯片算力的消耗。
Multi-sensor synchronous fusion method and device for intelligent driving
智能驾驶的多传感器同步融合方法和装置
2022-12-09
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06K Erkennen von Daten , RECOGNITION OF DATA |
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