The invention discloses a multi-sensor target fusion method and device and a vehicle. The method comprises the following steps: acquiring state information of a visual target detected by a visual sensor and state information of a radar target detected by a radar sensor at the current moment; when historical targets exist, matching each historical target with each visual target and each radar target to obtain a target matching result; wherein the historical target is a fusion target at the previous moment of the current moment; determining a reference measurement value of the state information of the fusion target at the current moment according to the target matching result; and determining the state information of the fusion target at the current moment according to the reference measurement value. According to the invention, targets detected by the visual sensor and the radar sensor can be accurately matched, so that more accurate and abundant state information of the fusion target can be obtained.

    本发明公开了一种多传感器的目标融合方法、装置和车辆,获取当前时刻通过视觉传感器检测的视觉目标的状态信息、通过雷达传感器检测的雷达目标的状态信息;当存在历史目标时,将每一所述历史目标分别与每一所述视觉目标和每一所述雷达目标进行匹配,得到目标匹配结果;其中,所述历史目标为当前时刻的上一时刻的融合目标;根据所述目标匹配结果,确定当前时刻的融合目标的状态信息的参考测量值;根据所述参考测量值,确定当前时刻的融合目标的状态信息。采用本发明,其能够准确地匹配视觉传感器和雷达传感器检测的目标,以获得更加准确且丰富的融合目标的状态信息。


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    Title :

    Multi-sensor target fusion method and device and vehicle


    Additional title:

    一种多传感器的目标融合方法、装置和车辆


    Contributors:
    YE HAO (author)

    Publication date :

    2023-11-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / 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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