The invention relates to the technical field of automatic driving, and provides a tracking object merging method and device of an automatic driving vehicle and a target fusion system. The method comprises the following steps: dividing at least two current tracking objects into a first type of tracking objects associated with corresponding sensors and a second type of tracking objects not associated with the sensors, and respectively storing the divided two types of tracking objects in two object lists; performing object matching between the two object lists to extract different tracking objects related to the same target; the extracted different tracking objects are adjusted to be represented through a unified object identification number ID, and object fusion is carried out based on the unified object ID; and carrying out attribute updating on the tracking object after object fusion. According to the method, a merging scheme between tracking objects is provided, the problem of target splitting in an automatic driving scene is solved, and the method has high universality.

    本发明涉及自动驾驶技术领域,提供一种自动驾驶车辆的跟踪对象合并方法、装置及目标融合系统。本发明所述的方法包括:将当前存在的至少两个跟踪对象划分为包括关联于相应传感器的第一类跟踪对象和不关联于所述传感器的第二类跟踪对象,并将所划分的两类跟踪对象分别存放于两个对象列表中;在所述两个对象列表之间进行对象匹配,以提取出关于同一目标的不同跟踪对象;将所提取的不同跟踪对象调整为通过统一的对象标识号ID表征,并基于该统一的对象ID进行对象融合;以及对对象融合后的跟踪对象进行属性更新。本发明提出了跟踪对象(track)之间的合并方案,解决了自动驾驶场景下的目标分裂问题,且具有较强的通用性。


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    Title :

    Tracking object merging method and device of automatic driving vehicle and target fusion system


    Additional title:

    自动驾驶车辆的跟踪对象合并方法、装置及目标融合系统


    Contributors:
    HAN RUTAO (author)

    Publication date :

    2023-12-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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