A vehicle and control method incorporating sensor fusion is presented. The invention provides a vehicle comprising a camera configured to obtain image data, a radar configured to obtain radar data, a lidar configured to obtain lidar data, and a controller configured to process the image data, the radar data, and the lidar data to generate a first sensor fused tracking, when an event of a sensor is detected, the controller calculates a reliability of at least one sensor in which an event does not occur among a plurality of sensors including a camera, a radar, and a lidar, and when the reliability is greater than or equal to a predetermined threshold, changes from a first sensor fusion tracking to a second sensor fusion tracking based on the at least one sensor, and wherein the controller is configured to control an amount of braking or deceleration metric of the vehicle based on the first sensor fused tracking or the second sensor fused tracking.
提出了结合传感器融合的车辆和控制方法。本发明提供一种车辆,其包括被设置用于获得图像数据的摄像头、被设置用于获得雷达数据的雷达、被设置用于获得激光雷达数据的激光雷达,以及被配置为处理图像数据、雷达数据和激光雷达数据以生成第一传感器融合跟踪的控制器,当检测到传感器的事件时,控制器计算包括摄像头、雷达和激光雷达的多个传感器中未发生事件的至少一个传感器的可靠性,并且当可靠性大于或等于预定阈值时,基于至少一个传感器从第一传感器融合跟踪改变为第二传感器融合跟踪,并且其中控制器被配置为基于第一传感器融合跟踪或第二传感器融合跟踪来控制车辆的制动量或减速度量。
Vehicle incorporating sensor fusion and control method
结合传感器融合的车辆和控制方法
2024-02-23
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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |