The invention relates to the technical field of automatic parking, in particular to an automatic parking ultrasonic radar and camera perceptual target fusion method, which comprises the following steps that an ultrasonic radar and a camera respectively acquire relevant data; processing data collected by the ultrasonic radar, firstly obtaining target coordinates according to the target distance of the ultrasonic radar and the positioning data of the vehicle, then forming a transverse contour line of the target, and calculating coordinates of two side edges of a target obstacle. The automatic parking ultrasonic radar and camera sensing target fusion method provided by the invention has the advantages that the two sensing results of the ultrasonic radar and the camera are fused, the sensors are combined through a multi-sensor fusion algorithm, and the target sensing precision and reliability are improved; kalman filtering is carried out on a visual detection target to output more accurate data, and the advantages of the camera and the ultrasonic radar are combined to fuse the data of the camera and the ultrasonic radar.
本发明涉及自动泊车技术领域,尤其为一种自动泊车超声波雷达和摄像头感知目标融合方法,其方法包括如下步骤:超声波雷达和摄像头分别采集相关数据;处理超声波雷达的采集数据,首先根据超声波雷达的目标距离以及车的定位数据得到目标坐标,然后组成目标横向的轮廓线,计算得出目标障碍物两侧边缘的坐标。本发明通过提出自动泊车超声波雷达和摄像头感知目标融合方法,具备融合超声波雷达和摄像头两个感知的结果,通过多传感器融合算法来结合各传感器,提高目标感知的精度和可靠度的优点,视觉检测的目标进行卡尔曼滤波输出更为准确的数据,结合摄像头和超声波雷达的优点以融合两者的数据。
Automatic parking ultrasonic radar and camera sensing target fusion method
一种自动泊车超声波雷达和摄像头感知目标融合方法
2024-10-22
Patent
Electronic Resource
Chinese
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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V |
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