The invention relates to the technical field of sensing data fusion, in particular to a multi-sensor data fusion method for an unmanned pre-controller. The method comprises the following steps: acquiring environmental obstacle position data, environmental object distance data and environmental object motion state data through unmanned driving environment multiple sensors, performing time sequence synchronization and standardization processing, and performing feature space vector conversion at the same time; carrying out multi-sensor particle filtering fusion analysis and multi-sensor uncertainty inference adjustment analysis to obtain an environment multi-sensor uncertainty adjustment coefficient; and performing multi-sensor uncertainty fusion optimization and environment space modeling processing according to the environment multi-sensor uncertainty adjustment coefficient, performing environment state driving control prediction analysis, and generating an unmanned driving environment state change driving control strategy so as to execute a corresponding unmanned driving environment change pre-control function. According to the invention, rapid fusion analysis and utilization of unmanned multi-sensor data can be realized.

    本发明涉及传感数据融合技术领域,尤其涉及一种用于无人驾驶预控制器的多传感器数据融合方法。所述方法包括以下步骤:通过无人驾驶环境多传感器获取环境障碍物位置数据、环境物体距离数据以及环境物体运动状态数据并进行时序同步及标准化处理,同时进行特征空间向量转换,还进行多传感器粒子滤波融合分析和多传感器不确定性推断调整分析,以得到环境多传感器不确定性调整系数;根据环境多传感器不确定性调整系数进行多传感器不确定性融合优化和环境空间建模处理,并进行环境状态驾驶控制预测分析,生成无人驾驶环境状态变化驾驶控制策略,以执行相应的无人驾驶环境变化预控制功能。本发明能够实现对无人驾驶多传感器数据的快速融合分析和利用。


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    Title :

    Multi-sensor data fusion method for unmanned pre-controller


    Additional title:

    一种用于无人驾驶预控制器的多传感器数据融合方法


    Contributors:
    LIU FEI (author) / WANG MENG (author)

    Publication date :

    2024-12-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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 / G06V



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