The invention discloses a multi-sensor obstacle existence probability fusion method and a vehicle, and the method comprises the steps: receiving an obstacle detection result issued after the detection of a plurality of upstream sensors through a fusion module, carrying out the matching association, carrying out the tracking updating of the obstacle existence probability based on a probability model, presetting the false alarm rate and omission rate of the sensors, and carrying out the tracking updating of the obstacle existence probability. Sensor characteristics, environmental factors, obstacle states and distances are comprehensively considered, the obstacle detection and tracking performance of the vehicle in a dynamic scene is improved, the robustness and adaptability are improved, and the real-time performance and the response capability of a self-vehicle system are enhanced.

    本发明公开一种多传感器障碍物存在概率融合方法及车辆,通过融合模块接收上游多个传感器检测后下发的障碍物检测结果,进行匹配关联后,基于概率模型进行障碍物存在概率的跟踪更新,预设传感器的虚警率和漏检率,综合考虑传感器特性、环境因素、障碍物状态和距离,提升车辆在动态场景下对障碍物的检测和跟踪性能,提高了鲁棒性和适应性,增强了自车系统的实时性和响应能力。


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    Title :

    Multi-sensor obstacle existence probability fusion method and vehicle


    Additional title:

    一种多传感器障碍物存在概率融合方法及车辆


    Contributors:
    ZONG YUXUAN (author) / TANG XU (author) / YU TAO (author) / SHAO YUHUI (author) / LAI JIE (author) / KOYO (author)

    Publication date :

    2025-02-28


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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