CN108776333A

CN108776333A - A kind of secondary cascade fusion method of data, system, mobile unit and storage medium

Info

Publication number: CN108776333A
Application number: CN201810632460.4A
Authority: CN
Inventors: 王子涵; 刘洋
Original assignee: Uisee Shanghai Automotive Technologies Ltd
Current assignee: Uisee Shanghai Automotive Technologies Ltd
Priority date: 2018-06-19
Filing date: 2018-06-19
Publication date: 2018-11-09
Anticipated expiration: 2038-06-19
Also published as: CN108776333B

Abstract

The present embodiments relate to a kind of secondary cascade fusion methods of data, system, mobile unit and storage medium, pass through distributed data fusion mode, inter-process first is carried out to initial data by sensor, obtain the measurement flight path of barrier and corresponding measurement time, and to Fusion Module or global Fusion Module before being sent to, the measurement flight path of barrier is merged twice based on the measurement time of acquisition by forward direction Fusion Module and global Fusion Module again, and the fusion process of global Fusion Module needs the preceding fusion results to Fusion Module, belong to distributed data fusion method, compared to the data fusion of centralization, distributed data fusion traffic load is low, redundancy is high, computing resource is few and adaptation flexibility ratio is high.

Description

A kind of secondary cascade fusion method of data, system, mobile unit and storage medium

Technical field

The present embodiments relate to vehicle drive technical fields, and in particular to a kind of secondary cascade fusion method of data is System, mobile unit and storage medium.

Background technology

With the fast development of vehicle assistant drive technology and unmanned technology, the perception requirement to vehicle-surroundings environment Higher and higher, the data fusion scheme of low cost, high reliability and high suitability becomes vehicle assistant drive technology and nobody drives Sail technology quickly land it is basic.

Current vehicle auxiliary drives and unmanned master detecting sensor to be used includes：Imaging sensor and radar, Wherein, radar includes again：Millimetre-wave radar, ultrasonic radar and laser radar etc..Different detecting sensors has difference The characteristics of and different sensing ranges, therefore, the fusions of different detecting sensor data becomes vehicle assistant drive and nobody drives Important technology component part in sailing, by merging the detecting sensor data of different characteristics and different sensing ranges, Ke Yishi Existing bigger investigative range, more locating tab assembly precision, less context aware systems reported by mistake and failed to report.

For this purpose, there is an urgent need for a kind of Fusion scheme, the perception to vehicle-surroundings barrier is realized, be that vehicle is auxiliary Driving and unpiloted planning and control is helped to provide perception information.

Invention content

Of the existing technology in order to solve the problems, such as, at least one embodiment of the present invention provides a kind of data secondary stage Join fusion method, system, mobile unit and storage medium.

In a first aspect, the embodiment of the present invention proposes a kind of secondary cascade fusion method of data, including：

Forward direction Fusion Module obtains the first of multiple forward direction flight path measurement sensors and measures flight path and each described first Measure corresponding first measurement time of flight path；

Forward direction Fusion Module measures flight path to the first of the multiple forward direction flight path measurement sensor and carries out Single cell fusion, obtains To preceding to fusion results, the forward direction fusion results include：When the corresponding fusion of at least one fusion flight path, each fusion flight path The first measurement flight path that quarter, the first measurement flight path for meeting default reserve and each satisfaction preset reserve is corresponding First measurement time；

Global Fusion Module obtains the first measurement flight path of the forward direction fusion results, multiple front side flight path measurement sensors And corresponding first measurement time of each front side flight path measurement sensor；

Global Fusion Module is based on first merged in moment, the forward direction fusion results in the forward direction fusion results Measurement time, each corresponding first measurement time of the front side flight path measurement sensor, in the forward direction fusion results First merged in flight path, the forward direction fusion results measures the first of flight path and the multiple front side flight path measurement sensor It measures flight path and carries out secondary fusion.

In some embodiments, the forward direction Fusion Module is measured the first of the multiple forward direction flight path measurement sensor Flight path carries out Single cell fusion, including：

The forward direction Fusion Module determine the multiple forward direction flight path measurement sensor first measurement flight path between exist The first of incidence relation measures flight path；

There will be the first measurement flight paths of incidence relation to be merged for the forward direction Fusion Module, obtains at least one fusion Flight path and each fusion flight path corresponding fusion moment.

In some embodiments, the forward direction Fusion Module is measured the first of the multiple forward direction flight path measurement sensor Flight path carries out Single cell fusion, further includes：

The forward direction Fusion Module determine the multiple forward direction flight path measurement sensor first measurement flight path between do not deposit First in incidence relation measures flight path；

The forward direction Fusion Module is from there is no the first of incidence relation to measure the default reserve of selection satisfaction in flight path First measure flight path.

In some embodiments, the forward direction Fusion Module selects full from there is no the measurement flight path of the first of incidence relation The first of the default reserve of foot measures flight path, including：

The forward direction Fusion Module judges that there is no the first of incidence relation to measure the corresponding forward direction flight path measurement biography of flight path Whether sensor is preceding to imaging sensor；If so, selection described first measures flight path；If not, it is determined that described first measures The Threat of flight path, selection meet the first measurement flight path for presetting Threat condition.

In some embodiments, the global Fusion Module is based on fusion moment, described in the forward direction fusion results The first measurement time in forward direction fusion results, corresponding first measurement time of each front side flight path measurement sensor are right First in fusion flight path, the forward direction fusion results in the forward direction fusion results measures flight path and the multiple front side The first of flight path measurement sensor measures flight path and carries out secondary fusion, including：

To the fusion flight path in the forward direction fusion results, the first measurement flight path in the forward direction fusion results and institute It states the first of multiple front side flight path measurement sensors and measures the unification that flight path carries out data format, obtain corresponding second and measure boat Mark；

Based on fusion moment in the forward direction fusion results, the first measurement time in the forward direction fusion results, every Corresponding first measurement time of a front side flight path measurement sensor carries out time synchronization to each system flight path of storage, Obtain the corresponding prediction flight path of each system flight path；

Based on each prediction flight path, determine that each described second measures between flight path and each system flight path Incidence relation；

Based on the incidence relation, the system flight path that updates storage.

In some embodiments, described based on each prediction flight path, determine each described second measure flight path with it is every Incidence relation between a system flight path, including：

It is measured in flight path from all described second, searches and measure flight path with the second of the prediction track matching；

The corresponding system flight path of the prediction flight path is associated with the second measurement flight path found.

In some embodiments, the lookup measures flight path with the second of the prediction track matching, including：

Centered on the prediction flight path, searches and whether there is at least one the around the prediction flight path in preset range Two measure flight path；

If in the presence of the second measurement flight path nearest apart from the prediction flight path and the prediction track matching.

In some embodiments, the determination each described second measures the pass between flight path and each system flight path After connection relationship, the method further includes：

Storage second measures the incidence relation between flight path and system flight path；

Correspondingly, described based on each first measurement time, time synchronization is carried out to each system flight path of storage, After obtaining the corresponding prediction flight path of each system flight path, the method further includes：

Search whether the incidence relation being stored between the second measurement flight path and system flight path；

If not storing, execute it is described based on each prediction flight path, determine each described second measure flight path with it is every The step of incidence relation between a system flight path.

In some embodiments, the method further includes：

If being stored with the incidence relation between the second measurement flight path and system flight path, the second measurement in incidence relation is judged Whether flight path meets preset matching condition with system flight path；

If satisfied, then maintaining the incidence relation；

If not satisfied, then execute it is described based on each prediction flight path, determine each described second measure flight path with it is every The step of incidence relation between a system flight path.

In some embodiments, described based on the incidence relation, the system flight path updated storage, including：

Judge whether each system flight path of storage is system flight path in the incidence relation；

It navigates if so, measuring flight path using system flight path described in the incidence relation corresponding second and updating the system Mark；

If it is not, then updating the system flight path using the corresponding prediction flight path of the system flight path.

In some embodiments, after the system flight path updated storage, the method further includes：

Based on the update mode of system flight path, the confidence level of the system flight path after management update.

In some embodiments, the update mode based on system flight path, system flight path after management update it is credible Degree, including：

If the update mode of system flight path is to be updated using the second measurement flight path in the incidence relation, increase The confidence level of the system flight path.

If the update mode of system flight path is to be updated using prediction flight path, the corresponding boat of the update mode is obtained Mark measurement sensor；

Judge whether the system flight path is in the sensing range of the corresponding flight path measurement sensor of the update mode, If being in, the confidence level of the system flight path is reduced；If being not in, the confidence level of the system flight path is maintained.

In some embodiments, after the confidence level of the system flight path after the management update, the method further includes：

Judge whether the confidence level of the system flight path after management reaches default output thresholding, default output thresholding must be reached System flight path；

Reach the system flight path of default output thresholding described in output.

In some embodiments, after the confidence level for reducing the system flight path, the method further includes：

Judge the confidence level of the system flight path whether less than default elimination thresholding；

If being less than, the system flight path is eliminated.

Do not used by the incidence relation in flight path second is measured to each first measurement flight path corresponding second It measures flight path and carries out initialization process.

In some embodiments, the initialization process, including：

Obtain this car state information；

Based on described car state information, this wheel paths is estimated；

Whether the second measurement flight path not used by the incidence relation described in judging is far from described wheel paths；

If so, the second measurement flight path not used by the incidence relation described in eliminating；

If it is not, then not turning to system flight path by the second measurement initial track that the incidence relation uses by described.

In some embodiments, the initialization process further includes：

It assigns and is initialized as the second of the system flight path confidence level for measuring flight path.

In some embodiments, the initialization process further includes：

Obtain the judgement information of multiple barrier judgment sensors；

According to the judgement information, it is determined whether there are barriers；

If there are barrier, judge that the barrier is initialized as whether the second of system flight path measure flight path with described Positioned at the homonymy of this vehicle；The confidence level of flight path is measured as the first confidence level if so, assigning and being initialized as the second of system flight path； The confidence level of flight path is measured as the second confidence level if it is not, then assigning and being initialized as the second of system flight path；

If barrier is not present, it is second credible to assign and be initialized as the confidence level that the second of system flight path measures flight path Degree；

Wherein, first confidence level is more than second confidence level.

In some embodiments, the multiple forward direction flight path measurement sensor includes：Forward direction imaging sensor and forward direction thunder It reaches；The multiple front side flight path measurement sensor includes：Front left side radar and forward right side radar.

In some embodiments, the multiple barrier judgment sensor includes：Left rear side radar and right lateral side radar.

Second aspect, the embodiment of the present invention also propose a kind of secondary cascade emerging system of data, the system comprises：

Forward direction Fusion Module measures flight path and each described for obtaining the first of multiple forward direction flight path measurement sensors First measures corresponding first measurement time of flight path；

The forward direction Fusion Module is additionally operable to measure the first of the multiple forward direction flight path measurement sensor flight path progress Single cell fusion, to fusion results before obtaining, the forward direction fusion results include：At least one fusion flight path each merges flight path Corresponding fusion moment, satisfaction preset the first measurement flight path of reserve and each meet the first of default reserve and survey Measure corresponding first measurement time of flight path；

Global Fusion Module, first for obtaining the forward direction fusion results, multiple front side flight path measurement sensors surveys Measure flight path and corresponding first measurement time of each front side flight path measurement sensor；

The overall situation Fusion Module is additionally operable to based on the fusion moment in the forward direction fusion results, forward direction fusion As a result the first measurement time in, corresponding first measurement time of each front side flight path measurement sensor, to the forward direction First in fusion flight path, the forward direction fusion results in fusion results measures flight path and the multiple front side flight path measures The first of sensor measures flight path and carries out secondary fusion.

In some embodiments, the system overall situation Fusion Module, including：

Acquiring unit, first for obtaining the forward direction fusion results, multiple front side flight path measurement sensors measures boat Mark and corresponding first measurement time of each front side flight path measurement sensor；

Unified Element, for first merged in flight path, the forward direction fusion results in the forward direction fusion results It measures the first of flight path and the multiple front side flight path measurement sensor and measures the unification that flight path carries out data format, obtain pair Second answered measures flight path；

Synchronization unit, for based on the fusion moment in the forward direction fusion results, the in the forward direction fusion results One measurement time, each corresponding first measurement time of the front side flight path measurement sensor, to each system flight path of storage Time synchronization is carried out, the corresponding prediction flight path of each system flight path is obtained；

Determination unit, for based on each prediction flight path, determine each described second measure flight path with it is each described Incidence relation between system flight path；

Updating unit, for being based on the incidence relation, the system flight path updated storage.

In some embodiments, the determination unit, including：

Subelement is searched, for being measured in flight path from all described second, searches second with the prediction track matching Measure flight path；

It is associated with subelement, for carrying out the corresponding system flight path of the prediction flight path and the second measurement flight path found Association.

In some embodiments, the lookup subelement, is used for：

In some embodiments, the system also includes：

Storage unit, for the determination unit determine each described second measure flight path and each system flight path it Between incidence relation after, storage second measures the incidence relation between flight path and system flight path；

Searching unit after obtaining the corresponding prediction flight path of each system flight path for the synchronization unit, is searched The incidence relation whether being stored between the second measurement flight path and system flight path；

Correspondingly, the determination unit, after not stored for searching unit determination, based on each prediction boat Mark determines that each described second measures the incidence relation between flight path and each system flight path.

In some embodiments, the system also includes：

First judging unit determines the pass being stored between the second measurement flight path and system flight path for the searching unit After connection relationship, judge whether the second measurement flight path meets preset matching condition with system flight path in incidence relation；

Maintenance unit maintains the association after meeting preset matching condition for first judging unit judgement Relationship；

The determination unit, after being unsatisfactory for preset matching condition for first judging unit judgement, based on every A prediction flight path determines that each described second measures the incidence relation between flight path and each system flight path.

In some embodiments, the updating unit, including：

Judgment sub-unit, for judging whether each system flight path of storage is system flight path in the incidence relation；

First update subelement is the system boat in the incidence relation for the judgment sub-unit decision-making system flight path After mark, measures flight path using system flight path described in the incidence relation corresponding second and update the system flight path；

Second update subelement, is not the system in the incidence relation for the judgment sub-unit decision-making system flight path After flight path, the system flight path is updated using the corresponding prediction flight path of the system flight path.

In some embodiments, the system also includes：

Administrative unit, after the system flight path updated storage for the updating unit, the update side based on system flight path Formula, the confidence level of the system flight path after management update.

In some embodiments, the administrative unit, is used for：

In some embodiments, the system also includes：

Second judgment unit is used for after the confidence level of the system flight path after the administrative unit management update, judges to manage Whether the confidence level of the system flight path after reason reaches default output thresholding, must reach the system flight path of default output thresholding；

Output unit, for exporting the system flight path for reaching default output thresholding.

In some embodiments, the administrative unit is additionally operable to：

After the confidence level for reducing the system flight path, judge whether the confidence level of the system flight path is eliminated less than default Thresholding；

If eliminating thresholding less than default, the system flight path is eliminated.

In some embodiments, the system also includes：

Initialization unit is used for after the confidence level of the system flight path after the administrative unit management update, to each institute It states in the corresponding second measurement flight path of the first measurement flight path and is not carried out initially by the second measurement flight path that the incidence relation uses Change is handled.

In some embodiments, the initialization unit carries out initialization process, including：

Obtain this car state information；

Based on described car state information, this wheel paths is estimated；

In some embodiments, the initialization unit carries out initialization process, further includes：

Obtain the judgement information of multiple barrier judgment sensors；

Wherein, first confidence level is more than second confidence level.

The third aspect, the embodiment of the present invention also propose a kind of mobile unit, including：

Processor, memory, network interface and user interface；

The processor, memory, network interface and user interface are coupled by bus system；

The processor is by the program for calling the memory to store or instruction, for executing side as described in relation to the first aspect The step of method.

Fourth aspect, the embodiment of the present invention also propose a kind of non-transient computer readable storage medium, the non-transient meter Calculation machine readable storage medium storing program for executing stores computer instruction, and the computer instruction makes the computer execute side as described in relation to the first aspect The step of method.

As it can be seen that at least one embodiment of the embodiment of the present invention, by distributed data fusion mode, by sensor Inter-process is carried out to initial data, obtains the measurement flight path of barrier and corresponding measurement time, and is exported to mobile unit, The prediction flight path corresponding to the history flight path of barrier is obtained by measurement time of the mobile unit based on acquisition again, is set to vehicle-mounted It is standby to can determine whether the prediction flight path of barrier corresponds to the same barrier with the measurement flight path of barrier.And then mobile unit can The history flight path of the measurement flight path of barrier and barrier is associated, realizes that the flight path of the same barrier different moments closes Connection, is finally based on incidence relation, the history flight path of regeneration barrier object realizes Fusion.

Description of the drawings

In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of the prior art Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the present invention Example is applied, it for those of ordinary skill in the art, without having to pay creative labor, can also be attached according to these Figure obtains other attached drawings.

Fig. 1 is a kind of mobile unit structure chart provided in an embodiment of the present invention；

Fig. 2 is a kind of secondary cascade fusion method flow chart of data provided in this embodiment；

Fig. 3 is the secondary cascade fusion method flow chart of another data provided in this embodiment；

Fig. 4 is the secondary cascade fusion method flow chart of another data provided in this embodiment；

Fig. 5 is the secondary cascade fusion method flow chart of another data provided in this embodiment；

Fig. 6 is a kind of work flow diagram of global Fusion Module provided in an embodiment of the present invention；

Fig. 7 is the work flow diagram of another global Fusion Module provided in an embodiment of the present invention；

Fig. 8 is the work flow diagram of another global Fusion Module provided in an embodiment of the present invention；

Fig. 9 is the work flow diagram of another global Fusion Module provided in an embodiment of the present invention；

Figure 10 is the work flow diagram of another global Fusion Module provided in an embodiment of the present invention；

Figure 11 is the work flow diagram of another global Fusion Module provided in an embodiment of the present invention；

Figure 12 is the work flow diagram of another global Fusion Module provided in an embodiment of the present invention；

Figure 13 is the work flow diagram of another global Fusion Module provided in an embodiment of the present invention；

Figure 14 is the work flow diagram of another global Fusion Module provided in an embodiment of the present invention；

Figure 15 is the work flow diagram of another global Fusion Module provided in an embodiment of the present invention；

Figure 16 is the work flow diagram of another global Fusion Module provided in an embodiment of the present invention；

Figure 17 is a kind of initialization process flow chart provided in an embodiment of the present invention；

Figure 18 is another initialization process flow chart provided in an embodiment of the present invention；

Figure 19 is another initialization process flow chart provided in an embodiment of the present invention；

Figure 20 is another initialization process flow chart provided in an embodiment of the present invention；

Figure 21 is a kind of schematic diagram for the sensor being installed on vehicle provided in an embodiment of the present invention；

Figure 22 is a kind of secondary cascade emerging system structural schematic diagram of data provided in an embodiment of the present invention；

Figure 23 is a kind of secondary cascade emerging system structural schematic diagram of data provided in an embodiment of the present invention；

Figure 24 is a kind of global Fusion Module block diagram provided in an embodiment of the present invention；

Figure 25 is another global Fusion Module block diagram provided in an embodiment of the present invention；

Figure 26 is another global Fusion Module block diagram provided in an embodiment of the present invention；

Figure 27 is another global Fusion Module block diagram provided in an embodiment of the present invention；

Figure 28 is another global Fusion Module block diagram provided in an embodiment of the present invention；

Figure 29 is another global Fusion Module block diagram provided in an embodiment of the present invention；

Figure 30 is another global Fusion Module block diagram provided in an embodiment of the present invention；

Figure 31 is another global Fusion Module block diagram provided in an embodiment of the present invention.

Specific implementation mode

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.

It should be noted that herein, the relational terms of such as " first " and " second " or the like are used merely to one A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it Between there are any actual relationship or orders.

Currently, the functional development of vehicle assistant drive includes：Forward direction functional development and multi-direction functional development, wherein preceding To functional development for example including：AEB (Autonomous Emergency Braking, automatic emergency brake) system, ACC (Adaptive Cruise Control, adaptive learning algorithms) system, FCW (Forward Collision Warning, Front collision warning) system and LKA (Lane Keeping Aid, track keep auxiliary) system etc.；Multi-direction functional development example Such as include：Automatic lane-change system.

As it can be seen that with the functional development of vehicle assistant drive, the allocation plan of detecting sensor is also by single forward direction figure To the scheme of imaging sensor and forward direction radar fusion, forward direction image sensing before being developed into as sensor and single forward direction radar Device is mounted on the front of vehicle, and for the image and video immediately ahead of collection vehicle, forward direction radar is mounted on the front of vehicle, uses In the barrier of detection right ahead.For multi-direction functional development, it is also necessary to the data of lateral sensor are merged, it is lateral to pass Sensor can be understood as the detecting sensor mounted on vehicle both sides, the barrier for detecting two side periphery of vehicle.

Fig. 1 is the structural schematic diagram of mobile unit provided in an embodiment of the present invention.Mobile unit shown in FIG. 1 includes：Extremely A few processor 901, at least one processor 902, at least one network interface 904 and other user interfaces 903.It is vehicle-mounted Various components in equipment are coupled by bus system 905.It is understood that bus system 905 is for realizing these components Between connection communication.Bus system 905 further includes power bus, controlling bus and state letter in addition to including data/address bus Number bus.But for the sake of clear explanation, various buses are all designated as bus system 905 in Fig. 1.

Wherein, user interface 903 may include display, keyboard or pointing device (for example, mouse, trace ball (trackball) or touch-sensitive plate etc..

It is appreciated that the memory 902 in the present embodiment can be volatile memory or nonvolatile memory, or can Including both volatile and non-volatile memories.Wherein, nonvolatile memory can be read-only memory (Read- OnlyMemory, ROM), programmable read only memory (ProgrammableROM, PROM), the read-only storage of erasable programmable Device (ErasablePROM, EPROM), electrically erasable programmable read-only memory (ElectricallyEPROM, EEPROM) dodge It deposits.Volatile memory can be random access memory (RandomAccessMemory, RAM), and it is slow to be used as external high speed It deposits.By exemplary but be not restricted explanation, the RAM of many forms is available, such as static RAM (StaticRAM, SRAM), dynamic random access memory (DynamicRAM, DRAM), Synchronous Dynamic Random Access Memory (SynchronousDRAM, SDRAM), double data speed synchronous dynamic RAM (DoubleDataRate SDRAM, DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, ESDRAM), synchronized links Dynamic random access memory (SynchlinkDRAM, SLDRAM) and direct rambus random access memory (DirectRambusRAM, DRRAM).Memory 902 described herein be intended to including but not limited to these and it is any other be suitble to The memory of type.

In some embodiments, memory 902 stores following element, can perform unit or data structure, or Their subset of person or their superset：Operating system 9021 and application program 9022.

Wherein, operating system 9021, including various system programs, such as ccf layer, core library layer, driving layer etc., are used for Realize various basic businesses and the hardware based task of processing.Application program 9022, including various application programs, such as media Player (MediaPlayer), browser (Browser) etc., for realizing various applied business.Realize embodiment of the present invention side The program of method may be embodied in application program 9022.

In embodiments of the present invention, processor 901 is by the program for calling memory 902 to store or instruction, specifically, can To be the program stored in application program 9022 or instruction, processor 901 is for executing the method that each method embodiment is provided Step, such as including：

The method that the embodiments of the present invention disclose can be applied in processor 901, or be realized by processor 901. Processor 901 may be a kind of IC chip, the processing capacity with signal.During realization, the above method it is each Step can be completed by the integrated logic circuit of the hardware in processor 901 or the instruction of software form.Above-mentioned processing Device 901 can be general processor, digital signal processor (DigitalSignalProcessor, DSP), special integrated electricity Road (ApplicationSpecific IntegratedCircuit, ASIC), ready-made programmable gate array (FieldProgrammableGateArray, FPGA) either other programmable logic device, discrete gate or transistor logic Device, discrete hardware components.It may be implemented or execute disclosed each method, step and the logical box in the embodiment of the present invention Figure.General processor can be microprocessor or the processor can also be any conventional processor etc..In conjunction with the present invention The step of method disclosed in embodiment, can be embodied directly in hardware decoding processor and execute completion, or use decoding processor In hardware and software unit combination execute completion.Software unit can be located at random access memory, and flash memory, read-only memory can In the storage medium of this fields such as program read-only memory or electrically erasable programmable memory, register maturation.The storage Medium is located at memory 902, and processor 901 reads the information in memory 902, and the step of the above method is completed in conjunction with its hardware Suddenly.

It is understood that embodiments described herein can use hardware, software, firmware, middleware, microcode or its It combines to realize.For hardware realization, processing unit may be implemented in one or more application-specific integrated circuits (ASIC), number letter Number processor (DSP), digital signal processing appts (DSPDevice, DSPD), programmable logic device (PLD), field-programmable Gate array (FPGA), general processor, controller, microcontroller, microprocessor, for executing the other of herein described function In electronic unit or combinations thereof.

For software implementations, the techniques described herein can be realized by executing the unit of function described herein.Software generation Code is storable in memory and is executed by processor.Memory can in the processor or portion realizes outside the processor.

Those of ordinary skill in the art may realize that lists described in conjunction with the examples disclosed in the embodiments of the present disclosure Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually It is implemented in hardware or software, depends on the specific application and design constraint of technical solution.Professional technician Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed The scope of the present invention.

It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description, The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.

In embodiment provided herein, it should be understood that unless existing clear between the step of embodiment of the method Sequencing, otherwise execution sequence can arbitrarily adjust.Disclosed device and method, may be implemented in other ways. For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only a kind of logic Function divides, and formula that in actual implementation, there may be another division manner, such as multiple units or component can combine or can collect At to another system, or some features can be ignored or not executed.Another point, shown or discussed mutual coupling Close or direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING or communication connection of device or unit, can be with It is electrical, machinery or other forms.

The unit illustrated as separating component may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme 's.

In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.

It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product It is stored in a computer read/write memory medium.Based on this understanding, the technical solution of the embodiment of the present invention is substantially The part of the part that contributes to existing technology or the technical solution can embody in the form of software products in other words Come, which is stored in a storage medium, including some instructions are used so that a computer equipment (can To be personal computer, server or the network equipment etc.) execute all or part of each embodiment the method for the present invention Step.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, ROM, RAM, magnetic disc or CD etc. are various can to store program The medium of code.

As shown in Fig. 2, the present embodiment discloses a kind of secondary cascade fusion method of data, multiple sensors are mounted on vehicle On, the executive agent of this method is mobile unit, and mobile unit is communicated to connect with each sensor, and this method may include following step Rapid A1 to A4：

A1, forward direction Fusion Module obtain the first of multiple forward direction flight path measurement sensors and measure flight path and each described the One measures corresponding first measurement time of flight path；

A2, forward direction Fusion Module once melt the first measurement flight path of the multiple forward direction flight path measurement sensor It closes, to fusion results before obtaining, the forward direction fusion results include：At least one fusion flight path, each fusion flight path are corresponding The moment is merged, the first measurement flight path of default reserve is met and each meets the first measurement flight path for presetting reserve Corresponding first measurement time；

A3, global Fusion Module obtain the first measurement of the forward direction fusion results, multiple front side flight path measurement sensors Flight path and corresponding first measurement time of each front side flight path measurement sensor；

A4, global Fusion Module based in the forward direction fusion results the fusion moment, in the forward direction fusion results First measurement time, each corresponding first measurement time of the front side flight path measurement sensor, to the forward direction fusion results In fusion flight path, first in the forward direction fusion results measure flight path and the multiple front side flight path measurement sensor First, which measures flight path, carries out secondary fusion.

In the present embodiment, forward direction flight path measurement sensor and front side flight path measurement sensor can be collectively referred to as flight path and measure biography Sensor belongs to intelligence sensor, has detection of obstacles and data processing function.Specifically, flight path measurement sensor can acquire Barrier data in detection range, the barrier data detected are known as initial data.Flight path measurement sensor can be to original Data are handled, and the corresponding flight path of barrier in detection range is obtained, and referred to as first measures flight path.First measures flight path packet It includes：The motion state of barrier, position and distance etc., wherein motion state includes：One in movement velocity and the direction of motion Or it is multiple.

In the present embodiment, forward direction flight path measurement sensor can export the obtain first measurement flight path to preceding to fusion mould Block.The mode that forward direction flight path measurement sensor output first measures flight path can be active or passive type.It is active i.e. before to Flight path measurement sensor obtains actively exporting to preceding to Fusion Module after the first measurement flight path.Passive type is i.e. preceding to be measured to flight path After the data requesting instructions that sensor is sent before receiving to Fusion Module, responds the data requesting instructions and export first Measure flight path.Similarly, flight path measurement sensor in front side can export the obtain first measurement flight path to global Fusion Module, output First mode for measuring flight path can be active or passive type.

In the present embodiment, corresponding first measurement time of the first measurement flight path can be regarded as preceding defeated to flight path measurement sensor At the time of going out the first measurement flight path, at the time of obtaining the first measurement flight path to flight path measurement sensor before also being understood as.Forward direction Also record sends the forward direction flight path measurement sensing of first measurement time to Fusion Module while getting the first measurement time The mark of device, namely it is to be sent by which forward direction flight path measurement sensor, and will record result to record first measurement time It is sent to global Fusion Module.

In the present embodiment, forward direction fusion results refer to after Single cell fusion as a result, merging including fusion flight path and not Flight path.Forward direction fusion results can be understood as preceding exporting to global Fusion Module after completing Single cell fusion to Fusion Module Data.

Existing data fusion mode is usually the data fusion of centralization, and initial data is sent to vehicle by each sensor Fusion center (namely processor with data fusion function), realize that data fusion, initial data are lost by fusion center It loses less, but data information amount is big.And the secondary cascade fusion method of data disclosed in the present embodiment, first by sensor to initial data Inter-process is carried out, obtains the measurement flight path (i.e. first measures flight path) of barrier, and the measurement flight path of barrier is sent to Forward direction Fusion Module or global Fusion Module, then by forward direction Fusion Module and global measurement time pair of the Fusion Module based on acquisition The measurement flight path of barrier is merged twice, and the fusion process of global Fusion Module needs the preceding fusion knot to Fusion Module Fruit belongs to distributed data fusion method.Compared to the data fusion of centralization, although distributed data fusion lost part Initial data, but traffic load is low, redundancy is high, computing resource is few and adaptation flexibility ratio is high.

In some embodiments, as shown in figure 3, other than including step A1, A3 and A4 shown in Fig. 2, emphasis describes step The specific implementation mode of rapid A2, forward direction Fusion Module described in step A2 are surveyed to the first of the multiple forward direction flight path measurement sensor It measures flight path and carries out Single cell fusion, it may include following steps B1 and B2：

B1, the forward direction Fusion Module determine the multiple forward direction flight path measurement sensor first measurement flight path between deposit First in incidence relation measures flight path；

There will be the first measurement flight paths of incidence relation to be merged for B2, the forward direction Fusion Module, obtains at least one Merge flight path and each fusion flight path corresponding fusion moment.

In the present embodiment, forward direction Fusion Module if it is determined that the multiple forward direction flight path measurement sensor first measure flight path Between there are incidence relation, illustrate there are incidence relation first measurement flight path corresponds to the same barrier, therefore, forward direction merge There will be the first measurement flight paths of incidence relation to be merged for module, generates the new flight path of the barrier, that is, merges flight path.

In the present embodiment, the first measurement flight path of different incidence relations corresponds to different barriers, therefore, if existing different Incidence relation, then produce multiple fusion flight paths, each flight path that merges corresponds to a barrier.

It is that a new flight path belongs to by the corresponding different first measurement Track Fusions of the same barrier in the present embodiment This field mature technology, for example, the center of two first measurement flight path lines can be taken as fusion flight path, fusion process is related to Coordinate transform, it is, of course, also possible to there is other modes, details are not described herein.

Based on a upper example, as shown in figure 4, in addition to including step shown in Fig. 3, forward direction Fusion Module described in step A2 Measure flight path to the first of the multiple forward direction flight path measurement sensor and carry out Single cell fusion, can also include the steps of C1 and C2：

C1, the forward direction Fusion Module determine the multiple forward direction flight path measurement sensor first measure flight path between not First there are incidence relation measures flight path；

C2, the forward direction Fusion Module are from there is no the first of incidence relation to measure the default reservation item of selection satisfaction in flight path The first of part measures flight path.

In the present embodiment, forward direction Fusion Module is determined there is no after the measurement flight path of the first of incidence relation, is not necessarily to these First, which measures flight path, carries out Single cell fusion, because not having correspond to the same barrier first to measure in these the first measurement flight paths Flight path.

In the present embodiment, after the determination of forward direction Fusion Module measures flight path there is no the first of incidence relation, not by these First measurement flight path is exported to global Fusion Module, but selectivity output, reduces the computational load of global Fusion Module.

In the present embodiment, reserve can be preset by setting to select the to be retained first measurement flight path and export to complete Office's Fusion Module, default reserve can be used to the flight path for excluding to calculate.

Based on a upper example, as shown in figure 5, in addition to including step shown in Fig. 4, emphasis describes the specific of step C2 Embodiment, forward direction Fusion Module described in step C2 measure selection in flight path and meet default protect from there is no the first of incidence relation The first of condition is stayed to measure flight path, it may include following steps D1 to D3：

D1, the forward direction Fusion Module judge that there is no the first of incidence relation to measure the corresponding forward direction flight path measurement of flight path Whether sensor is preceding to imaging sensor；If so, thening follow the steps D2；If it is not, thening follow the steps D3.

D2, selection described first measure flight path.

D3, determine that the described first Threat for measuring flight path, selection meet the first measurement flight path for presetting Threat condition.

In the present embodiment, forward direction flight path measurement sensor is preceding to imaging sensor (such as forward direction camera) or forward direction Radar.If the corresponding forward direction flight path measurement sensor of the first measurement flight path there is no incidence relation is not preceding to image sensing Device must be then preceding to radar.

In the present embodiment, it is contemplated that the first measurement flight path of forward direction imaging sensor is that the probability of barrier is higher than radar. Therefore, if being preceding to imaging sensor there is no the first corresponding forward direction flight path measurement sensor of measurement flight path of incidence relation, Then these the first measurement flight paths are selected.If measuring the corresponding forward direction flight path of flight path there is no the first of incidence relation measures biography Sensor is not preceding to imaging sensor, then these first measure flight path chosen parts, specifically, pass through and determine that first measures The Threat of flight path, and select meet default Threat first to measure flight path.

In the present embodiment, there are many modes that determine the Threat of the first measurement flight path, for example, measuring flight path according to first The distance between this wheel paths determine that the nearlyr Threat of distance is higher, and other modes can continue to use the prior art, herein no longer It repeats.

In the present embodiment, default Threat condition can be default Threat thresholding, and first higher than Threat thresholding surveys Amount flight path is selected, and presetting Threat thresholding can determines according to actual conditions, and the present embodiment does not limit specific value；Can also be According to the descending sequence of Threat by first measure flight path sequence, selection rank in the top (such as first 15) first survey Flight path is measured, remaining elimination reduces the computational load of global Fusion Module.

In some embodiments, Fig. 6 shows the workflow of the global Fusion Module, include the following steps 101 to 105：

101, global Fusion Module obtains the first measurement of the forward direction fusion results, multiple front side flight path measurement sensors Flight path and corresponding first measurement time of each front side flight path measurement sensor.

102, to the fusion flight path in the forward direction fusion results, first in the forward direction fusion results measure flight path with And the first of the multiple front side flight path measurement sensor measures the unification that flight path carries out data format, obtains corresponding second and surveys Measure flight path.

When 103, based on the fusion moment in the forward direction fusion results, the first measurement in the forward direction fusion results Quarter, each corresponding first measurement time of the front side flight path measurement sensor carry out the time to each system flight path of storage It is synchronous, obtain the corresponding prediction flight path of each system flight path.

104, it is based on each prediction flight path, determines being associated between each second measurement flight path and each system flight path System.

105, the incidence relation, the system flight path updated storage are based on.

In the present embodiment, it is contemplated that the format of different flight path measurement sensor output datas is different, for the ease of follow-up Data fusion needs the unification for carrying out data format, and unified approach can continue to use the prior art, such as define unified coordinate system, will Each flight path is converted into the data in unified coordinate system, and details are not described herein for specific unified approach.

In the present embodiment, after Uniform data format, you can obtain each each flight path corresponding second and measure flight path, own Second measures the data format all same of flight path.

It should be noted that hereinafter, state for convenience, by the fusion flight path, described in the forward direction fusion results First in forward direction fusion results measures the first measurement flight path general designation of flight path and the multiple front side flight path measurement sensor Flight path is measured for first.

In the present embodiment, each system flight path of storage can be regarded as the barrier history flight path stored in mobile unit. If global Fusion Module has got new barrier flight path, i.e., first measures flight path, in order to whether determine the first measurement flight path For the flight path after the corresponding barrier movement of system flight path, need system flight path and the first measurement flight path being associated, if Association, illustrate first measure flight path it is corresponding with system flight path be the same barrier.

In the present embodiment, in order to realize that system flight path is associated with the first measurement flight path, first by first measure flight path into Row Data Format Transform obtains the second measurement flight path.It is then based on each first measurement time, to each system flight path of storage It carries out time synchronization and obtains the corresponding prediction flight path of each system flight path so that predict that flight path and the second measurement flight path are with for the moment The data at quarter, are comparable.Difference lies in predict that flight path is that the overall situation merges mould between prediction flight path and the second measurement flight path The data that block calculates are virtual datas, and the first measurement flight path is original according to what is detected by flight path measurement sensor The data that data processing obtains are real data.It is finally based on prediction flight path, is determined between the second measurement flight path and system flight path Incidence relation, being equivalent to realizes system flight path is associated with the first measurement flight path.In order to reduce computational load, each second It measures flight path and is only associated with a system flight path.

In the present embodiment, the mode of time synchronization can continue to use existing way, and this embodiment is not repeated.

In the present embodiment, determine each second measure the incidence relation between flight path and each system flight path after, you can Fusion is realized by Kalman filtering algorithm more new system flight path based on the incidence relation.Wherein, lead to It crosses Kalman filtering algorithm more new system flight path and belongs to mature technology, details are not described herein.

Existing data fusion mode is usually the data fusion of centralization, and initial data is sent to vehicle by each sensor Fusion center (namely processor with data fusion function), realize that data fusion, initial data are lost by fusion center It loses less, but data information amount is big.And the secondary cascade fusion method of data disclosed in the present embodiment, first by sensor to initial data Inter-process is carried out, obtains the measurement flight path (i.e. first measures flight path) of barrier, and the measurement flight path of barrier is sent to Mobile unit, then the measurement flight path of barrier is merged by mobile unit, belong to distributed data fusion method.It compares The data fusion of centralization, although distributed data fusion lost part initial data, traffic load is low, redundancy is high, Computing resource is few and adaptation flexibility ratio is high.

As it can be seen that the secondary cascade fusion method of data disclosed in the present embodiment, by distributed data fusion mode, by passing Sensor to initial data carry out inter-process, obtain barrier measurement flight path and corresponding measurement time (i.e. first measurement when Carve), then the measurement flight path of barrier and corresponding measurement time are obtained by mobile unit, when measurement of the mobile unit based on acquisition It carves and obtains the prediction flight path corresponding to the history flight path (i.e. the system flight path of mobile unit storage) of barrier, to mobile unit It can determine whether the prediction flight path of barrier corresponds to the same barrier with the measurement flight path of barrier.And then mobile unit can incite somebody to action The measurement flight path of barrier and the system flight path of storage are associated, and realize the track association of the same barrier different moments, It is finally based on incidence relation, the history flight path of regeneration barrier object realizes Fusion.

In some embodiments, as shown in fig. 7, in addition to including step 101 shown in fig. 6,102,103 and 105, Fig. 7 weights Point describes the specific implementation mode of step 104 namely emphasis in Fig. 6 and describes how to determine that second measures flight path and system boat Incidence relation between mark.Based on each prediction flight path described in step 104, determine that each second measurement flight path navigates with each system Incidence relation between mark, it may include following steps 1041 and 1042：

1041, it is measured in flight path from all second, searches and measure flight path with the second of prediction track matching.

1042, it will predict that the corresponding system flight path of flight path is associated with the second measurement flight path found.

In the present embodiment, the incidence relation table of the second measurement flight path and system flight path can be established, is measured from all second It in flight path, searches and measures flight path with the second of prediction track matching, if matching, illustrate the find second measurement flight path and prediction Flight path corresponds to the same barrier.It will predict that the corresponding system flight path of flight path is associated with the second measurement flight path found, So that system flight path and the second measurement flight path associated there correspond to the same barrier, barrier is embodied in different moments Flight path variation.

Based on upper one embodiment, as shown in figure 8, with Fig. 7 difference lies in：Emphasis describes step in the present embodiment 1041 specific implementation mode.It is searched described in step 1041 and measures flight path, including following step with the second of prediction track matching Rapid 1041 ' and 1041 "：

1041 ', it centered on predicting flight path, searches and whether there is at least one second in preset range around prediction flight path Measure flight path；If in the presence of thening follow the steps 1041 "；

1041 ", the second nearest measurement flight path of range prediction flight path and prediction track matching.

In the present embodiment, it is contemplated that there are errors for the prediction flight path of the same barrier and the second measurement flight path, not complete It is exactly the same, therefore, by the way that preset range is rationally arranged so that it is negligible that prediction flight path and second in preset range measure flight path Error, it is believed that correspond to the same barrier.

In the present embodiment, preset range can be configured according to actual conditions, and the present embodiment does not limit the tool of preset range Body value.

In the present embodiment, it is contemplated that there may be multiple second in preset range around prediction flight path to measure flight path, according to Nearest principle predicts around flight path that range prediction flight path is nearest in preset range second measures flight path and prediction track matching, Matching can be understood as corresponding to the same barrier.

In some embodiments, it as shown in figure 9, other than including step shown in fig. 6, is determined described in step 104 every After a second measures the incidence relation between flight path and each system flight path, further comprising the steps of 105：

106, storage second measures the incidence relation between flight path and system flight path.

Correspondingly, each first measurement time is based on described in step 103, it is same to carry out the time to each system flight path of storage Step, after obtaining the corresponding prediction flight path of each system flight path, can also include the steps of 107：

107, search whether that the incidence relation being stored between the second measurement flight path and system flight path is held if not storing Based on each prediction flight path described in row step 104, being associated between each second measurement flight path and each system flight path is determined System.

In the present embodiment, determination when data fusion is carried out if non-data fusion for the first time, before this data fusion Incidence relation can be stored in mobile unit.Therefore, determine that second measures flight path and system in this data fusion process Before incidence relation between flight path, it should first search whether to be stored with being associated between the second measurement flight path and system flight path System.When not finding namely when mobile unit does not store incidence relation, it is determined that each second measure flight path with it is each Incidence relation between system flight path.

Further include step 108 other than including step shown in Fig. 9 as shown in Figure 10 based on upper one embodiment, tool Body, the incidence relation being stored between the second measurement flight path and system flight path is searched whether described in step 107, if being stored with Two measure the incidence relation between flight path and system flight path, then execute following steps 108：

108, judge whether the second measurement flight path and system flight path meet preset matching condition in incidence relation；If full Foot, then maintain the incidence relation；If not satisfied, determining each second based on each prediction flight path described in thening follow the steps 104 Measure the incidence relation between flight path and each system flight path.

In the present embodiment, determination when data fusion is carried out if non-data fusion for the first time, before this data fusion Incidence relation can be stored in mobile unit.Therefore, determine that second measures flight path and system in this data fusion process Before incidence relation between flight path, it should first search whether to be stored with being associated between the second measurement flight path and system flight path System.When finding namely when mobile unit storage incidence relation, then judge that the second measurement flight path navigates with system in incidence relation Whether mark meets preset matching condition.Matching condition for example including：In incidence relation second measure flight path motion state with The motion state of system flight path whether match and incidence relation in second measure flight path motion state and system flight path position It sets and one or more of whether matches.

In some embodiments, as shown in figure 11, other than including step 101 shown in fig. 6,102,103 and 104, figure 11 emphasis describe the specific implementation mode of step 105 in Fig. 6, are based on the incidence relation described in step 105, update storage System flight path, it may include following steps 1051 to 1053：

1051, judge whether each system flight path of storage is system flight path in the incidence relation；If so, executing Step 1052；If it is not, thening follow the steps 1053.

1052, flight path more new system flight path is measured using system flight path in the incidence relation corresponding second.

1053, using the corresponding prediction flight path of system flight path more new system flight path.

In the present embodiment, if the system flight path of storage is the system flight path in incidence relation, illustrate the system flight path of storage Corresponding barrier in this data fusion process still in the detection range of the flight path measurement sensor of this vehicle, this number Therefore make according to the corresponding second measurement flight path of the system flight path in new flight path, that is, incidence relation of the barrier in fusion process Flight path more new system flight path is measured with system flight path in incidence relation corresponding second, realizes the flight path update of the barrier.

In the present embodiment, if the system flight path of storage is not the system flight path in incidence relation, illustrate the system boat of storage The corresponding barrier of mark is not in this data fusion process in the detection range of flight path measurement sensor of this vehicle, because This realizes the flight path update of the barrier using the corresponding prediction flight path of system flight path more new system flight path.

In some embodiments, as shown in figure 12, other than including step shown in fig. 6, the system updated storage Further comprising the steps of 109 after flight path：

109, the update mode based on system flight path, the confidence level of the system flight path after management update.

In the present embodiment, it is contemplated that after using different update modes more new system flight path, new system flight path and obstacle There are deviations for the true flight path of object, and the big system flight path of deviation may be wrong flight path, and deviation is bigger, and system flight path more can not Letter.Therefore, whether credible in order to embody system flight path, introducing confidence level concept, the confidence level of the system flight path after management update, To determine whether updated system flight path is wrong flight path according to confidence level.

Based on upper one embodiment, as shown in figure 13, difference lies in emphasis describes the implementation of step 109 with Figure 12 Mode, the update mode based on system flight path described in step 109, the confidence level of the system flight path after management update, including it is following Step 1091 is to 1095：

If 1091, the update mode of system flight path is to be updated using the second measurement flight path in the incidence relation, Then increase the confidence level of system flight path.

If 1092, the update mode of system flight path is to be updated using prediction flight path, it is corresponding to obtain update mode Flight path measurement sensor.

1093, judge whether system flight path is in the sensing range of the corresponding flight path measurement sensor of update mode, if It is in, thens follow the steps 1094；If being not in, 1095 are thened follow the steps.

1094, the confidence level of system flight path is reduced.

1095, the confidence level of system flight path is maintained.

In the present embodiment, if the update mode of system flight path is to measure flight path using second in incidence relation to carry out more Newly, illustrating that newer system flight path is that the data based on flight path measurement sensor are updated, the possibility of mistake is relatively low, because This, can increase the confidence level of the system flight path.

In the present embodiment, if the update mode of system flight path is to be updated using prediction flight path, illustrate newer system Flight path is the flight path calculated, and the possibility of mistake is higher, and the confidence level of the system flight path can be reduced or be remained unchanged.

In the present embodiment, for update mode be using prediction flight path be updated system flight path, the system flight path can Reliability is that reduction can be by judging whether system flight path is in the corresponding flight path measurement sensor of update mode or remain unchanged Sensing range in determine, if being in, illustrate that flight path measurement sensor should can detect the flight path, but really flight path is surveyed The flight path is not detected in quantity sensor, and therefore, the confidence level of the system flight path should reduce；If being not in, illustrate that the system is navigated There is not apparent error in mark, does not belong to normal condition by sensor perception, can temporarily keep confidence level constant.

The corresponding flight path measurement sensor of update mode is obtained in the present embodiment, described in step 1092, specially：It determines Prediction flight path is obtained based on which the first measurement time, since mobile unit record has the first measurement time is navigated by which What mark measurement sensor was sent, therefore, after determining the first measurement time, so that it may to determine that the corresponding flight path of update mode measures Sensor is the flight path measurement sensor for sending first measurement time.

In some embodiments, as shown in figure 14, it in addition to including method and step shown in Figure 12, is managed described in step 109 After the confidence level for managing updated system flight path, further comprising the steps of 110 and 111：

110, judge whether the confidence level of the system flight path after management reaches default output thresholding, default output must be reached The system flight path of thresholding.

111, reach the system flight path of default output thresholding described in output.

In the present embodiment, the purpose of confidence level management is to determine which system flight path is believable, convenient for follow-up different Function system (such as one or more of AEB systems, ACC system, LKA systems, FCW systems and automatic lane-change system etc. are System) it uses.

In the present embodiment, the setting for presetting output thresholding is convenient for determining which system flight path is believable, when system flight path Confidence level reach default output thresholding, illustrate that the system flight path is credible, which can be added in output listing, and After the confidence level of all system flight paths is performed both by step 110, final output listing is obtained.

In the present embodiment, presetting output thresholding can determines according to actual conditions, and the present embodiment does not limit default output thresholding Specific value.

In some embodiments, as shown in figure 15, it other than including the step shown in Figure 13, is reduced described in step 1094 After the confidence level of system flight path, step 109 further comprising the steps of 1096 and 1097：

1096, judge the confidence level of system flight path whether less than default elimination thresholding；If being less than, 1097 are thened follow the steps； If being not less than, the step 110 and 111 shown in Figure 14 can perform.

1097, the system flight path is eliminated.

In the present embodiment, after the confidence level that system flight path is maintained described in step 1095, the step shown in Figure 14 can perform 110 and 111.

In the present embodiment, it is contemplated that after the confidence level of system flight path reduces to a certain extent, the system flight path, that is, insincere, It is wrong flight path.Mistake flight path may not be the flight path of barrier, for instance it can be possible that the object of the fixed positions such as the trees on road side Flight path of the body relative to this vehicle, should be eliminated.

In the present embodiment, default elimination thresholding is set, with a low credibility when system flight path eliminates thresholding, the system in default Flight path, that is, insincere.Default thresholding of eliminating can determines according to actual conditions, and the present embodiment does not limit the specific of default elimination thresholding Value.

In the present embodiment, the system flight path with a low credibility in default elimination thresholding is eliminated, barrier judgment error can be reduced Probability, meanwhile, the computational load of follow-up data fusion can be reduced, the real-time of data fusion is improved.

In some embodiments, as shown in figure 16, it other than including the step shown in Figure 12, is managed described in step 109 After the confidence level of updated system flight path, it can also include the steps of 112：

112, it measures not associated relationship in the corresponding second measurement flight path of each first measurement flight path uses second Flight path carries out initialization process.

In the present embodiment, the second measurement flight path that not associated relationship uses is likely to be one that appears in the new obstacle on this vehicle periphery The flight path of object, passes through initialization process so that onboard system can record the flight path of new barrier, be convenient for subsequent data fusion.

In some embodiments, as shown in figure 17, initialization process described in step 112 is described, it may include following steps 1121,1122,1122 ', 1125 and 1126：

1121, this car state information is obtained.

1122, it is based on this car state information, estimates this wheel paths.

1122 ', judge the second measurement flight path not used by the incidence relation whether far from this wheel paths；If so, Execute step 1125；If it is not, thening follow the steps 1126.

1125, the second measurement flight path not used by the incidence relation is eliminated.

1126, will system flight path not turned to by the second measurement initial track that the incidence relation uses.

In the present embodiment, step 1122 ' specific implementation mode, such as including such as under type one and mode two：

Mode one：Judge the extended line and this vehicle of the direction of motion for the second measurement flight path not used by the incidence relation Whether the extended line of the direction of motion of track intersects, if non-intersecting, judges far from this wheel paths.

Mode two：As shown in figure 18, step 1122 ' include the following steps 1123 and 1124.

1123, determine that not associated relationship uses second measures the lateral distance between flight path and this wheel paths；It is described Lateral distance is the projector distance of opposite this vehicle direction of motion.

1124, judge whether lateral distance is more than pre-determined distance threshold value；If more than thening follow the steps 1125；If being not more than, Then follow the steps 1126.

In mode two, if lateral distance is more than pre-determined distance threshold value, judge far from this wheel paths.Pre-determined distance threshold value can Determines according to actual conditions, the present embodiment does not limit the specific value of pre-determined distance threshold value.

Based on a upper example, as shown in figure 19, initialization process described in step 112 is in addition to including the step shown in Figure 17 1121 to 1126, step 112 may also include the steps of 1127：

1127, it assigns and is initialized as the second of the system flight path confidence level for measuring flight path.

In the present embodiment, the identical default confidence level of the second measurement flight path for being initialized as system flight path can be assigned.For The corresponding second measurement flight path of different flight path measurement sensors can assign different confidence levels, for example, for imaging sensor Corresponding second measurement flight path can assign higher confidence level, and the measurement flight path of radar corresponding second can be assigned lower Confidence level.By measuring flight path imparting confidence level to being initialized as the second of system flight path, convenient for data fusion process next time The confidence level of the middle updated system flight path of management.

In some embodiments, as shown in figure 20, initialization process described in step 112 is in addition to including the step shown in Figure 17 1121 to 1126, step 112 may also include the steps of 1128 to 1132：

1128, the judgement information of multiple barrier judgment sensors is obtained；

1129, according to the judgement information, it is determined whether there are barriers；If there are barrier, 1130 are thened follow the steps； If barrier is not present, 1131 are thened follow the steps；

1130, whether disturbance in judgement object is located at the homonymy of this vehicle with the second measurement flight path for being initialized as system flight path；If It is to then follow the steps 1132；If it is not, thening follow the steps 1131；

1131, it is the second confidence level to assign and be initialized as the confidence level that the second of system flight path measures flight path；

1132：It is the first confidence level to assign and be initialized as the confidence level that the second of system flight path measures flight path；

Wherein, first confidence level is more than second confidence level.

In the present embodiment, barrier judgment sensor belongs to intelligence sensor, has detection of obstacles and data processing work( Energy.Specifically, the barrier data that barrier judgment sensor can be within the scope of acquisition testing, the barrier data detected are known as Initial data.Barrier judgment sensor can be handled initial data, judged whether there are obstacles in detection range, obtained To judging information.Judge that information is used to indicate whether that there are barriers.

In the present embodiment, if barrier judgment sensor judges there are barrier, further disturbance in judgement object with it is initial It turns to the second of system flight path and measures the homonymy whether flight path is located at this vehicle.If so, explanation is initialized as the second of system flight path Measure flight path be barrier flight path possibility it is higher, therefore, assign this second measure flight path confidence level be it is higher can Reliability, i.e. the first confidence level；If it is not, the second measurement flight path that explanation is initialized as system flight path is the possibility of the flight path of barrier Property it is relatively low, therefore, assign this second measure flight path confidence level be lower confidence level, i.e. the second confidence level.

In the present embodiment, if barrier judgment sensor judges that barrier is not present, illustrate to be initialized as system flight path Second measurement flight path is that the possibility of the flight path of barrier is relatively low, and therefore, it is relatively low to assign second confidence level for measuring flight path Confidence level, i.e. the second confidence level.

Difference lies in the present embodiment, judge whether to deposit according to barrier judgment sensor with embodiment illustrated in fig. 19 In barrier, assigns and be initialized as the second of the system flight path different confidence levels for measuring flight path, convenient for data fusion next time The confidence level of system flight path after management update in the process quickly determines the system flight path for needing to eliminate.

In some embodiments, as shown in figure 21, compared with prior art, the sensing in the present embodiment to being installed on vehicle The quantity of device and position are adjusted, and are described in detail below：

One remote radar of forward direction (Front Long Range Radar) is mounted on the front of vehicle, and detection vehicle is just The barrier of first sector region in front；

One forward direction camera is mounted on the front of vehicle, the image of the second sector region immediately ahead of collection vehicle and regards Frequently；

One front left side radar (Left Front Side Radar) and a forward right side radar (Right Front Side Radar) it is separately mounted to the front left side and forward right side of vehicle, the barrier of vehicle left front and right front is detected respectively；

One left rear side radar (Left Rear Side Radar) and a right lateral side radar (Right Rear Side Radar it) is separately mounted to the left rear side and right lateral side of vehicle, detects the barrier of vehicle left back and right back respectively.

Based on described in detail above, the remote radar of forward direction, forward direction camera, front left side radar and forward right side radar are Flight path measurement sensor, output is flight trajectory measure data (i.e. previously mentioned first measures flight path).For example, front left side thunder Up to the barrier of detection vehicle left front, the barrier data detected are handled, the corresponding flight path of barrier is obtained and surveys Data are measured, and export flight trajectory measure data.In the present embodiment, radar is millimetre-wave radar.

Based on described in detail above, left rear side radar and right lateral side radar are barrier judgment sensor, output it is equal It is to judge information, which is used to indicate whether that there are barriers.For example, the barrier of left rear side detections of radar vehicle left back Hinder object, the barrier data detected are handled, judge vehicle left back whether there are obstacles, and then obtains judging letter Breath, and export judgement information.

In the present embodiment, as can be seen from Figure 21, the sensing range of adjacent sensors has certain overlapping, on the one hand may be used To ensure that overlapping region perceives the raising of confidence level, when on the other hand ensureing that barrier is walked from the sensing range of different sensors Data coherency.As can be seen from Figure 21, there is high reliability, the remote thunder of forward direction for the mostly important vehicle front of guarantee Reach, forward direction camera, front left side radar and forward right side radar have more overlapping sensing region, advantageously reduce flase drop and leakage Inspection, while front left side radar and forward right side radar have perception vehicle left front and the large range of ability in right front.In addition, left Rear side radar and right lateral side radar have small range blind area, but the barrier for there is certain relative velocity, are kept by flight path And fusion, still sustainable tracking.

Based on the sensor being installed on vehicle shown in Figure 21, Fusion flow following steps are described (1) to (7)：

(1) it is exported to remote radar, forward direction camera, front left side radar and forward right side radar before mobile unit obtains Flight trajectory measure data and the corresponding measurement time of flight trajectory measure data (namely first measurement time being mentioned above), and obtain The judgement information for taking left rear side radar and right lateral side radar to export.

(2) mobile unit carries out the flight trajectory measure data of acquisition the unification of data format.Since different sensors export Flight trajectory measure data format it is different, merged for the ease of follow-up data, need the unification for carrying out data format, unified approach The prior art can be continued to use, details are not described herein.

(3) mobile unit is based on the corresponding measurement time of flight trajectory measure data, and it is same to carry out the time to the system flight path of storage Step, obtains the corresponding prediction flight path of each system flight path.System flight path can be regarded as the history flight path of barrier.

(4) mobile unit will predict that flight path is matched with flight trajectory measure data, if matching, illustrate to predict flight path and flight path Measurement data is flight path of the same barrier in synchronization, and the corresponding system flight path of the prediction flight path is measured with the flight path Data are flight path of the same barrier in different moments.Therefore, if matching, by the system flight path and the flight trajectory measure data It is associated.

(5) mobile unit updates associated system flight path using flight trajectory measure data, is updated using prediction flight path not associated System flight path.Since vehicle is moving, barrier relative vehicle is also moving, in order to embody the boat of different moments barrier Mark, therefore, it is necessary to more new system flight paths.

(6) mobile unit is after updating all system flight paths, the confidence level of the system flight path after management update, with true Whether fixed updated system flight path is directed to same barrier with the system flight path before update.

(7) after the confidence level of system flight path of the mobile unit after management update, the higher system boat of output confidence level Mark and maintenance system flight path list, and the left rear side radar based on acquisition and the judgement information of right lateral side radar output assign Confidence level.

In the present embodiment, each step detail can refer to embodiment shown in Fig. 6 to Figure 20, and details are not described herein.

In some embodiments, as shown in figure 22, the secondary cascade emerging system of data, the system are that soft or hard combination is System, hereinafter referred to as emerging system, including consisting of part：Sense (Perception), state estimation (State Estimate (Fusion), situation assessment (Situation Assess) and major function (Feature), are merged Function).Wherein, in addition to sensing (Perception), the executive agent of other components can be mobile unit.Each group At being partly described as follows：

Sensing (Perception) includes：Map (MAP) module, forward direction camera (Front Camera), forward direction long distance From radar (Front Long Range Radar), Vehicular system (Vehicle System), front left side radar (Left Front Side Radar), forward right side radar (Right Front Side Radar), left rear side radar (Left Rear Side ) and right lateral side radar (Right Rear Side Radar) Radar.Wherein, map (MAP) module can provide vehicle current institute Positioning function, such as GPS functions can also be provided in the Environmental Map Information at place.Vehicular system (Vehicle System) can provide Car status information, including the whole vehicle informations such as car speed and Vehicular turn angle.

State estimation (State Estimate) includes：This vehicle positions (Ego Vehicle Locate) and vehicle-state is estimated It counts (Vehicle State Estimate).Wherein, the positioning of this vehicle can be regarded as (MAP) module, forward direction camera shooting according to the map The data of head, the remote radar of forward direction and Vehicular system determine the position of this vehicle.Vehicle state estimation can be regarded as according to vehicle The car status information that system provides estimates the state of this vehicle.

Merging (Fusion) includes：Forward direction merges (Front Fusion) and global fusion (Global Fusion).Its In, forward direction fusion can be regarded as according to it is preceding carried out to the data of camera, the remote radar of forward direction and vehicle state estimation before to Data fusion.Overall situation fusion can be regarded as according to it is preceding to the result of fusion, front left side radar, forward right side radar, left rear side radar, The data of right lateral side radar and vehicle state estimation carry out global data fusion.

Situation assessment (Situation Assess) includes：Forward direction target selection (Front Object Selection) With backward or lateral target selection (Rear or Side Object Selection).Wherein, target can be regarded as barrier. Forward direction target selection can be regarded as corresponding with the data selection highest system flight path of confidence level of overall situation fusion to fusion according to preceding Barrier as preceding to target, while forward direction target selection can be positioned according to this vehicle and the data of vehicle state estimation assist To target before selection, exclusion is clearly not the forward direction target of barrier.Backward or lateral target selection can be regarded as according to the overall situation The data of fusion select the corresponding backward barrier of the highest system flight path of confidence level or lateral barrier as backward or lateral Target, at the same backward or lateral target selection can be positioned according to this vehicle and the data of vehicle state estimation come assisted Selection it is backward or Lateral target, exclusion are clearly not the backward or lateral target of barrier.

Major function (Feature Function) includes：AEB (Autonomous Emergency Braking, automatically Emergency braking) system, ACC (Adaptive Cruise Control, adaptive learning algorithms) system, FCW (Forward Collision Warning, front collision warning) function systems such as system and automatic lane-change system.Each work(in major function It can the preceding execution that corresponding function is carried out to the data of target selection and backward or lateral target selection of system acquisition.

In the present embodiment, forward direction fusion can be used as separate modular, to remote radar, the number of forward direction camera before fusion According to, while it being sent to global fusion using fusion results as output, it is merged by the overall situation and carries out secondary data fusion, before no To the system of fusion, overall situation fusion can also realize data fusion.Emerging system can be arranged by the data of map (MAP) module Except some it is not possible that existing target, reduces calculating and mistake, while the car status information by receiving Vehicular system offer, The target that need not be calculated is excluded, further including the whole vehicle informations such as car speed and Vehicular turn angle to estimate this wheel paths Reduce computational load.

The secondary cascade emerging system of data provided in this embodiment, is convenient for module segmentation, improves adaptation ability, can To be adapted to DAS (Driver Assistant System) and the Unmanned Systems of different requirements.

In addition, the secondary cascade emerging system of data provided in this embodiment, can be adapted to the only biography with Detection of Existence The emerging system of sensor can also be adapted to the emerging system of the sensor with detection of obstacles.

As shown in figure 23, the present embodiment discloses a kind of secondary cascade emerging system of data, it may include with lower module：Forward direction melts Mold block and global Fusion Module.It is described as follows：

The secondary cascade emerging system of data disclosed in the present embodiment corresponds to the secondary cascade fusion method of data shown in Fig. 2, It illustrates and can be found in embodiment of the method shown in Fig. 2 with effect, to avoid repeating, details are not described herein.

In addition, the secondary cascade emerging system of data disclosed in the present embodiment is by the blending algorithm of integral type, based on function into Row modularization is segmented, to fusion and global fusion before splitting into.Difference, which may be implemented, in the secondary cascade emerging system of the data has The vehicle of the adaptation of different function automobile type configuration, such as configuration such as ACC, AEB function need to only retain preceding to fusion and the choosing of forward direction target It selects, and for having the vehicle of automatic lane-change function, then to fusion and global fusion before needing；Meanwhile the algorithm frame can be with For different safe designs, algorithm is split and is arranged into the different calculating cores of different chips or chip, reduction monokaryon/ Chip computational load, and improve the redundancy of module.

Based on a upper example, in the present embodiment, the forward direction Fusion Module measures the multiple forward direction flight path and senses The first of device measures flight path and carries out Single cell fusion, including：

The secondary cascade emerging system of data disclosed in the present embodiment corresponds to the secondary cascade fusion method of data shown in Fig. 3, It illustrates and can be found in embodiment of the method shown in Fig. 3 with effect, to avoid repeating, details are not described herein.

The secondary cascade emerging system of data disclosed in the present embodiment corresponds to the secondary cascade fusion method of data shown in Fig. 4, It illustrates and can be found in embodiment of the method shown in Fig. 4 with effect, to avoid repeating, details are not described herein.

The secondary cascade emerging system of data disclosed in the present embodiment corresponds to the secondary cascade fusion method of data shown in fig. 5, It illustrates and can be found in embodiment of the method shown in fig. 5 with effect, to avoid repeating, details are not described herein.

In some embodiments, Figure 24 shows a kind of global Fusion Module, it may include with lower unit：Acquiring unit 1, system One unit 2, synchronization unit 3, determination unit 4 and updating unit 5.Each unit is described as follows：

Acquiring unit 1, first for obtaining the forward direction fusion results, multiple front side flight path measurement sensors measures boat Mark and corresponding first measurement time of each front side flight path measurement sensor；

Unified Element 2, for first merged in flight path, the forward direction fusion results in the forward direction fusion results It measures the first of flight path and the multiple front side flight path measurement sensor and measures the unification that flight path carries out data format, obtain pair Second answered measures flight path；

Synchronization unit 3, for based on the fusion moment in the forward direction fusion results, the in the forward direction fusion results One measurement time, each corresponding first measurement time of the front side flight path measurement sensor, to each system flight path of storage Time synchronization is carried out, the corresponding prediction flight path of each system flight path is obtained；

Determination unit 4, for based on each prediction flight path, determine each described second measure flight path with it is each described Incidence relation between system flight path；

Updating unit 5, for being based on the incidence relation, the system flight path updated storage.

Global Fusion Module disclosed in the present embodiment corresponds to the workflow of global Fusion Module shown in fig. 6, specifically Bright and effect can be found in embodiment of the method shown in fig. 6, and to avoid repeating, details are not described herein.

In some embodiments, as shown in figure 25, other than including unit shown in Figure 24, emphasis describes determination unit 4 specific implementation mode, determination unit 4 may include searching subelement 41 and be associated with subelement 42.It is described as follows：

Subelement 41 is searched, for being measured in flight paths from all described second, searches the with the prediction track matching Two measure flight path；

Be associated with subelement 42, for by the corresponding system flight path of the prediction flight path and find second measure flight path into Row association.

Global Fusion Module disclosed in the present embodiment corresponds to the workflow of global Fusion Module shown in Fig. 7, specifically Bright and effect can be found in embodiment of the method shown in Fig. 7, and to avoid repeating, details are not described herein.

Based on a upper example, emphasis describes to search the specific implementation mode of subelement 41 in the present embodiment, and it is single to search son Member 41 is specifically used for executing following steps A and B：

A, centered on the prediction flight path, it is interior with the presence or absence of at least one to search preset range around the prediction flight path Second measures flight path；If in the presence of B is thened follow the steps；

B, the second measurement flight path nearest apart from the prediction flight path and the prediction track matching.

Global Fusion Module disclosed in the present embodiment corresponds to the workflow of global Fusion Module shown in Fig. 8, specifically Bright and effect can be found in embodiment of the method shown in Fig. 8, and to avoid repeating, details are not described herein.

In some embodiments, as shown in figure 26, in addition to including unit shown in Figure 24, it may also include 6 He of storage unit Searching unit 7.It is described as follows：

Storage unit 6 determines that each described second measures flight path and each system flight path for the determination unit 4 Between incidence relation after, storage second measures the incidence relation between flight path and system flight path；

Searching unit 7 is looked into after obtaining the corresponding prediction flight path of each system flight path for the synchronization unit 3 The incidence relation whether being stored between the second measurement flight path and system flight path looked for；

Correspondingly, the determination unit 4, after not stored for the determination of the searching unit 7, based on each prediction Flight path determines that each described second measures the incidence relation between flight path and each system flight path.

Global Fusion Module disclosed in the present embodiment corresponds to the workflow of global Fusion Module shown in Fig. 9, specifically Bright and effect can be found in embodiment of the method shown in Fig. 9, and to avoid repeating, details are not described herein.

Based on a upper example, as shown in figure 27, other than including unit shown in Figure 26, it may also include the first judgement list Member 8 and maintenance unit 9.It is described as follows：

First judging unit 8 is stored with for the determination of the searching unit 7 between the second measurement flight path and system flight path After incidence relation, judge whether the second measurement flight path meets preset matching condition with system flight path in incidence relation；

Maintenance unit 9 maintains the pass after meeting preset matching condition for first judging unit 8 judgement Connection relationship；

The determination unit 4 is based on after being unsatisfactory for preset matching condition for first judging unit 8 judgement Each prediction flight path determines that each described second measures the incidence relation between flight path and each system flight path.

Global Fusion Module disclosed in the present embodiment corresponds to the workflow of global Fusion Module shown in Fig. 10, specifically Bright and effect can be found in embodiment of the method shown in Fig. 10, and to avoid repeating, details are not described herein.

In some embodiments, as shown in figure 28, other than including unit shown in Figure 24, emphasis describes updating unit 5 specific implementation mode, updating unit 5 include：Judgment sub-unit 51, first updates subelement 52 and second and updates subelement 53.It is described as follows：

Judgment sub-unit 51, for judge storage each system flight path whether be in the incidence relation system boat Mark；

First update subelement 52, for 51 decision-making system flight path of the judgment sub-unit being in the incidence relation is It unites after flight path, measures flight path using system flight path described in the incidence relation corresponding second and update the system flight path；

Second update subelement 53, is not in the incidence relation for 52 decision-making system flight path of the judgment sub-unit After system flight path, the system flight path is updated using the corresponding prediction flight path of the system flight path.

The workflow of global Fusion Module shown in global Fusion Module corresponding diagram 11 disclosed in the present embodiment, specifically Bright and effect can be found in embodiment of the method shown in Figure 11, and to avoid repeating, details are not described herein.

In some embodiments, as shown in figure 29, other than including unit shown in Figure 24, it may also include administrative unit 10：

Administrative unit 10, after the system flight path updated storage for the updating unit 5, the update based on system flight path Mode, the confidence level of the system flight path after management update.

The workflow of global Fusion Module shown in global Fusion Module corresponding diagram 12 disclosed in the present embodiment, specifically Bright and effect can be found in embodiment of the method shown in Figure 12, and to avoid repeating, details are not described herein.

Based on a upper example, emphasis describes the specific implementation mode of administrative unit 10 in the present embodiment, administrative unit 10, Specifically for executing following steps C, D and E：

If C, the update mode of system flight path is to be updated using the second measurement flight path in the incidence relation, increase Add the confidence level of the system flight path.

If D, the update mode of system flight path is to be updated using prediction flight path, it is corresponding to obtain the update mode Flight path measurement sensor.

E, after step D obtains the corresponding flight path measurement sensor of the update mode, judge that the system flight path is In the no sensing range in the corresponding flight path measurement sensor of the update mode, if being in, the system flight path is reduced Confidence level；If being not in, the confidence level of the system flight path is maintained.

The workflow of global Fusion Module shown in global Fusion Module corresponding diagram 13 disclosed in the present embodiment, specifically Bright and effect can be found in embodiment of the method shown in Figure 13, and to avoid repeating, details are not described herein.

Based on a upper example, administrative unit 10 is additionally operable to execute following steps F and G：

F：After the confidence level that step E reduces the system flight path, judge whether the confidence level of the system flight path is low Thresholding is eliminated in default；If eliminating thresholding less than default, G is thened follow the steps；

G：Eliminate the system flight path.

Global Fusion Module disclosed in the present embodiment corresponds to the workflow of global Fusion Module shown in figure 15, specifically Bright and effect can be found in embodiment of the method shown in figure 15, and to avoid repeating, details are not described herein.

In some embodiments, as shown in figure 30, in addition to including unit shown in Figure 29, it may also include second judgment unit 11 and output unit 12.It is described as follows：

Second judgment unit 11 is used for after the confidence level of the system flight path after 10 management update of the administrative unit, sentences Whether the confidence level of the system flight path after disconnected management reaches default output thresholding, must reach the system boat of default output thresholding Mark；

Output unit 12, for exporting the system flight path for reaching default output thresholding.

The workflow of global Fusion Module shown in global Fusion Module corresponding diagram 14 disclosed in the present embodiment, specifically Bright and effect can be found in embodiment of the method shown in Figure 14, and to avoid repeating, details are not described herein.

In some embodiments, as shown in figure 31, other than including unit shown in Figure 29, it may also include initialization unit 13：

Initialization unit 13 is used for after the confidence level of the system flight path after 10 management update of the administrative unit, to every A first measurement flight path corresponding second, which measures in flight path, not to be carried out by the second measurement flight path that the incidence relation uses Initialization process.

The workflow of global Fusion Module shown in global Fusion Module corresponding diagram 16 disclosed in the present embodiment, specifically Bright and effect can be found in embodiment of the method shown in Figure 16, and to avoid repeating, details are not described herein.

Based on a upper example, initialization unit 13 carries out initialization process, specifically include following steps 1121 to 1126：

1121, this car state information is obtained.

1122, it is based on this car state information, estimates this wheel paths.

The workflow of global Fusion Module shown in global Fusion Module corresponding diagram 17 disclosed in the present embodiment, specifically Bright and effect can be found in embodiment of the method shown in Figure 17, and to avoid repeating, details are not described herein.

Based on a upper example, initialization unit 13 carries out initialization process, in addition to including step 1121 to 1126, also It may include following steps 1127：

The workflow of global Fusion Module shown in global Fusion Module corresponding diagram 19 disclosed in the present embodiment, specifically Bright and effect can be found in embodiment of the method shown in Figure 19, and to avoid repeating, details are not described herein.

In some embodiments, initialization unit 13 carries out initialization process, in addition to including step 1121 to 1126, also It may include following steps 1128 to 1132：

Wherein, first confidence level is more than second confidence level.

The workflow of global Fusion Module shown in global Fusion Module corresponding diagram 20 disclosed in the present embodiment, specifically Bright and effect can be found in embodiment of the method shown in Figure 20, and to avoid repeating, details are not described herein.

The embodiment of the present invention also proposes a kind of non-transient computer readable storage medium, and the non-transient computer is readable to deposit Storage media stores computer instruction, and the computer instruction makes the computer execution first aspect each method embodiment be provided Method and step, such as including：

The embodiment of the present invention also proposes：

The secondary cascade fusion method of A1, a kind of data, the method includes：

A2, the method according to A1, the forward direction Fusion Module to the multiple forward direction flight path measurement sensor One, which measures flight path, carries out Single cell fusion, including：

A3, the method according to A1 or A2, the forward direction Fusion Module is to the multiple forward direction flight path measurement sensor First measure flight path carry out Single cell fusion, further include：

A4, the method according to A3, the forward direction Fusion Module is from there is no the first of incidence relation to measure in flight path Selection meets the first measurement flight path for presetting reserve, including：

A5, the method according to A1, it is described the overall situation Fusion Module based in the forward direction fusion results the fusion moment, When the first measurement time, each front side flight path measurement sensor corresponding first in the forward direction fusion results measure It carves, flight path and described is measured to the fusion flight path in the forward direction fusion results, first in the forward direction fusion results more The first of a front side flight path measurement sensor measures flight path and carries out secondary fusion, including：

Based on the incidence relation, the system flight path that updates storage.

A6, the method according to A5, it is described based on each prediction flight path, determine that each described second measures flight path With the incidence relation between each system flight path, including：

A7, the method according to A6, the lookup measure flight path with the second of the prediction track matching, including：

A8, the method according to A5, the determination each described second measure flight path and each system flight path it Between incidence relation after, the method further includes：

A9, the method according to A8, the method further include：

If satisfied, then maintaining the incidence relation；

A10, the method according to A5, described based on the incidence relation, the system flight path updated storage, including：

A11, the method according to A5, after the system flight path updated storage, the method further includes：

A12, the method according to A11, the update mode based on system flight path, the system flight path after management update Confidence level, including：

A13, the method according to A12, the update mode based on system flight path, the system flight path after management update Confidence level, including：

A14, the method according to A11, after the confidence level of the system flight path after the management update, the method is also Including：

A15, the method according to A13, after the confidence level for reducing the system flight path, the method is also wrapped It includes：

If being less than, the system flight path is eliminated.

A16, the method according to A11, after the confidence level of the system flight path after the management update, the method is also Including：

A17, the method according to A16, the initialization process, including：

Obtain this car state information；

Based on described car state information, this wheel paths is estimated；

A18, the method according to A17, the initialization process further include：

A19, the method according to A17, the initialization process further include：

Obtain the judgement information of multiple barrier judgment sensors；

Wherein, first confidence level is more than second confidence level.

A20, according to A1 to A19 any one of them methods, the multiple forward direction flight path measurement sensor includes：Forward direction figure As sensor and forward direction radar；The multiple front side flight path measurement sensor includes：Front left side radar and forward right side radar.

A21, the method according to A19, the multiple barrier judgment sensor include：Left rear side radar and right lateral side Radar.

The secondary cascade emerging system of A22, a kind of data, the system comprises：

A23, the system according to A22, the forward direction Fusion Module is to the multiple forward direction flight path measurement sensor First, which measures flight path, carries out Single cell fusion, including：

A24, the system according to A22 or A23, the forward direction Fusion Module measure the multiple forward direction flight path and sense The first of device measures flight path and carries out Single cell fusion, further includes：

A25, the system according to A24, the forward direction Fusion Module is from there is no the first of incidence relation to measure flight path Middle selection meets the first measurement flight path for presetting reserve, including：

A26, the system according to A22, the overall situation Fusion Module, including：

A27, the system according to A26, the determination unit, including：

A28, the system according to A27, the lookup subelement, are used for：

A29, the system according to A26, the system also includes：

A30, the system according to A29, the system also includes：

A31, the system according to A26, the updating unit, including：

A32, the system according to A26, the system also includes：

A33, the system according to A32, the administrative unit are used for：

A34, the system according to A33, the administrative unit are used for：

A35, the system according to A32, the system also includes：

A36, the system according to A34, the administrative unit are additionally operable to：

A37, the system according to A32, the system also includes：

A38, the system according to A37, the initialization unit carry out initialization process, including：

Obtain this car state information；

Based on described car state information, this wheel paths is estimated；

A39, the system according to A38, the initialization unit carry out initialization process, further include：

A40, the system according to A38, the initialization unit carry out initialization process, further include：

Obtain the judgement information of multiple barrier judgment sensors；

Wherein, first confidence level is more than second confidence level.

A41, according to A26 to A40 any one of them systems, the multiple forward direction flight path measurement sensor includes：Forward direction Imaging sensor and forward direction radar；The multiple front side flight path measurement sensor includes：Front left side radar and forward right side radar.

A42, the system according to A40, the multiple barrier judgment sensor include：Left rear side radar and right lateral side Radar.

A43, a kind of mobile unit, including：

Processor, memory, network interface and user interface；

The processor is by the program for calling the memory to store or instruction, for executing such as any one of A1 to A21 The step of the method.

A44, a kind of non-transient computer readable storage medium, the non-transient computer readable storage medium storage calculate Machine instructs, and the computer instruction makes the computer execute such as the step of any one of A1 to A21 the method.

It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row His property includes, so that process, method, article or device including a series of elements include not only those elements, and And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this There is also other identical elements in the process of element, method, article or device.

It will be appreciated by those of skill in the art that although some embodiments described herein include being wrapped in other embodiments Certain features for including rather than other feature, but the combination of the feature of different embodiments mean in the scope of the present invention it It is interior and form different embodiments.

Although the embodiments of the invention are described in conjunction with the attached drawings, but those skilled in the art can not depart from this hair Various modifications and variations are made in the case of bright spirit and scope, such modifications and variations are each fallen within by appended claims Within limited range.

Claims

1. a kind of secondary cascade fusion method of data, which is characterized in that the method includes：

Forward direction Fusion Module obtains the first of multiple forward direction flight path measurement sensors and measures flight path and each first measurement Corresponding first measurement time of flight path；

Forward direction Fusion Module measures flight path to the first of the multiple forward direction flight path measurement sensor and carries out Single cell fusion, before obtaining To fusion results, the forward direction fusion results include：At least one fusion flight path, each fusion flight path corresponding fusion moment, Meet preset the first of reserve measure flight path and it is each meet preset the first of reserve and measure flight path corresponding the One measurement time；

Global Fusion Module obtain the forward direction fusion results, multiple front side flight path measurement sensors first measure flight path and Each corresponding first measurement time of the front side flight path measurement sensor；

Global Fusion Module is based on the fusion moment in the forward direction fusion results, the first measurement in the forward direction fusion results Moment, each corresponding first measurement time of the front side flight path measurement sensor, to the fusion in the forward direction fusion results First in flight path, the forward direction fusion results measures the first measurement of flight path and the multiple front side flight path measurement sensor Flight path carries out secondary fusion.

2. according to the method described in claim 1, it is characterized in that, the forward direction Fusion Module surveys the multiple forward direction flight path The first of quantity sensor measures flight path and carries out Single cell fusion, including：

The forward direction Fusion Module determine the multiple forward direction flight path measurement sensor first measure flight path between exist association The first of relationship measures flight path；

There will be the first measurement flight paths of incidence relation to be merged for the forward direction Fusion Module, obtains at least one fusion flight path And each merge the flight path corresponding fusion moment.

3. method according to claim 1 or 2, which is characterized in that the forward direction Fusion Module navigates to the multiple forward direction The first of mark measurement sensor measures flight path and carries out Single cell fusion, further includes：

The forward direction Fusion Module determine the multiple forward direction flight path measurement sensor first measure flight path between there is no close The first of connection relationship measures flight path；

The forward direction Fusion Module measures selection in flight path and meets and preset the of reserve from there is no the first of incidence relation One measures flight path.

4. according to the method described in claim 3, it is characterized in that, the forward direction Fusion Module is from there is no the of incidence relation One, which measures selection in flight path, meets the first measurement flight path for presetting reserve, including：

The forward direction Fusion Module judges that there is no the first of incidence relation to measure the corresponding forward direction flight path measurement sensor of flight path Whether be before to imaging sensor；If so, selection described first measures flight path；If not, it is determined that described first measures flight path Threat, selection, which meets, to be preset the first of Threat condition and measures flight path.

5. according to the method described in claim 1, it is characterized in that, the overall situation Fusion Module is based on the forward direction fusion results In the fusion moment, the first measurement time in the forward direction fusion results, each front side flight path measurement sensor correspond to The first measurement time, the fusion flight path in the forward direction fusion results, first in the forward direction fusion results are measured and navigated Mark and the first measurement flight path of the multiple front side flight path measurement sensor carry out secondary fusion, including：

Flight path and described is measured more to the fusion flight path in the forward direction fusion results, first in the forward direction fusion results The first of a front side flight path measurement sensor measures the unification that flight path carries out data format, obtains corresponding second and measures flight path；

Based on the fusion moment in the forward direction fusion results, the first measurement time in the forward direction fusion results, Mei Gesuo Corresponding first measurement time of front side flight path measurement sensor is stated, time synchronization is carried out to each system flight path of storage, is obtained Each corresponding prediction flight path of the system flight path；

Based on each prediction flight path, being associated between each second measurement flight path and each system flight path is determined Relationship；

Based on the incidence relation, the system flight path that updates storage.

6. according to the method described in claim 5, it is characterized in that, described based on each prediction flight path, each institute is determined The incidence relation between the second measurement flight path and each system flight path is stated, including：

7. according to the method described in claim 6, it is characterized in that, the lookup is measured with the second of the prediction track matching Flight path, including：

Centered on the prediction flight path, searches and surveyed with the presence or absence of at least one second in preset range around the prediction flight path Measure flight path；

8. a kind of secondary cascade emerging system of data, which is characterized in that the system comprises：

Forward direction Fusion Module measures flight path and each described first for obtaining the first of multiple forward direction flight path measurement sensors Measure corresponding first measurement time of flight path；

The forward direction Fusion Module is additionally operable to measure flight path progress once to the first of the multiple forward direction flight path measurement sensor Fusion, to fusion results before obtaining, the forward direction fusion results include：At least one fusion flight path, each fusion flight path correspond to The fusion moment, meet preset the first of reserve measure flight path and it is each meet preset the first of reserve and measure boat Corresponding first measurement time of mark；

Global Fusion Module, first for obtaining the forward direction fusion results, multiple front side flight path measurement sensors measures boat Mark and corresponding first measurement time of each front side flight path measurement sensor；

The overall situation Fusion Module, is additionally operable to based on the fusion moment in the forward direction fusion results, the forward direction fusion results In the first measurement time, corresponding first measurement time of each front side flight path measurement sensor, the forward direction is merged As a result first in fusion flight path, the forward direction fusion results in measures flight path and the multiple front side flight path measures sensing The first of device measures flight path and carries out secondary fusion.

9. a kind of mobile unit, which is characterized in that including：

Processor, memory, network interface and user interface；

The processor is by the program for calling the memory to store or instruction, for executing such as any one of claim 1 to 7 The step of the method.

10. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited Computer instruction is stored up, the computer instruction makes the computer execute the step such as any one of claim 1 to 7 the method Suddenly.