CN109949570A - A kind of context aware systems - Google Patents
A kind of context aware systems Download PDFInfo
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- CN109949570A CN109949570A CN201910181149.7A CN201910181149A CN109949570A CN 109949570 A CN109949570 A CN 109949570A CN 201910181149 A CN201910181149 A CN 201910181149A CN 109949570 A CN109949570 A CN 109949570A
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Abstract
The invention discloses a kind of context aware systems, including machine vision module, millimeter wave radar module and laser radar module, the machine vision module, millimeter wave radar module and laser radar module are connected with jointly is overlapped object determination module, the coincidence object determination module, which is connected with, is overlapped object list block, the coincidence object list block is connected with Fusion Module, the Fusion Module is connected with former tracking object module, it is new to track object module and without attribute objectives module, the former tracking object module is connected with ID distribution module, the ID distribution module is connected with the second tracking object listing, the second tracking object listing is connected with property distribution module and prediction module, the property distribution module is connected with the 4th tracking list block, the prediction module is connected with Fusion Module, the coincidence object determination module and second with Track object listing is connected separately with data recordin module.The present invention effectively realizes detection, guarantees traffic safety.
Description
Technical field
The present invention relates to wisdom traffic technical field, specially a kind of context aware systems.
Background technique
In recent years, Automobile Enterprises and Internet enterprises start the research and development of intelligent automobile one after another, form in intelligent driving technology
In unit, context aware systems are a vital rings, be intelligent vehicle safety and intelligence guarantee, Automobile Enterprises and mutually
Networking enterprise starts the research and development of intelligent automobile one after another, and intelligent, net connectionization will become the trend of automobile industry technology development.With
Sensor, navigation, the rapid development of cloud computing technology and intelligence communication and road equipment constantly improve, as intelligent automobile
The pilotless automobile of ultimate developing stage is bound to come into actual life in the near future, changes existing travel pattern.
Context aware systems are the guarantees of intelligent vehicle safety and intelligence.Wherein the detection of road information is environment sensing
The key problem of system, lane detection technology, obstacle detection technology and road edge identification based on road information detection
Technology belongs to the key technology of intelligent vehicle sensory perceptual system, be automatic driving vehicle be capable of discretionary security drive precondition, one
Straight is also the key points and difficulties of research.
But the non-blind area environment sensing of existing 0.1 meter of -100 meters of range of vehicle-surroundings, the relative position error are centimetre
Grade, the critical state informations such as speed, car body obliqueness evaluated error≤± 3% realize laterally opposed location error≤10 centimetre, indulge
To the relative position error≤30 centimetre, the critical state informations such as speed, car body obliqueness evaluated error≤± 5%, there are technical
Error.
Summary of the invention
The purpose of the present invention is to provide a kind of context aware systems, pass through machine vision module, millimeter wave radar module
With laser radar module, the data that will test, which are input to, is overlapped object determination module, determines the barrier encountered when driving and its
His vehicle；Go out former tracking target by Fusion Module convergence analysis.New tracking target simultaneously proposes to facilitate subsequent without attribute objectives
Tracking；It is the former tracking target ID new with new tracking Target Assignment by ID distribution module, convenient for subsequent more tracking；Pass through number
The new tracking data of data is recorded out according to logging modle, continues the former target of tracking by prediction module prediction；Whole system is followed
The detection of ring, the effective detection realized to traffic information, technology for eliminating error guarantees good detection effect, on solving
State the problem of proposing in background technique.
To achieve the above object, the invention provides the following technical scheme: a kind of context aware systems, including machine vision mould
Block, millimeter wave radar module and laser radar module, the machine vision module, millimeter wave radar module and laser radar module
It is connected with jointly and is overlapped object determination module, the coincidence object determination module, which is connected with, is overlapped object list block, the coincidence object column
Table module is connected with Fusion Module, and the Fusion Module is connected with former tracking object module, new tracking object module and without attribute
Object module, the former tracking object module are connected with ID distribution module, and the ID distribution module is connected with the second tracking target
List, the second tracking object listing are connected with property distribution module and prediction module, and the property distribution module is connected with
4th tracking list block, the prediction module are connected with Fusion Module, the coincidence object determination module and the second tracking target
List is connected separately with data recordin module.
Preferably, the coincidence object determination module includes fore-and-aft distance module, longitudinal velocity module and orientation Corner Block List Representation, institute
State fore-and-aft distance module, longitudinal velocity module and orientation Corner Block List Representation be connected separately with the first coincidence list, second be overlapped list and
Third is overlapped list, and the first coincidence list, the second coincidence list and third are overlapped list and are connected with statistical module jointly, institute
It states statistical module and is connected with non-coincidence target processing module, the non-coincidence target processing module is connected with data recordin module.
Preferably, the Fusion Module includes ID detection module, and the ID detection module includes exact matching module, part
Matching module is overlapped without tracking module and tracking without coincidence module, and the exact matching module is connected with longitudinal velocity matching mould
Block, the longitudinal velocity matching module are connected with attributive analysis module, and the part matching module is connected with attributive analysis module,
The attributive analysis module, coincidence track object module without coincidence module without tracking module and tracking with original respectively, newly track mesh
Mark module is connected with no attribute objectives module.
Preferably, the ID distribution module includes former tracking ID module, new ID module and delete list module, it is described it is former with
Track ID module, new ID module and delete list module are respectively with original tracking object module, new tracking object module and without attribute mesh
Module is marked to be connected.
Preferably, the millimeter wave radar module is millimetre-wave radar, and the laser radar module is laser radar.
Preferably, the data recordin module is memory.
Preferably, the ID distribution module is ID distributor.
Preferably, the coincidence object determination module, Fusion Module, distribution module and prediction module are AMD processor.
Preferably, the ID detection module is ID detector.
Compared with prior art, the beneficial effects of the present invention are: the present invention passes through machine vision module, millimetre-wave radar mould
Block and laser radar module, the data that will test, which are input to, is overlapped object determination module, determine when driving the barrier that is encountered and
Other vehicles；Go out former tracking target by Fusion Module convergence analysis.New tracking target simultaneously proposes to facilitate subsequent without attribute objectives
Tracking；It is the former tracking target ID new with new tracking Target Assignment by ID distribution module, convenient for subsequent more tracking；Pass through
Data recordin module records out the new tracking data of data, continues the former target of tracking by prediction module prediction；Whole system
The detection of circulation, the effective detection realized to traffic information, technology for eliminating error guarantee good detection effect.
Detailed description of the invention
Fig. 1 is a kind of context aware systems figure of the present invention；
Fig. 2 is a kind of coincidence object determination module figure of context aware systems of the present invention；
Fig. 3 is a kind of Fusion Module figure of context aware systems of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the present invention provides a kind of technical solution: a kind of context aware systems, including machine vision module,
Millimeter wave radar module and laser radar module, the machine vision module, millimeter wave radar module and laser radar module are total
It is overlapped object determination module with being connected with, the coincidence object determination module, which is connected with, is overlapped object list block, the coincidence object list
Module is connected with Fusion Module, and the Fusion Module is connected with former tracking object module, new tracking object module and without attribute mesh
Module is marked, the former tracking object module is connected with ID distribution module, and the ID distribution module is connected with the second tracking target column
Table, the second tracking object listing are connected with property distribution module and prediction module, and the property distribution module is connected with the
Four tracking list blocks, the prediction module are connected with Fusion Module, the coincidence object determination module and the second tracking target column
Table is connected separately with data recordin module.
Specifically, the coincidence object determination module includes fore-and-aft distance module, longitudinal velocity module and orientation Corner Block List Representation, institute
State fore-and-aft distance module, longitudinal velocity module and orientation Corner Block List Representation be connected separately with the first coincidence list, second be overlapped list and
Third is overlapped list, and the first coincidence list, the second coincidence list and third are overlapped list and are connected with statistical module jointly, institute
It states statistical module and is connected with non-coincidence target processing module, the non-coincidence target processing module is connected with data recordin module.
Specifically, the Fusion Module includes ID detection module, the ID detection module includes exact matching module, part
Matching module is overlapped without tracking module and tracking without coincidence module, and the exact matching module is connected with longitudinal velocity matching mould
Block, the longitudinal velocity matching module are connected with attributive analysis module, and the part matching module is connected with attributive analysis module,
The attributive analysis module, coincidence track object module without coincidence module without tracking module and tracking with original respectively, newly track mesh
Mark module is connected with no attribute objectives module.
Specifically, the ID distribution module includes former tracking ID module, new ID module and delete list module, it is described it is former with
Track ID module, new ID module and delete list module are respectively with original tracking object module, new tracking object module and without attribute mesh
Module is marked to be connected.
Specifically, the millimeter wave radar module is millimetre-wave radar, the laser radar module is laser radar, laser
Radar is with the radar system of the characteristic quantities such as the position, the speed that emit detecting laser beam target, its working principle is that objective emission
Then the reflected target echo of slave target received is compared with transmitting signal, makees appropriate place by exploring laser light beam
After reason, so that it may obtain target for information about, such as target range, orientation, height, speed, posture, even shape parameter, from
And the targets such as aircraft, guided missile are detected, tracked and are identified, in such a way that laser radar is matched with millimetre-wave radar,
Effectively realize the detection adjusted the distance, tracking.
Specifically, the data recordin module is memory, effective storing data.
Specifically, the ID distribution module facilitates subsequent chase after for providing new ID for fresh target for ID distributor
Track.
Specifically, the coincidence object determination module, Fusion Module, distribution module and prediction module are AMD processor, just
In judgement, fusion, distribution and prediction, whole effect is realized.
Specifically, the ID detection module is ID detector, for detecting ID, facilitates and propose invalid ID.
In summary: the present invention acquires traffic information by traffic data collection module in real time, and passes through Cloud Server reality
Shi Jinhang publication and early warning analysis quickly can be acquired analysis, real-time release, by adding highway prison to traffic big data
Control center can be acquired weather information, after being transmitted to traffic control maneuvering platform, Cloud Server be recycled to be published to letter
Breath delivery system summarizes, and carries out information publication by mobile phone publication, website orientation, LED publication and radio station publication, can also pass through
Wechat and QQ are issued, convenient to check and understand traffic information, and rapid pretension in time, improve the timeliness of information preload
And accuracy, traffic information is provided for traffic trip, is adjusted in time convenient for going out administrative staff, a kind of environment sensing system of the present invention
System is not only that trip personnel provide traffic information, while can provide weather information, while being pre-tightened for road traffic condition,
Administrative staff is facilitated out, the labour of traffic administration personnel is also reduced, is suitble to be widely popularized.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of context aware systems, including machine vision module, millimeter wave radar module and laser radar module, feature exist
In: the machine vision module, millimeter wave radar module and laser radar module are connected with jointly is overlapped object determination module, described
It is overlapped object determination module and is connected with coincidence object list block, the coincidence object list block is connected with Fusion Module, the fusion
Module is connected with former tracking object module, new tracking object module and without attribute objectives module, and the former tracking object module connects
It is connected to ID distribution module, the ID distribution module is connected with the second tracking object listing, the second tracking object listing connection
There are property distribution module and prediction module, the property distribution module is connected with the 4th tracking list block, the prediction module
It is connected with Fusion Module, the coincidence object determination module and the second tracking object listing are connected separately with data recordin module.
2. a kind of context aware systems according to claim 1, it is characterised in that: the coincidence object determination module includes vertical
To spacing module, longitudinal velocity module and orientation Corner Block List Representation, the fore-and-aft distance module, longitudinal velocity module and orientation Corner Block List Representation
It is connected separately with the first coincidence list, the second coincidence list and third and is overlapped list, described first is overlapped list, the second coincidence column
Table and third are overlapped list and are connected with statistical module jointly, and the statistical module is connected with non-coincidence target processing module, described
Non-coincidence target processing module is connected with data recordin module.
3. a kind of context aware systems according to claim 1, it is characterised in that: the Fusion Module includes ID detection mould
Block, the ID detection module include exact matching module, part matching module, are overlapped without tracking module and tracking without two-step die
Block, the exact matching module are connected with longitudinal velocity matching module, and the longitudinal velocity matching module is connected with attributive analysis
Module, the part matching module are connected with attributive analysis module, and the attributive analysis module is overlapped without tracking module and tracking
It is connected respectively with original tracking object module, new tracking object module and without attribute objectives module without coincidence module.
4. a kind of context aware systems according to claim 1, it is characterised in that: the ID distribution module includes former tracking
ID module, new ID module and delete list module, the former tracking ID module, new ID module and delete list module respectively with original
Tracking object module, new tracking object module are connected with no attribute objectives module.
5. a kind of context aware systems according to claim 1, it is characterised in that: the millimeter wave radar module is millimeter
Wave radar, the laser radar module are laser radar.
6. a kind of context aware systems according to claim 1, it is characterised in that: the data recordin module is storage
Device.
7. a kind of context aware systems according to claim 1, it is characterised in that: the ID distribution module is ID distribution
Device.
8. a kind of context aware systems according to claim 1, it is characterised in that: the coincidence object determination module, fusion
Module, distribution module and prediction module are AMD processor.
9. a kind of context aware systems according to claim 3, it is characterised in that: the ID detection module is ID detection
Device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910181149.7A CN109949570A (en) | 2019-04-30 | 2019-04-30 | A kind of context aware systems |
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| CN201910181149.7A CN109949570A (en) | 2019-04-30 | 2019-04-30 | A kind of context aware systems |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112712717A (en) * | 2019-10-26 | 2021-04-27 | 华为技术有限公司 | Information fusion method and system |
| WO2021077818A1 (en) * | 2019-10-26 | 2021-04-29 | 华为技术有限公司 | Method and system for predicting motion trajectory |
| US11037382B2 (en) * | 2018-11-20 | 2021-06-15 | Ford Global Technologies, Llc | System and method for evaluating operation of environmental sensing systems of vehicles |
-
2019
- 2019-04-30 CN CN201910181149.7A patent/CN109949570A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11037382B2 (en) * | 2018-11-20 | 2021-06-15 | Ford Global Technologies, Llc | System and method for evaluating operation of environmental sensing systems of vehicles |
| CN112712717A (en) * | 2019-10-26 | 2021-04-27 | 华为技术有限公司 | Information fusion method and system |
| WO2021077809A1 (en) * | 2019-10-26 | 2021-04-29 | 华为技术有限公司 | Information fusion method and system |
| WO2021077818A1 (en) * | 2019-10-26 | 2021-04-29 | 华为技术有限公司 | Method and system for predicting motion trajectory |
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