CN114545385A - Fusion target detection method based on vehicle-mounted forward-looking camera and forward millimeter wave radar - Google Patents
Fusion target detection method based on vehicle-mounted forward-looking camera and forward millimeter wave radar Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The invention relates to a fusion target detection method based on a vehicle-mounted forward-looking camera and a forward millimeter wave radar, which comprises the following steps: step S1, the vehicle-mounted front camera collects the image in front of the vehicle and outputs the target information of the camera, if the type of the camera target is a truck, the step S2 is carried out, otherwise, the process is ended; step S2, searching an initial radar target and outputting initial radar target information; step S3, distinguishing a main target and a split target in the initial radar target, if the initial radar target does not comprise the split target, acquiring main target information as final radar target information, and performing step S5; if the initial radar target comprises the split target, the step S4 is carried out; step S4, respectively acquiring main target information and split target information, and acquiring final radar target information; and step S5, acquiring a fusion target by using a fusion algorithm. The invention can enable the ADAS system to enter an acceleration mode or a braking mode in advance, thereby enabling each function to be executed more smoothly and comfortably.
Description
Technical Field
The invention relates to the technical field of automobile auxiliary driving, in particular to a fusion target detection method based on a vehicle-mounted forward-looking camera and a forward millimeter wave radar.
Background
In an application scenario of an automobile Assisted Driving (ADAS) System, when an obstacle exists in front of a vehicle or the distance between the vehicle and a front vehicle is too close, the ADAS can send a braking function to guarantee the safety of a journey. However, large trucks are a more specific class of targets: the vehicle body is long, wide and large in size, and when the millimeter wave radar detects the millimeter wave radar, a plurality of reflection points are generated and are often clustered into a plurality of targets.
As shown in the large truck target of fig. 1, the radar reflection points are clustered into 3 points, which are located at the rear, side of the body, and side of the head, respectively, i.e., solid points R1, R2, and R3 as shown. The camera target output is based on the recognition rectangular frame formed at the tail of the vehicle, and as shown in the figure, C1 is the position of the truck target output by the camera. Because the distance deviation between R2, R3 and C1 is too large, if R2 or R3 is selected as the radar target point, the distance judgment of the fusion target is wrong, so the fusion target is usually excluded from the association range with C1 by the fusion algorithm, and C1 and R1 are associated to form the fusion target. However, when such truck target is lane-changed into the lane where the vehicle is located in front of the vehicle, i.e. R3 or R2 has been lane-changed into the lane, but the system may consider the target after C1 and R1 are merged to be still in the adjacent lane, and when the ADAS system receives such information, especially when the ACC function is turned on, the brake is started late and dangerous.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a fusion target detection method based on a vehicle-mounted forward-looking camera and a forward millimeter wave radar, which is used for fusing a large truck target, so that an ADAS (adaptive navigation System) can enter an acceleration mode or a braking mode in advance when a vehicle detects that a large truck exists in front, and the driving safety is guaranteed.
The invention provides a fusion target detection method based on a vehicle-mounted forward-looking camera and a forward millimeter wave radar, which comprises the following steps:
step S1, the vehicle-mounted front-view camera collects the image in front of the vehicle, acquires a camera target and outputs camera target information, if the type of the camera target is a truck, the step S2 is carried out, otherwise, the flow is ended;
step S2, finding an initial radar target formed by a forward millimeter wave radar on a truck in the track range of the vehicle-mounted forward-looking camera, and outputting initial radar target information;
step S3, distinguishing a main target and a split target in the initial radar target according to the initial radar target information, if the initial radar target does not include the split target, acquiring the main target information as final radar target information, and performing step S5; if the initial radar target comprises the split target, the step S4 is carried out;
step S4, respectively acquiring main target information and split target information, and acquiring final radar target information according to the main target information and the split target information;
and step S5, acquiring a fusion target by using a fusion algorithm according to the final radar target information and the camera target information.
Further, the camera target information includes a camera target type, a width of the camera target, a longitudinal distance of the camera target, a transverse distance of the camera target, a longitudinal speed of the camera target, a transverse speed of the camera target, and a camera target state.
Further, the initial radar target information includes an energy level of an electromagnetic wave reflected by the initial radar target, a width of the initial radar target, a longitudinal distance of the initial radar target, a lateral distance of the initial radar target, a longitudinal speed of the initial radar target, a lateral speed of the initial radar target, and an initial radar target state.
Further, the step S3 further includes: judging whether the number of the split targets exceeds two, if so, ending the process; if not, the process proceeds to step S4.
Further, the information of the main target includes the energy of the electromagnetic wave reflected by the main target, the width of the main target, the longitudinal distance of the main target, the transverse distance of the main target, the longitudinal velocity of the main target, the transverse velocity of the main target and the state of the main target.
Further, the split target information includes the energy of the electromagnetic wave reflected by the split target, the width of the split target, the longitudinal distance of the split target, the transverse distance of the split target, the longitudinal speed of the split target, the transverse speed of the split target, and the state of the split target.
Further, the method for acquiring the final radar target information in step S4 specifically includes: and taking the electromagnetic wave energy reflected by the main target as the electromagnetic wave energy of the final radar target, taking the width of the main target as the width of the final radar target, taking the longitudinal distance of the main target as the longitudinal distance of the final radar target, taking the transverse distance of the main target as the transverse distance of the final radar target, taking the longitudinal speed of the main target as the longitudinal speed of the final radar target, taking the transverse speed of the main target as the transverse speed of the final radar target, and taking the state of the split target positioned at the foremost end of the truck as the state of the final radar target.
Aiming at the special target type of the truck, the invention adopts a main and multi-attached representation method to describe the fusion target, so that the ADAS system can enter an acceleration mode or a braking mode in advance, and further, each function can be executed more smoothly and comfortably.
Drawings
FIG. 1 is a schematic diagram of a large truck target fusion.
Fig. 2 is a flowchart of a fusion target detection method based on a vehicle-mounted front-view camera and a forward millimeter wave radar according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 2, the method for detecting a fusion target based on a vehicle-mounted forward-looking camera and a forward millimeter wave radar provided by the invention comprises the following steps:
step S1, the vehicle-mounted front-view camera collects the image in front of the vehicle, acquires a camera target, and outputs camera target information, wherein the camera target information comprises the camera target type (such as pedestrians, bicycles, cars, trucks and the like), the width of the camera target, the longitudinal distance of the camera target, the transverse distance of the camera target, the longitudinal speed of the camera target, the transverse speed of the camera target and the camera target state (such as static, accelerating, decelerating, cutting and the like); and when the camera target type is the truck, performing step S2, otherwise, ending the process.
Camera target information CmCan be expressed by the following formula:
in the formula, CT _ type represents a camera target type; CT _ width represents the width of the camera target; CT _ dx represents the longitudinal distance of the camera target; CT _ dy represents the lateral distance of the camera target; CT _ vx represents the longitudinal velocity of the camera target; CT _ vy represents the lateral velocity of the camera target; CT _ status represents the camera target state.
And step S2, finding an initial radar target formed by the forward millimeter wave radar on the truck in the track range of the vehicle-mounted forward-looking camera, and outputting initial radar target information. The initial radar target information includes an energy level of an electromagnetic wave reflected by the initial radar target, a width of the initial radar target, a longitudinal distance of the initial radar target, a lateral distance of the initial radar target, a longitudinal velocity of the initial radar target, a lateral velocity of the initial radar target, and an initial radar target state (e.g., stationary, accelerating, decelerating, cutting in, cutting out, etc.). The found initial radar target meets the requirement of being capable of being fused with the camera target, namely, the distance difference, the speed difference, the track initiation and other parameters of the camera target and the radar target meet the association strategy of the current fusion algorithm. For example, when the longitudinal distance CT _ dx of the current camera target is within the range of (D1, D2), the distance difference between a target capable of fusion association and the camera target is set to Δ D, the speed difference between a target capable of fusion association and the camera target is set to Δ v, and the track of the target is once associated by the fusion track.
Initial radar target information RmCan be expressed by the following formula:
in the formula, RT _ rcs represents the energy of the electromagnetic wave reflected by the initial radar target; RT _ width represents the width of the initial radar target; RT _ dx represents the longitudinal distance of the initial radar target; RT _ dy represents the transverse distance of the initial radar target, and RT _ vx represents the longitudinal speed of the initial radar target; RT _ vy represents the lateral velocity of the initial radar target; RT _ status represents the initial radar target state; RT _ num represents the number of sub-targets in the initial radar target, if RT _ num>1, indicating that the initial radar target comprises a main target and a split target, and indicating initial radar target information RmA new class including a primary target and all split targets; RT _ expandInfo [ num-1 [ ]]Representing split target information.
Step S3, distinguishing a main target and a split target in the initial radar target according to the initial radar target information, if the initial radar target does not include the split target, acquiring the main target information as final radar target information, and performing step S5; if the initial radar target includes the split target, the process proceeds to step S4.
The method for dividing the main target and the split target in the initial radar target comprises the following steps: when a plurality of targets with consistent speed and distance exist in the initial radar target, the targets are judged to be split targets. The target with the smallest longitudinal distance is the main target.
In order to avoid causing erroneous determination, step S3 further includes: judging whether the number of the split targets exceeds two, if so, indicating that the found initial radar target is a vehicle in front of the truck, and ending the process; if not, the process proceeds to step S4.
For example,if the initial radar target includes one main target and two split targets (as shown in fig. 1), the initial radar target information RmExpressed as:
in the formula, 3 denotes three targets in total in the initial radar target, and rm.rt _ rcs to rm.rt _ status denote the amount of electromagnetic wave energy reflected by the main target R1, the width of the main target R1, the longitudinal distance of the main target R1, the lateral distance of the main target R1, the longitudinal velocity of the main target R1, the lateral velocity of the main target R1, and the state of the main target R1, respectively; RT _ expandInfo [2] represents information of two split targets R2 and R3 in the original radar target, which includes RT _ expandInfo [0] and RT _ expandInfo [1 ]. Wherein, the information of the first split target R2 is represented by RT _ expandInfo [0], and the information of the second split target R3 is represented by RT _ expandInfo [1], that is:
wherein R1 _ rcs represents the energy of the electromagnetic wave reflected by the first split target R2; r1 _ width represents the width of the first split target R2; r1 _ dx represents the longitudinal distance of the first split target R2; r1 dy represents the lateral distance of the first split target R2; r1 _vxrepresents the longitudinal velocity of the first split target R2; r1 _vyrepresents the lateral velocity of the first split target R2; r < 1 > _ status represents the state of the first split target R2.
Wherein R2 _ rcs represents the energy of the electromagnetic wave reflected by the second split target R3; r2 _ width represents the width of the second split target R3; r < 2 > _ dx represents the longitudinal distance of the second split target R3; r2 _ dy represents the lateral distance of the second split target R3; r2 _vxrepresents the longitudinal velocity of the second split target R3; r2 _vyrepresents the lateral velocity of the second split target R3; r < 2 > _ status represents the state of the second split target R3.
And step S4, respectively acquiring main target information and split target information, and acquiring final radar target information according to the main target information and the split target information.
The method for acquiring the final radar target information according to the main target information and the split target information specifically comprises the following steps: the method comprises the steps of taking the electromagnetic wave energy reflected by a main target as the electromagnetic wave energy of a final radar target, taking the width of the main target as the width of the final radar target, taking the longitudinal distance of the main target as the longitudinal distance of the final radar target, taking the transverse distance of the main target as the transverse distance of the final radar target, taking the longitudinal speed of the main target as the longitudinal speed of the final radar target, taking the transverse speed of the main target as the transverse speed of the final radar target, and taking the state of a split target positioned at the foremost end of a truck as the state of the final radar target.
And step S5, acquiring a fusion target by using a fusion algorithm according to the final radar target information and the camera target information. The acquired fusion objective may be combined with other algorithms in the ADAS system to allow the vehicle to take further action.
Aiming at the special target type of the truck, the invention adopts a master-attached and multi-attached characterization method to describe the fusion target, and under the condition that one fusion target has master and attached target points, the cut-in or cut-out state of the target point at the forefront represents the state of the fusion target, so that the ADAS system can enter an acceleration mode or a brake mode in advance, and each function can be executed more smoothly and comfortably.
The above embodiments are merely preferred embodiments of the present invention, which are not intended to limit the scope of the present invention, and various changes may be made in the above embodiments of the present invention. All simple and equivalent changes and modifications made according to the claims and the content of the specification of the present application fall within the scope of the claims of the present patent application. The invention has not been described in detail in order to avoid obscuring the invention.
Claims (7)
1. A fusion target detection method based on a vehicle-mounted forward-looking camera and a forward millimeter wave radar is characterized by comprising the following steps:
step S1, the vehicle-mounted front-view camera collects the image in front of the vehicle, acquires a camera target and outputs camera target information, if the type of the camera target is a truck, the step S2 is carried out, otherwise, the flow is ended;
step S2, searching an initial radar target formed by a forward millimeter wave radar on a truck in the track range of the vehicle-mounted forward-looking camera, and outputting initial radar target information;
step S3, distinguishing a main target and a split target in the initial radar target according to the initial radar target information, if the initial radar target does not include the split target, acquiring the main target information as final radar target information, and performing step S5; if the initial radar target comprises the split target, the step S4 is carried out;
step S4, respectively acquiring main target information and split target information, and acquiring final radar target information according to the main target information and the split target information;
and step S5, acquiring a fusion target by using a fusion algorithm according to the final radar target information and the camera target information.
2. The method according to claim 1, wherein the camera target information comprises camera target type, width of camera target, longitudinal distance of camera target, transverse distance of camera target, longitudinal speed of camera target, transverse speed of camera target and camera target state.
3. The method of claim 1, wherein the initial radar target information comprises an amount of electromagnetic wave energy reflected by the initial radar target, a width of the initial radar target, a longitudinal distance of the initial radar target, a lateral distance of the initial radar target, a longitudinal velocity of the initial radar target, a lateral velocity of the initial radar target, and an initial radar target state.
4. The method for detecting the fusion target based on the vehicle-mounted forward-looking camera and the forward millimeter wave radar as claimed in claim 1, wherein the step S3 further comprises: judging whether the number of the split targets exceeds two, if so, ending the process; if not, the process proceeds to step S4.
5. The method as claimed in claim 1, wherein the primary target information includes electromagnetic wave energy reflected by the primary target, width of the primary target, longitudinal distance of the primary target, transverse distance of the primary target, longitudinal velocity of the primary target, transverse velocity of the primary target, and status of the primary target.
6. The method according to claim 5, wherein the split target information comprises the energy of the electromagnetic wave reflected by the split target, the width of the split target, the longitudinal distance of the split target, the transverse distance of the split target, the longitudinal speed of the split target, the transverse speed of the split target and the state of the split target.
7. The method for detecting the fusion target based on the vehicle-mounted forward-looking camera and the forward millimeter wave radar according to claim 6, wherein the method for acquiring the final radar target information in the step S4 specifically comprises: and taking the electromagnetic wave energy reflected by the main target as the electromagnetic wave energy of the final radar target, taking the width of the main target as the width of the final radar target, taking the longitudinal distance of the main target as the longitudinal distance of the final radar target, taking the transverse distance of the main target as the transverse distance of the final radar target, taking the longitudinal speed of the main target as the longitudinal speed of the final radar target, taking the transverse speed of the main target as the transverse speed of the final radar target, and taking the state of the split target positioned at the foremost end of the truck as the state of the final radar target.
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