VISUAL AND RADAR PERCEPTION FUSION METHOD AND TERMINAL DEVICE

• Main Authors: YANG, Jiejun, ZHANG, Zhiteng, WANG, Wenming, ZHOU, Yanhui, PENG, Zhichuan, ZHU, ZeMin, WANG, Quan
• Format: Patent
• Language: English; French; German
• Published: 09.08.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

A vision-radar perception fusion method and a terminal device are provided in the disclosure. The method includes: acquiring a vision target and a radar target in front of a vehicle at a current moment and a tracked target at a previous moment; matching the vision target, the radar target and the tracked target and determining a matching state of each target; determining a type of the each target according to the matching state, the type being a fusion target and a single radar target; and determining a score of each target by combining the matching state and the type of the target, and if the score is greater than or equal to a preset score threshold, a target corresponding to the score being a fusion target. In the method of this disclosure, in the vision-radar perception fusion, a stable and reliable single radar target is output as the fusion target according to information such as an operating state of the vehicle and the dangerous area, which solves problems of flash alarm and false alarm for a single radar, greatly reduces a false detection rate and missing detection rate of the fusion target, and improves precision and stability of target perception; and the method has expansibility.