Driving assistance system based on data fusion of multisource sensors for autonomous unmanned ground vehicles

被引：15
|
作者：
Yang, Jiachen [1 ]
Liu, Shan [1 ]
Su, Hansong [1 ]
Tian, Ying [2 ]
机构：
[1] Tianjin Univ, Sch Elect & Informat Engn, Tianjin, Peoples R China
[2] Anshan Normal Univ, Anshan, Peoples R China
来源：
COMPUTER NETWORKS | 2021年 / 192卷 / 192期
基金：
中国国家自然科学基金;
关键词：
Autonomous driving; Driving assistance system; Data fusion; Panoramic mosaic; Object detection; PHYSICAL IMPAIRMENTS; NETWORK; ART;
D O I：
10.1016/j.comnet.2021.108053
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
Autonomous unmanned ground vehicle is a product of technological development. At present, it has become a trend to provide multi-view real-time environmental state for autonomous unmanned ground vehicles. And more and more object detection algorithms will be applied in autonomous driving. In the recent years, multi sensor-based driving assistance systems have become a way to solve these problems. In this paper, we introduce a driving assistance system based on data fusion of multiple sensors for autonomous driving. On the one hand, six fisheye cameras and twelve ultrasonic radars are used to collect surround-view environmental state. On the other hand, this system uses a low-light camera and a lidar to provide forward-view environmental state. In the meantime, we design panoramic mosaic algorithm, surround-view data fusion algorithm and forward-view data fusion algorithm. Besides, object detection algorithm is used to provide forward-view detection results. This driving assistance system will advance research into autonomous unmanned ground vehicles.
引用
收藏
页数：9
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