中国机械工程2024，Vol.35Issue(3)：427-437,11.DOI:10.3969/j.issn.1004-132X.2024.03.005
隧道环境内无人驾驶车辆目标-决策两级信息融合感知策略
Research on Two-level Fusion Strategy of Unmanned Driving Perception Information Target-decision under Tunnel Environments
摘要
Abstract
Based on the special driving environment in the tunnel and the perception requirements of unmanned driving,appropriate sensors and hardware were chosen to build a test vehicle and a per-ception system of multi-sensor fusion of millimeter-wave radar and camera.A two-level information fusion algorithm of"target-decision"was proposed based on YOLOv4 target-level information fusion algorithm and improved D-S evidence theory.Finally,a verification test of perception information two-level fusion was carried out in the urban road tunnel environments.The results show that in the tunnel environments,compared with the single camera or the millimeter-wave radar sensing results,the target-level fusion result based on the association of the camera and the millimeter-wave radar sen-sor to perceive the ROI area may improve the recognition accuracy by 9.51%,making up for the shortcomings of a single sensor in the tunnel environment perception technology.Based on the target-level fusion perception results,using the improved D-S evidence theory algorithm to perform decision-level fusion,compared with the single target-level fusion results,the false detection rate is reduced by 3.61%,which significantly improves detection accuracy.By adopting the multi-sensor sensing infor-mation target-decision-making two-level fusion strategy,it may meet the reliable sensing require-ments of unmanned vehicles in the special tunnel environments,and provide theoretical and technical support for promoting the applications of unmanned controlled technology.关键词
隧道环境/无人驾驶/多传感器融合/D-S证据理论/"目标-决策"两级融合策略Key words
tunnel environment/unmanned driving technology/multi-sensor fusion/D-S evi-dence theory/"target-decision"two-level fusion strategy分类
信息技术与安全科学引用本文复制引用
王茂森,鲍久圣,谢厚抗,刘同冈,阴妍,章全利..隧道环境内无人驾驶车辆目标-决策两级信息融合感知策略[J].中国机械工程,2024,35(3):427-437,11.基金项目
江苏省科技成果转化专项资金(BA2023035) （BA2023035）
中央高校基本科研业务费专项资金(2022XSCX27) （2022XSCX27）
江苏高校优势学科建设工程项目(PAPD) （PAPD）
