Research on Road Condition Sensing Technology based on Vision and Radar Information

In the process of intelligent vehicle driving, due to the complexity of the environment, a single sensor or multiple homogeneous sensors cannot completely perceive the traffic environment around the intelligent vehicle. Therefore, it is necessary to study the information fusion scheme of different sensors and make use of the advantages of each sensor to make up for the deficiency of a single sensor, so as to realize the function of cooperation and mutual compensation between multiple sensors. In this paper, millimeter-wave radar and camera are selected as sensors for an intelligent vehicle to sense the environment ahead. Firstly, in the case of time and space synchronization of the two types of signals, fusion based on the cross-ratio of detection frames is used to find the region of common interest of radar and camera for fusion. Then the fusion based on data association is adopted. The experimental results show that the method based on radar and camera data can effectively realize accurate target recognition and location, and can meet the requirements of real-time accuracy in the application of intelligent vehicles.