Collaborative processing and data optimization of environmental perception technologies for autonomous vehicles
| Autor: | Zhenting Chang, Xiaosong Liu, Haina Song, Jingfeng Yang, Shengpei Zhou, Yuejiang Su |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Computer science Pedestrian detection 020208 electrical & electronic engineering Real-time computing Fault tolerance Video camera 02 engineering and technology Sensor fusion Industrial and Manufacturing Engineering law.invention Scheduling (computing) 020901 industrial engineering & automation Data acquisition Control and Systems Engineering law 0202 electrical engineering electronic engineering information engineering Redundancy (engineering) Test data |
| Zdroj: | Assembly Automation. 41:283-291 |
| ISSN: | 0144-5154 |
| DOI: | 10.1108/aa-01-2021-0007 |
| Popis: | Purpose Autonomous driving depends on the collection, processing and analysis of environmental information and vehicle information. Environmental perception and processing are important prerequisite for the safety of self-driving of vehicles; it involves road boundary detection, vehicle detection, pedestrian detection using sensors such as laser rangefinder, video camera, vehicle borne radar, etc. Design/methodology/approach Subjected to various environmental factors, the data clock information is often out of sync because of different data acquisition frequency, which leads to the difficulty in data fusion. In this study, according to practical requirements, a multi-sensor environmental perception collaborative method was first proposed; then, based on the principle of target priority, large-scale priority, moving target priority and difference priority, a multi-sensor data fusion optimization algorithm based on convolutional neural network was proposed. Findings The average unload scheduling delay of the algorithm for test data before and after optimization under different network transmission rates. It can be seen that with the improvement of network transmission rate and processing capacity, the unload scheduling delay decreased after optimization and the performance of the test results is the closest to the optimal solution indicating the excellent performance of the optimization algorithm and its adaptivity to different environments. Originality/value In this paper, the results showed that the proposed method significantly improved the redundancy and fault tolerance of the system thus ensuring fast and correct decision-making during driving. |
| Databáze: | OpenAIRE |
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