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Open AccessArticle

Research on Target Detection Based on Distributed Track Fusion for Intelligent Vehicles

by 1, 2,* and 2
1
Hubei Key Laboratory of Advanced Technology of Automotive Components, Wuhan University of Technology, Wuhan 430000, China
2
Hubei Collaborative Innovation Center of Automotive Components Technology, Wuhan University of Technology, Wuhan 430000, China
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(1), 56; https://doi.org/10.3390/s20010056
Received: 18 November 2019 / Revised: 12 December 2019 / Accepted: 18 December 2019 / Published: 20 December 2019
(This article belongs to the Special Issue Sensors and Sensor's Fusion in Autonomous Vehicles)
Accurate target detection is the basis of normal driving for intelligent vehicles. However, the sensors currently used for target detection have types of defects at the perception level, which can be compensated by sensor fusion technology. In this paper, the application of sensor fusion technology in intelligent vehicle target detection is studied with a millimeter-wave (MMW) radar and a camera. The target level fusion hierarchy is adopted, and the fusion algorithm is divided into two tracking processing modules and one fusion center module based on the distributed structure. The measurement information output by two sensors enters the tracking processing module, and after processing by a multi-target tracking algorithm, the local tracks are generated and transmitted to the fusion center module. In the fusion center module, a two-level association structure is designed based on regional collision association and weighted track association. The association between two sensors’ local tracks is completed, and a non-reset federated filter is used to estimate the state of the fusion tracks. The experimental results indicate that the proposed algorithm can complete a tracks association between the MMW radar and camera, and the fusion track state estimation method has an excellent performance. View Full-Text
Keywords: intelligent vehicle; target detection; MMW radar; camera; sensor fusion intelligent vehicle; target detection; MMW radar; camera; sensor fusion
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MDPI and ACS Style

Chen, B.; Pei, X.; Chen, Z. Research on Target Detection Based on Distributed Track Fusion for Intelligent Vehicles. Sensors 2020, 20, 56.

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