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1. WO2019114807 - MULTI-SENSOR TARGET INFORMATION FUSION

Publication Number WO/2019/114807
Publication Date 20.06.2019
International Application No. PCT/CN2018/121008
International Filing Date 14.12.2018
IPC
G06K 9/62 2006.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
62Methods or arrangements for recognition using electronic means
CPC
G06F 17/16
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
17Digital computing or data processing equipment or methods, specially adapted for specific functions
10Complex mathematical operations
16Matrix or vector computation ; , e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
G06K 9/6288
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
62Methods or arrangements for recognition using electronic means
6288Fusion techniques, i.e. combining data from various sources, e.g. sensor fusion
G06K 9/6289
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
62Methods or arrangements for recognition using electronic means
6288Fusion techniques, i.e. combining data from various sources, e.g. sensor fusion
6289of input or preprocessed data
Applicants
  • 蔚来汽车有限公司 NIO NEXTEV LIMITED [CN]/[CN]
Inventors
  • 彭思崴 PENG, Siwei
Agents
  • 中国专利代理(香港)有限公司 CHINA PATENT AGENT (HK) LTD.
Priority Data
201711346193.615.12.2017CN
Publication Language Chinese (zh)
Filing Language Chinese (ZH)
Designated States
Title
(EN) MULTI-SENSOR TARGET INFORMATION FUSION
(FR) FUSION D'INFORMATIONS CIBLES DE CAPTEURS MULTIPLES
(ZH) 多传感器目标信息融合
Abstract
(EN) The present invention relates to multi-sensor target information fusion. An optimization method for the multi-sensor target information fusion of the present invention comprises the following steps: for each time point, acquiring a fusion prediction result for all sensors related to a target state at a current time point; acquiring an actual measurement result of each sensor related to the target state at the current time point; for each actual measurement result, acquiring, on the basis of the fusion prediction result and the actual measurement result, an optimal estimated result of the corresponding sensor related to the target state at the current time point; and fusing the optimal estimated result of each sensor to determine a weight corresponding to the optimal estimated result, and accordingly acquiring an optimal fusion estimated result related to the target state at the current time point.
(FR) L'invention concerne une fusion d'informations cibles de capteurs multiples. Un procédé d'optimisation pour la fusion d'informations cibles de capteurs multiples selon la présente invention comprend les étapes suivantes consistant à : pour chaque instant, acquérir un résultat de prédiction de fusion pour tous les capteurs associés à un état cible à un instant courant; acquérir un résultat de mesure réelle de chaque capteur associé à l'état cible à l'instant courant; pour chaque résultat de mesure réelle, acquérir, sur la base du résultat de prédiction de fusion et du résultat de mesure réelle, un résultat estimé optimal du capteur correspondant associé à l'état cible à l'instant courant; et fusionner le résultat estimé optimal de chaque capteur pour déterminer un poids correspondant au résultat estimé optimal, et acquérir en conséquence un résultat estimé de fusion optimal lié à l'état cible à l'instant courant.
(ZH) 本发明涉及多传感器目标信息融合。本发明的多传感器目标信息融合的优化方法包括以下步骤:针对每个时刻,获得在当前时刻的关于目标状态的所有传感器的融合预测结果;获得在当前时刻的各个传感器关于目标状态的实际测量结果;针对每一套实际测量结果,基于所述融合预测结果和该套实际测量结果来获得在当前时刻的相应传感器关于目标状态的最优估计结果;以及对所有传感器的所述最优估计结果进行融合以确定每个所述最优估计结果对应的权重、进而获得在当前时刻的关于目标状态的最优融合估计结果。
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