At present, the perception method based on bird's-eye view has become the mainstream of autonomous driving perception. It realizes comprehensive perception of the vehicle's surrounding environment by fusing multiple sensors at the feature level. However, the existing multi-modal fusion perception methods based on bird's-eye view usually require extremely high computing resources, especially in the multi-camera view image conversion processing. In addition, the key to multimodal bird's-eye view perception lies in how to efficiently fuse point cloud features and image features. To address these defects, this paper proposes a novel multi-modal bird's-eye view perception algorithm. First, this paper proposes an index lookup calculation method for the conversion of multi-view image features to bird's-eye view perspective. This method greatly reduces the consumption of computing resources without basically reducing information. Secondly, this paper proposes a feature fusion method, which uses a cross-modal attention mechanism to enhance the interaction between different modal features, realize dynamic spatiotemporal alignment and fusion. Experimental results show that the method proposed in this paper can effectively perceive the environment and can be deployed on a real vehicle platform for real-time detection.
The traditional AGV(Automated Guided Vehicle) magnetic circulation method has the problem of discontinuous magnetic field detection, which seriously affects the subsequent lateral PID adjustment process of the vehicle. This article proposes a magnetic field based control algorithm which takes the total spatial magnetic field intensity detected by multiple magnetic navigation sensors as the measurement value, the total multi-channel magnetic field intensity when the magnetic navigation sensor is located directly above the magnetic guidance path as the standard reference peak, and the difference between the standard reference peak and the measurement value as the lateral position deviation. The lateral position deviation output by this method is a continuous quantity, and the vehicle can achieve continuous adjustment of lateral control values based on the position deviation during driving. The spatial magnetic field distribution pattern of the magnetic guided orbit indicates that the total difference in magnetic field strength in the near-field area near the center of the magnetic guided orbit increases sharply with the increasing deviation distance. This pattern can ensure that the PID adjustment response speed in the near center area is faster, and can enable vehicles to quickly return to the center of the magnetic guided orbit when deviation occurs in the near center area.
Automobile design review is an important link of automobile product development process, which need to balance the contradictions between various objectives, to promote the progress and quality of automobile design review. With the development of virtual reality technology, it has realized the evaluation of automobile product modeling in the virtual scene based on VR glasses. From the perspective of hardware improvement, the paper designed a VR helmet that can improve motion sickness and enhance user experience, to expand the application field of virtual reality technology. Then the hardware and software environment are integrated to build a collaborative vehicle virtual evaluation system, which provide a referential and feasible technical scheme for automobile enterprise design review.
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