Abstract: The research of environment awareness module in advanced driving assistance system is an important step in the development of intelligent vehicle. Environmental awareness system based on a single type of sensor has disadvantages due to the characteristics of the sensor. We have done in-depth research on various on-board sensors used for front-vehicle identification, sorted out their advantages and disadvantages, referred to a large number of relevant literatures, and the domestic and foreign mainstream research methods have been reviewed. It is inferred that the target information detected by fusion camera and millimeter-wave radar is an effective means of front vehicle identification at the present stage, and a reasonable fusion scheme is proposed.

Key words: Advanced driver assistance system, Vehicle detection, Multi-sensor fusion

摘要： 高级辅助驾驶系统中环境感知模块的研究是智能汽车发展过程中的重要一步,基于单一种类传感器的环境感知系统因传感器特性而存在弊端。文章对各种用于前车识别的车载传感器做了较为深入的研究,整理了各自的优缺点,参考了大量的相关文献,对国内外主流融合研究方法进行了综述,推断出融合相机和毫米波雷达这两种传感器探测到的目标信息是现阶段有效的前车识别手段,并提出一种合理的融合方案。

关键词: 先进驾驶辅助系统, 车辆检测, 多传感器融合