Multi-sensor information fusion for unmanned cars using radar map

Abstract

Safety is the foremost quality to unmanned cars. In order to ensure the safety, unmanned cars must percept the surrounding environment precisely and exhaustively. To achieve this, various sensors including camera, lidar, and radar are equipped with unmanned cars. While the environment perception algorithms are relatively mature, there is no general solution for the multi-sensor information fusion for unmanned cars. In this article, we present a solution for multi-sensor information fusion for unmanned cars using radar map. With this solution, different environment information detected by various sensors can fuse naturally in radar map. Besides, the radar map is essentially a matrix and can be easily stored in memory. Experiment results show that radar map works well in all road conditions. And software development practices for unmanned cars also show that radar map can provide well support to decision-making, path planning and other subsequent sections.