DESIGN OF VEHICLE VISION SYSTEM BASED ON MILLIMETER-WAVE RADAR

In this paper, the millimeter-wave radar sensors and binocular vision sensor are applied to the vehicle sensors system. Taking advantage of the high precision, strong real-time performance of the millimeter-wave radar, the characteristic of binocular vision sensor that contains rich scene information, a set of visual sensor system based on millimeter-wave radar auxiliary for vehicle was designed. The key technology needed in the system design was studied. According to the principle of binocular camera ranging, stereo matching was carried out to get the parallax map to obtain the three-dimensional information of the target. Radar and camera data fusion model was established, through coordinate transformation, the joint calibration of millimeter-wave radar and camera sensor was carried out, and the multi-thread method was used on data real-time synchronization. The measurement accuracy and robustness of the sensor system were improved. This system not only can be used as vehicle applications, but also can be applied to the ships, aircrafts in the future.