关键词: 交通运输系统工程, D-S证据理论, 无人驾驶车, 隶属度, 数据融合

Abstract:

Sensor data fusion system is composed from single color CCD and laser scanner. Based on DempsterShafer theory of evidence different sensor data are fused together to classify three kinds of typical obstacles. Firstly, sensor data are transformed to evidence which attributes to the obstacle`s characteristic. Since identity of the current obstacle is unknown, basic probability assignment is assigned to every classification. Then Dempster fusion rules are used to compute the ultimate BPA and Believe interval. Finally, obstacle identity classification is defined according to the identification rules. Test results show that DS theory is superior to single characteristic method when classifying the obstacle identification.

Key words: engineering of communications and transportation system, D-S theory of evidence, unmaned ground vehicles, subordination, data fusion