Multisensor information fusion:Future of environmental perception in intelligent vehicles

As urban transportation increasingly impacts daily life,efficiently utilizing traffic resources and developing public transportation have become crucial for addressing issues such as congestion,frequent accidents,and noise pollution.The rapid advancement of intelligent autonomous driving technologies,particularly environmental perception technologies,offers new directions for solving these problems.This review discusses the application of multisensor information fusion technology in environmental perception for intelligent vehicles,analyzing the components and performance of various sensors and their specific applications in autonomous driving.Through multisensor information fusion,the accuracy of environmental perception is enhanced,optimizing decision support for autonomous driving systems and thereby improving vehicle safety and driving efficiency.This study also discusses the challenges faced by information fusion technology and future development trends,providing references for further research and application in intelligent transportation systems.

A new information fusion white noise deconvolution estimator

The white noise deconvolution or input white noise estimation problem has important applications in oil seismic exploration, communication and signal processing. By the modern time series analysis method, based on the autoregressive moving average （ARMA） innovation model, a new information fusion white noise deconvolution estimator is presented for the general multisensor systems with different local dynamic models and correlated noises. It can handle the input white noise fused filtering, prediction and smoothing problems, and it is applicable to systems with colored measurement noises. It is locally optimal, and is globally suboptimal. The accuracy of the fuser is higher than that of each local white noise estimator. In order to compute the optimal weights, the formula computing the local estimation error cross-covariances is given. A Monte Carlo simulation example for the system with Bernoulli-Gaussian input white noise shows the effectiveness and performances.

INFORMATION FUSION STEADY-STATE WHITE NOISE DECONVOLUTION ESTIMATORS WITH TIME-DELAYED MEASUREMENTS AND COLORED MEASUREMENT NOISES

White noise deconvolution or input white noise estimation problem has important appli-cation backgrounds in oil seismic exploration,communication and signal processing.By the modern time series analysis method,based on the Auto-Regressive Moving Average(ARMA) innovation model,under the linear minimum variance optimal fusion rules,three optimal weighted fusion white noise deconvolution estimators are presented for the multisensor systems with time-delayed measurements and colored measurement noises.They can handle the input white noise fused filtering,prediction and smoothing problems.The accuracy of the fusers is higher than that of each local white noise estimator.In order to compute the optimal weights,the formula of computing the local estimation error cross-covariances is given.A Monte Carlo simulation example for the system with 3 sensors and the Bernoulli-Gaussian input white noise shows their effectiveness and performances.

Self-tuning measurement fusion white noise deconvolution estimator with correlated noises

For the multisensor linear discrete time-invariant stochastic systems with correlated noises and unknown noise statistics,an on-line noise statistics estimator is presented by using the correlation method.Substituting it into the steady-state Riccati equation,the self-tuning Riccati equation is obtained.Using the Kalman filtering method,based on the self-tuning Riccati equation,a self-tuning weighted measurement fusion white noise deconvolution estimator is presented.By the dynamic error system analysis（DESA） method,it is proved that the self-tuning fusion white noise deconvolution estimator converges to the optimal fusion steadystate white noise deconvolution estimator in a realization,so that it has the asymptotic global optimality.A simulation example for Bernoulli-Gaussian input white noise shows its effectiveness.

Decoupled Wiener state fuser for descriptor systems

By the modem time series analysis method, based on the autoregressive moving average （ARMA） innovation models and white noise estimation theory, using the optimal fusion rule weighted by diagonal matrices, a distributed descriptor Wiener state fuser is presented by weighting the local Wiener state estimators for the linear discrete stochastic descriptor systems with multisensor. It realizes a decoupled fusion estimation for state components. In order to compute the optimal weights, the formulas of computing the cross-covariances among local estimation errors are presented based on cross-covariances among the local innovation processes, input white noise, and measurement white noises. It can handle the fused filtering, smoothing, and prediction problems in a unified framework. Its accuracy is higher than that of each local estimator. A Monte Carlo simulation example shows its effectiveness and correctness.

Distributed fusion white noise deconvolution estimators

The white noise deconvolution or input white noise estimation problem has important applications in oil seismic exploration,communication and signal processing.By combining the Kalman filtering method with the modern time series analysis method,based on the autoregressive moving average(ARMA)innovation model,new distributed fusion white noise deconvolution estimators are presented by weighting local input white noise estimators for general multisensor systems with different local dynamic models and correlated noises.The new estimators can handle input white noise fused filtering,prediction and smoothing problems,and are applicable to systems with colored measurement noise.Their accuracy is higher than that of local white noise deconvolution estimators.To compute the optimal weights,the new formula for local estimation error cross-covariances is given.A Monte Carlo simulation for the system with Bernoulli-Gaussian input white noise shows their effectiveness and performance.

Time-varying optimal distributed fusion white noise deconvolution estimator

White noise deconvolution has a wide range of applications including oil seismic exploration, communication, signal processing, and state estimation. Using the Kalman filtering method, the time-varying optimal dis- tributed fusion white noise deconvolution estimator is presented for the multisensor linear discrete time-varying systems. It is derived from the centralized fusion white noise deconvolution estimator so that it is identical to the centralized fuser, i.e., it has the global optimality. It is superior to the existing distributed fusion white noise estimators in the optimality and the complexity of computation. A Monte Carlo simulation for the Bemoulli- Gaussian input white noise shows the effectiveness of the proposed results.