Method and device for determining target obstacle object

Abstract

The invention discloses a method and a device for determining a target obstacle object, belonging to the field of intelligent transportation. The method includes: acquiring at least n measurement data for obstacles from n sensors set on the vehicle at the current moment, where n is greater than or equal to 1; performing fusion processing on the at least n measurement data for obstacles , to obtain a fusion data set, the fusion data set records the fusion data corresponding to each obstacle object in the obstacles detected by the n sensors; determine the relationship between each obstacle object recorded in the fusion data set and the vehicle The distance; determine the obstacle object whose distance is less than the preset distance threshold as the target obstacle object. The invention determines the target obstacle object according to the distance between the obstacle object and the vehicle, and improves the reliability of the detection result of the vehicle to the surrounding road environment.

Description

technical field [0001] The invention relates to the field of intelligent transportation, in particular to a method and device for determining a target obstacle object. Background technique [0002] In order to detect the road environment around the vehicle, the vehicle is generally equipped with various sensors such as vision sensors, millimeter-wave radar sensors, and lidar sensors. The vehicle can obtain the measurement data collected by the various sensors, and perform fusion processing on the measurement data collected by the various sensors, that is, complement and optimize the combination of the measurement data collected by the multiple sensors to generate more reliable and accurate information, In turn, the vehicle's ability to detect the surrounding road environment is improved. [0003] In related technologies, the vehicle can perform fusion processing on the data collected by multiple sensors. The fusion processing process mainly includes: first obtaining the mea...

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Problems solved by technology

[0004] However, in the related art, when there are many target obstacles detected by the sensor, the information fusion device in the vehicle needs to correlate and fuse the measurement data of each target obstacle, and combine the fused information of multiple target obstacles are output to the vehicle, and there may be obstacles that do not affect the vehicle among the multiple target obstacles. Therefore, the reliability of the detection results of the vehicle to the surrounding road environment is low

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