Dynamic obstacle detection method, device and computer-readable storage medium
A technology of dynamic obstacles and detection methods, applied in measurement devices, calculations, and re-radiation of electromagnetic waves, etc., can solve problems such as high complexity, poor real-time performance, and high computational load, and achieve poor real-time performance, fewer assumptions, and improved The effect of calculating speed
Active Publication Date: 2021-05-18
SHENZHEN ECHIEV AUTONOMOUS DRIVING TECH CO LTD
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[0003] The main purpose of the present invention is to provide a dynamic obstacle detection method, device and computer-readable storage medium, aiming to solve the problem of poor real-time performance caused by the traditional dynamic obstacle detection method due to the use of high complexity and high calculation amount. technical issues, while reducing the use of assumptions and extending the applicability of the method
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[0039]It should be understood that the specific embodiments described herein are merely intended to illustrate the invention and are not intended to limit the invention.
[0040]The main idea of the embodiment of the present invention is that the detecting device of the dynamic obstacle is obtained by acquiring the current vehicle speed of the current vehicle and the first position information of the current obstacle; according to the current vehicle speed, the first location information, the preset stationary obstacle The motion model is calculated to calculate the prediction position information of the current obstacle after the preset time interval; after the preset time interval, the second position information of the current obstacle is acquired, and the second position information and the prediction are judged. Whether the position information matches; when the second position information does not match the predicted position information, it is determined that the current obsta...
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The present invention provides a dynamic obstacle detection method, device and computer-readable storage medium. The dynamic obstacle detection method obtains the current vehicle speed of the current vehicle and the first position information of the current obstacle; according to the current vehicle speed , the first position information and the motion model of the preset static obstacle, and calculate the predicted position information of the current obstacle after a preset time interval; after the preset time interval, obtain the second position information of the current obstacle , judging whether the second location information matches the predicted location information; if the second location information does not match the predicted location information, then judging that the current obstacle is a dynamic obstacle. The invention adopts simple linear calculation, replaces the traditional high-complexity nonlinear optimal solution method, and solves the technical problems of high complexity and high calculation amount in the traditional dynamic obstacle detection method.
Description
Technical field[0001]The present invention relates to the field of automatic driving techniques, and more particularly to a method of detecting a dynamic obstacle, a device and a computer readable storage medium.Background technique[0002]During the automatic driving process, most of the time of the vehicle in the laser radar is in motion, so almost all the goals are moved in the observation data of the laser radar. For example, for actual objects, such as cars, street light rods, trees, etc., and relative to laser radar, because there is relative motion, the stationary objective looks also also motion. of. As for the actual motion, if the vehicle is driving on the road, the moving object itself is in motion, but also the vehicle in the laser radar is also moving, so there is a relatively complex relative movement between the moving object and the laser radar. The traditional laser radar dynamic obstacle detection method has two main problems, one is to use probability-based methods ...
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IPC IPC(8): G06T7/246G01S17/50
Inventor 刘新陈潇单单
Owner SHENZHEN ECHIEV AUTONOMOUS DRIVING TECH CO LTD