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Method, device, equipment and storage medium for determining static state of obstacle

A static state, determination method technology, applied in the field of data processing, can solve the problems of difficult obstacles static state, wrong judgment, single sensor does not contain redundant information, etc., to improve stability, ensure independence, and solve inconsistent judgment results. stable effect

Active Publication Date: 2021-01-01
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the process of implementing the present invention, the inventor found that the prior art has the following defects: Due to the limitation of the hardware of each single sensor and the lack of redundant information in the single sensor, it is difficult to judge the obstacle stably and reliably static state, prone to misjudgment

Method used

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  • Method, device, equipment and storage medium for determining static state of obstacle
  • Method, device, equipment and storage medium for determining static state of obstacle
  • Method, device, equipment and storage medium for determining static state of obstacle

Examples

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Embodiment 1

[0031] figure 1 It is a flow chart of a method for determining the static state of obstacles provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where the unmanned vehicle system determines the static state of obstacles. The method can be determined by the device for determining the static state of obstacles To execute, the device can be realized by software and / or hardware, and generally can be integrated into the computer equipment configured in the vehicle. Correspondingly, such as figure 1 As shown, the method includes the following operations:

[0032] S110. Acquire real-time obstacle speeds detected by at least two sensors for the same obstacle.

[0033] Wherein, the real-time obstacle speed may be the speed of the obstacle detected by the sensor at a certain time point.

[0034] In the embodiment of the present invention, in order to accurately determine the stationary state of the obstacle, instead of using a single sens...

Embodiment 2

[0046] figure 2 It is a flow chart of a method for determining the static state of an obstacle provided by Embodiment 2 of the present invention. This embodiment is embodied on the basis of the above-mentioned embodiment. In this embodiment, the real-time obstacle corresponding to the sensor is given The specific implementation manner of calculating the distribution value of the reliability function of each of the sensors under each state parameter according to the speed of the object. Correspondingly, such as figure 2 As shown, the method of this embodiment may include:

[0047] S210. Acquire real-time obstacle speeds detected by at least two sensors for the same obstacle.

[0048] S220. According to the real-time obstacle speed corresponding to the sensor, respectively calculate the distribution value of the reliability function of each of the sensors under at least two state parameters.

[0049] Correspondingly, S220 may specifically include the following steps:

[00...

Embodiment 3

[0075] image 3 It is a flow chart of a method for determining the static state of an obstacle provided by Embodiment 3 of the present invention. This embodiment is embodied on the basis of the above-mentioned embodiments. In this embodiment, the real-time The speed of the obstacle is a specific implementation after calculating the assigned value of the reliability function of each of the sensors under at least two state parameters. Correspondingly, such as image 3 As shown, the method of this embodiment may include:

[0076] S310. Acquire real-time obstacle speeds detected by at least two sensors for the same obstacle.

[0077] S320. According to the real-time obstacle speed corresponding to the sensor, respectively calculate the distribution value of the reliability function of each of the sensors under at least two state parameters.

[0078] S330. According to the real-time obstacle speed detected by the sensor and the historical obstacle speed, update the assigned value ...

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Abstract

The embodiment of the present invention discloses a method, device, device, and storage medium for determining the static state of an obstacle. The method includes: acquiring the real-time obstacle speed detected by at least two sensors for the same obstacle; Real-time obstacle speed, respectively calculate the distribution value of the reliability function of each sensor under at least two state parameters; use the D-S evidence combination technology to fuse the distribution value of the reliability function of each sensor under each state parameter, and get the same as The assigned value of the fusion reliability function corresponding to each state parameter; according to the assigned value of the fusion reliability function corresponding to each state parameter, the static state of the obstacle is judged. The technical solution of the embodiment of the present invention can ensure the independence of the algorithm module for judging the static state of obstacles in the unmanned vehicle system and the functional integrity of the entire integrated system, thereby improving the stability of the unmanned vehicle system in judging the static state of obstacles , reliability and accuracy.

Description

technical field [0001] Embodiments of the present invention relate to data processing technology, and in particular, to a method, device, equipment and storage medium for determining a stationary state of an obstacle. Background technique [0002] In recent years, with the continuous development of sensor technology, control system and artificial intelligence technology, unmanned vehicles (hereinafter referred to as unmanned vehicles) and ground mobile robots have achieved great development. Taking unmanned vehicles as an example, in real dynamic environments, unmanned vehicles need to be able to stably and accurately detect obstacles and identify the movement state types of obstacles in the environment perception, which can play a very important role in establishing a motion model for path planning. With great help, it can assist unmanned vehicles to make various intelligent decision-making behaviors. [0003] At present, in the unmanned vehicle system, judging whether the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S13/58G01S13/931G01S17/58G01S17/931G01S13/93G01S17/93
CPCG01S13/58G01S13/931G01S17/58G01S17/931G06N5/04G01S17/93G01S13/93G01S2013/9322B60W2554/00B60W30/0956G06V20/58
Inventor 程凯
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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