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Estimation method and estimation system for absolute speed of obstacle, computer equipment and storage medium

An absolute speed and obstacle technology, applied in the obstacle absolute speed estimation system, obstacle absolute speed estimation, computer equipment and computer storage media, can solve the problems of time delay and inaccurate obstacle speed measurement, and achieve the elimination of time Accurate effect of delay and speed measurement

Active Publication Date: 2019-01-04
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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Problems solved by technology

[0003] Since the integrated navigation device has the precise time stamp of GPS, and the millimeter wave radar only has the time stamp when the host receives the data, there is a time delay, which results in the superposition of data at two different times, thus making the obstacle speed measurement inaccurate

Method used

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  • Estimation method and estimation system for absolute speed of obstacle, computer equipment and storage medium
  • Estimation method and estimation system for absolute speed of obstacle, computer equipment and storage medium
  • Estimation method and estimation system for absolute speed of obstacle, computer equipment and storage medium

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Embodiment Construction

[0025] In the following, only certain exemplary embodiments are briefly described. As those skilled in the art can realize, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

[0026] figure 1 A method 100 for estimating the absolute speed of an obstacle according to an embodiment of the present invention may include: step 102, measuring the absolute speed v_c(t1) of the motor vehicle at the current time t1 using an integrated navigation device, and storing it in a data table; Step 104: Obtain the relative speed v_r(t2) of the obstacle relative to the vehicle at the second time t2 by using the millimeter wave radar; Step 106: Correct the relative speed v_r(t2) of the obstacle at the second time t2 to the current time t1 The relative speed v_r(t1); step 108, add the absolute speed v_c(t1) of...

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Abstract

Embodiments of the invention provide an estimation method and an estimation system for absolute speed of an obstacle, computer equipment and a storage medium. The estimation method for the absolute speed of the obstacle can include the following steps: measuring the absolute speed of a motor vehicle at a current time t1 by utilizing integrated navigation equipment, and storing the absolute speed in a data table; obtaining the relative speed of the obstacle relative to the motor vehicle at a second time t2 by utilizing a millimeter wave radar; correcting the relative speed at the second time t2to the relative speed at the current time t1; and adding the absolute speed of the motor vehicle at the current time t1 and the relative speed at the corrected current time t1 of the obstacle to obtain the absolute speed of the obstacle at the current time t1. By means of the technical solution of the method and the system, measurement of the speed of the obstacle is more accurate.

Description

Technical field [0001] The invention relates to the field of motor vehicle driving, in particular to an obstacle absolute speed estimation method, an obstacle absolute speed estimation system, computer equipment and computer storage medium. Background technique [0002] In the prior art, an integrated navigation device is usually used to measure the absolute speed of an autonomous vehicle, and a millimeter wave radar is used to measure the relative speed of an obstacle. The absolute speed of the obstacle is obtained by adding the result of the millimeter wave measurement to the result of the integrated navigation. [0003] Because the integrated navigation device has the accurate time stamp of GPS, and the millimeter wave radar only has the time stamp when the host receives the data, there is a time delay, which causes the superposition of data at two different times, which makes the obstacle speed measurement inaccurate. Summary of the invention [0004] The embodiments of the pres...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/93G01S13/86G01S13/58G01S13/931
CPCG01S13/58G01S13/86G01S13/931G01S2013/932G01S13/726
Inventor 李冲冲
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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