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Method and device for detecting obstacles

A technology of obstacles and obstacle information, applied in the field of obstacle detection and vehicle driving, can solve the problems of large error estimation and low precision, and achieve the effect of improving accuracy and sensitivity

Active Publication Date: 2019-01-15
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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Problems solved by technology

[0003] Existing fusion methods have the problems of low precision and large error estimation

Method used

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  • Method and device for detecting obstacles
  • Method and device for detecting obstacles
  • Method and device for detecting obstacles

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Embodiment Construction

[0033] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0034] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0035] figure 1 A flow 100 of an embodiment of the method for detecting obstacles according to the present application is shown. The method for detecting obstacles in this embodiment includes the following steps:

[0036] Step 101, acquiring point cloud data and millimeter...

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Abstract

The invention discloses a method and a device for detecting obstacles. A specific embodiment of the method comprises: obtaining point cloud data and millimeter wave radar data; respectively processingthe point cloud data and the millimeter wave radar data to obtain first obstacle information indicated by the point cloud data and second obstacle information indicated by the millimeter wave radar data; determining a weight occupied by the first obstacle information and the second obstacle information when merging, according to the first obstacle information and the second obstacle information;merging the first obstacle information and the second obstacle information according to the weight; and determining the obstacles according to the merged obstacle information. According to the embodiment of the method and the device for detecting obstacles, the point cloud data obtained by the laser radar and the millimeter wave radar data obtained by the millimeter wave radar are fully utilized,so that the accuracy and the sensitivity of the obstacles detection are improved.

Description

technical field [0001] The present application relates to the field of vehicle driving, in particular to the field of obstacle detection, and in particular to a method and device for detecting obstacles. Background technique [0002] Millimeter-wave radar and lidar have a wide range of applications in areas such as autonomous driving and ADAS (Advanced Driver Assistant System, Advanced Driver Assistance System). Lidar can realize accurate shape perception of obstacles; millimeter-wave radar can provide effective perception data for the position and speed of obstacles, and can resist the interference of rain and snow. Since different sensors have their own advantages, the effective fusion of data from each sensor can improve the safety of autonomous driving. [0003] Existing fusion methods have the problems of low precision and large error estimation. Contents of the invention [0004] The purpose of the present application is to propose a method and device for detecting...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/93G01S17/93
CPCG01S13/931G01S7/41G01S13/86
Inventor 惠育江王军王亮
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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