Obstacle location method, device and terminal
A positioning method and obstacle technology, applied in the field of automatic driving, can solve problems such as the inability to obtain the relative coordinates of obstacles and vehicles, the inability to accurately locate obstacles, and the inability to model obstacles in the environment
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Embodiment 1
[0047] In a specific embodiment, such as figure 1 As shown, a flow chart of an obstacle positioning method is provided, and the method includes:
[0048] Step S10: installing at least two detectors on the vehicle body, each detector having a corresponding detection area.
[0049] Step S20: According to the installation positions of the detectors on the vehicle body and the detection areas corresponding to each detector, divide the overlapping areas.
[0050] Step S30: If an obstacle appears in the overlapping area, calculate the position of the obstacle according to the installation positions of the detectors forming the overlapping area.
[0051] In one example, the detectors can be installed at positions such as the front of the vehicle, the rear of the vehicle, and the side of the vehicle body. If detectors are installed on both sides in front of the car, good ultrasonic coverage and detection effect can be guaranteed. The detector can detect obstacles in the detection a...
Embodiment 2
[0066] In a specific embodiment, such as Figure 5 As shown, an obstacle positioning device is provided, including:
[0067] At least two detectors 10 installed on the vehicle body, each detector has a corresponding detection area;
[0068] The overlapping area division module 20 is used to divide the overlapping area according to the installation position of the detector on the vehicle body and the corresponding detection area of each detector;
[0069] The obstacle positioning module 30 is configured to calculate the position of the obstacle according to the installation positions of the detectors forming the overlapping area if an obstacle appears in the overlapping area.
[0070] In one embodiment, as Figure 6 As shown, the overlapping area division module 20 includes:
[0071] The body frame drawing unit 201 is used to draw the body frame according to the outline of the body, and mark each detector in the body frame;
[0072] The detection area boundary coordinate ...
Embodiment 3
[0080] An embodiment of the present invention provides an obstacle positioning terminal, such as Figure 8 shown, including:
[0081] A memory 400 and a processor 500 , the memory 400 stores computer programs that can run on the processor 500 . When the processor 500 executes the computer program, the method for locating obstacles in the foregoing embodiments is implemented. The number of memory 400 and processor 500 may be one or more.
[0082] The communication interface 600 is used for the memory 400 and the processor 500 to communicate with the outside.
[0083] The memory 400 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory.
[0084] If the memory 400, the processor 500, and the communication interface 600 are implemented independently, the memory 400, the processor 500, and the communication interface 600 may be connected to each other through a bus to complete mutual commu...
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