Obstacle detection method based on multi-view fuzzy reasoning assignment

A technology of obstacle detection and fuzzy reasoning, which is applied to measuring devices, character and pattern recognition, radio wave measurement systems, etc., and can solve problems such as low accuracy of target recognition

Active Publication Date: 2021-04-30
四川省客车制造有限责任公司 +2
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Problems solved by technology

[0004] In view of this, the main purpose of the present disclosure is to provide an obstacle detection method and device that integrates multi-view fuzzy reasoning assignment, which is used to solve the low accuracy of target recognition caused by only using the top view for target information extraction in the related art question

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  • Obstacle detection method based on multi-view fuzzy reasoning assignment
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  • Obstacle detection method based on multi-view fuzzy reasoning assignment

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[0024] Specific embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0025] figure 1 It is a structural schematic diagram of an unmanned vehicle shown according to an example. A laser radar 300 is provided in front of the unmanned vehicle 200 to detect the area in front of the vehicle. In a possible implementation, the laser The radar 300 is a 16-line lidar.

[0026] figure 2 It is an obstacle detection method that combines multi-view fuzzy reasoning assignment according to an exemplary embodiment, and the method can be applied to figure 1 For the unmanned vehicle shown, the method includes:

[0027] S10. Acquire three-dimensional lidar data around the unmanned vehicle.

[0028] S20, converting the three-dimensional lida...

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Abstract

The disclosure relates to an obstacle detection method that combines multi-view fuzzy reasoning assignment, including: acquiring 3D lidar data and converting the 3D lidar data into voxel map data; acquiring a front view of an unmanned vehicle based on the voxel map data data and top view data; based on the front view data and the first preset fuzzy inference rule, the first probability parameter is obtained; based on the top view data and the second preset fuzzy inference rule, the second probability parameter is obtained; the obstacle target voxel is established based on DST The identification framework, inputting the first probability parameter and the second probability parameter into the obstacle target voxel identification framework, obtains the determination result of determining whether the voxel in the voxel map data is an obstacle; based on the determination result, the voxel in the voxel map data The voxels are clustered to obtain a cuboid composed of voxels used to characterize the target as an obstacle and feature information corresponding to the cuboid.

Description

technical field [0001] The disclosure belongs to the technical field of unmanned driving, and in particular relates to an obstacle detection method that combines multi-view fuzzy reasoning assignment. Background technique [0002] With the continuous development of artificial intelligence applications, unmanned driving technology has become a research hotspot at home and abroad, and is in a stage of rapid development. An unmanned vehicle is an intelligent system that integrates multiple functions such as environmental perception, behavior decision-making, path planning, and navigation control. It is an important part of an intelligent traffic system (Intelligent Traffic System, ITS). The environmental perception module is to install various sensors on the unmanned vehicle to obtain information such as the vehicle's pose and obstacle distribution in real time, and establish a local environment description. Unmanned vehicles have a high dependence on environmental perception ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S13/931G06K9/00G06K9/62
CPCG01S13/931G06V20/58G06F18/23
Inventor 邹应全李成文利黄凯
Owner 四川省客车制造有限责任公司
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