Obstacle detection method, device and equipment and storage medium
An obstacle detection and obstacle technology, applied in the field of intelligent driving, can solve the problems of unstable obstacle trajectory and low accuracy of obstacle trajectory.
Inactive Publication Date: 2020-03-31
HANGZHOU FABU TECH CO LTD
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[0004] However, in the prior art, the tracking result obtained from the original information depends on the trajectory of the own vehicle. When the trajectory of the own vehicle is unstable, the trajectory of the tracked obstacle is also very unstable, resulting in the actual Movement trajectory is less accurate
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[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0051] As used herein, the terms "comprising" and "having" and any variations thereof are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or elements need not be limited to the ones explicitly listed Instead, other steps or elements not explicitly listed or inheren...
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The invention provides an obstacle detection method, device and equipment and a storage medium. The method comprises the following steps: periodically detecting to obtain original information of at least one obstacle around the vehicle through a millimeter-wave radar, converting the original information to obtain absolute position coordinates and absolute speed information of at least one obstacle; according to the absolute position coordinate, the absolute speed information and the size information of the at least one obstacle and pre-acquired map information, obtaining a detection result ofat least one obstacle, wherein the detection result comprises information of at least one obstacle at the current moment; and tracking a detection result of the at least one obstacle through a Kalmanfilter, and obtaining a tracking result. The absolute position coordinates and the absolute speed of the obstacle are obtained by combining the stable UTM coordinates with the Kalman filter, a more accurate tracking result can be obtained, and large interference brought to the tracking result due to irregularity of the motion trail of the vehicle is avoided.
Description
technical field [0001] The present invention relates to the technical field of intelligent driving, in particular to an obstacle detection method, device, equipment and storage medium. Background technique [0002] Millimeter-wave radars are widely used in obstacle detection and tracking in unmanned driving. The existing mass-produced millimeter-wave radars on the market can return the number, length, width, and number of a group of obstacles at a certain time at a certain frequency. The detection information such as the two-dimensional position and speed of the vehicle can be used by the perception module of the unmanned driving system to track obstacles and return the trajectory of obstacles around the vehicle in real time. [0003] In unmanned driving scenarios, because the original data returned by the millimeter-wave radar is sufficient for logically complete tracking of obstacles, existing obstacle tracking technologies usually use these raw information directly or use...
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IPC IPC(8): G01S13/931G01S13/66G01S13/58
CPCG01S13/931G01S13/66G01S13/58
Inventor 由鸿周唐文剑
Owner HANGZHOU FABU TECH CO LTD