Method, device, vehicle-mounted equipment, and storage medium for determining obstacle distance
An obstacle and distance technology, applied in the field of vehicle automatic driving, can solve the problems of small detection distance and large detection distance, and achieve the effect of low complexity
Active Publication Date: 2022-06-28
UISEE TECH BEIJING LTD
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Problems solved by technology
However, due to the characteristics of ultrasonic waves, ultrasonic sensors have limitations such as the maximum detection distance, the minimum detection distance, and the maximum detection angle range. distance
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[0089] In order to make the purposes, 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 with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.
[0090] It should be noted that, in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these Any such actual relationship or sequence exists between entities or operations.
[0091] figure 1 It is a schema...
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The embodiment of the present invention relates to a method, device, vehicle-mounted equipment, and storage medium for determining the distance of an obstacle. The method includes: acquiring the first plane position information of the sensing sensor, the plane convex polygon information of the obstacle, and the second plane of the plane convex polygon Position information: determine the shortest distance between the obstacle and the perception sensor based on the detection range information of the perception sensor, the first plane position information, the plane convex polygon information and the second plane position information. In the embodiment of the present invention, by determining the planar convex polygon information and the planar position information of the planar convex polygon of the obstacle, and based on the planar position information and detection range information of the sensing sensor, the shortest distance between the obstacle and the sensing sensor is determined. The planar shape only needs to be a convex polygon, and does not need to be a regular shape, and the complexity of determining the shortest distance is linearly related to the number of sides of the convex polygon, and the complexity is relatively low.
Description
technical field [0001] Embodiments of the present invention relate to the technical field of vehicle automatic driving, and in particular, to a method, a device, a vehicle-mounted device, and a storage medium for determining an obstacle distance. Background technique [0002] Autonomous driving of unmanned vehicles requires perception of the surrounding environment of the vehicle, and the perception function is provided by the perception system of unmanned vehicles. Ultrasonic sensors are an important component in the perception system of unmanned vehicles, and they play an important role in scenarios that require short-distance obstacle detection, such as valet parking and parking assistance. [0003] In the real environment, the unmanned vehicle automatic driving system calculates the time difference by determining the time when the ultrasonic sensor sends the ultrasonic signal and the time when the ultrasonic sensor receives the reflected signal from the obstacle, and the...
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IPC IPC(8): G01S15/42G01S15/931G01S7/539
CPCG01S15/42G01S15/931G01S7/539
Inventor 刘浩泉周小成
Owner UISEE TECH BEIJING LTD