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Obstacle recognition method and device, electronic equipment and storage medium

An obstacle identification and obstacle technology, which is applied to measurement devices, radio wave measurement systems, radio wave reflection/re-radiation, etc., can solve problems such as difficult calibration and data fusion, and achieve the effect of avoiding false triggering

Pending Publication Date: 2020-09-08
ANHUI JIANGHUAI AUTOMOBILE GRP CORP LTD
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Problems solved by technology

In applications such as unmanned driving, cameras and lidar are used to detect the three-dimensional coordinates of the target object, while the traditional millimeter-wave radar can only detect the two-dimensional plane coordinates of the object; when multi-sensor data is fused, other sensors are Three-dimensional coordinates, while the millimeter-wave radar is a plane coordinate, calibration and data fusion are more difficult

Method used

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  • Obstacle recognition method and device, electronic equipment and storage medium
  • Obstacle recognition method and device, electronic equipment and storage medium
  • Obstacle recognition method and device, electronic equipment and storage medium

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no. 1 example

[0063] refer to Figure 4 , Figure 4 It is a schematic flowchart of the second embodiment of an obstacle identification method of the present invention. Based on the above-mentioned first embodiment, the obstacle recognition method of this embodiment, after the step S30, further includes:

[0064] Step S41: When the first millimeter-wave radar scans the target obstacle and the second millimeter-wave radar does not scan the target obstacle, determine that the target obstacle is a low obstacle.

[0065] After step S30, also include:

[0066] Step S42: When the first millimeter-wave radar does not scan the target obstacle and the second millimeter-wave radar scans the target obstacle, determine that the target obstacle is a suspended obstacle.

[0067] It should be understood that only when the first millimeter-wave radar can scan the obstacle, it is determined that the obstacle is a low obstacle (such as stones, protrusions, garbage, etc. on the ground) below the driving dir...

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Abstract

The invention belongs to the technical field of millimeter wave radar, and discloses an obstacle recognition method and device, electronic equipment and a storage medium. The method comprises the steps: calculating a current distance with a target obstacle according to obstacle information when the obstacle information is obtained; calculating an obstacle recognition distance according to the current vehicle speed and the vehicle height; when the current distance is smaller than or equal to the obstacle recognition distance, detecting whether millimeter-wave radars in a preset millimeter-waveradar array scan the target obstacle or not; and if so, identifying the target obstacle as a to-be-avoided obstacle, and avoiding the to-be-avoided obstacle. The obstacle height recognition accuracy of the millimeter-wave radar is improved, and automatic braking of an automatic driving function and false triggering of a self-adaptive cruise control function are avoided.

Description

technical field [0001] The present invention relates to the technical field of millimeter wave radar, in particular to an obstacle identification method, device, electronic equipment and storage medium. Background technique [0002] At present, the resolution of traditional millimeter-wave radar is not high, and it can only perform two-dimensional plane measurement. In applications such as unmanned driving, cameras and lidar are used to detect the three-dimensional coordinates of the target object, while the traditional millimeter-wave radar can only detect the two-dimensional plane coordinates of the object; when multi-sensor data is fused, other sensors are Three-dimensional coordinates, while millimeter-wave radars are plane coordinates, so calibration and data fusion are more difficult. In addition, in order to prevent the vehicle from misdetecting certain targets during driving (such as overpasses, traffic lights, road signs and other aerial targets and manhole covers,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/931
CPCG01S13/931G01S2013/932
Inventor 李卫兵曾伟张澄宇钱严祖春胜杨帆张飞韦邦国范贤根
Owner ANHUI JIANGHUAI AUTOMOBILE GRP CORP LTD
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