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Obstacle state judgment method and devic, equipment and storage medium

A state judgment and obstacle technology, applied in the field of vehicles, can solve problems such as messy speed, unnatural changes, vehicle speed is not zero, etc., to achieve the effect of improving accuracy and rapid judgment

Active Publication Date: 2021-02-12
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the obstacle is stationary, due to the unstable size of the bounding box identified by the perception algorithm, the speed is affected by the unstable position of the center of the object, the center of gravity, and the corner when the speed is estimated.
The location of the bounding box is jittered, resulting in predicted velocities that are cluttered in all directions
Causes irregular, unnatural changes in position
As a result, stationary vehicles have speed, and low-speed vehicle detection is likely to cause false detection
Due to the error in the automatic driving perception scheme, there will be situations where the speed of some vehicles stopped on the side of the road is not zero

Method used

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  • Obstacle state judgment method and devic, equipment and storage medium
  • Obstacle state judgment method and devic, equipment and storage medium

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Embodiment 1

[0026] figure 1 It is a flow chart of a method for judging an obstacle state provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation where an autonomous driving vehicle perceives and judges the state of an obstacle. To execute, the device can be implemented in software and / or hardware, such as figure 1 As shown, the method specifically includes the following steps:

[0027] S110. Obtain first state information when the obstacle appears for the first time and second state information when the obstacle appears for the second time.

[0028] Among them, obstacles can be stationary or low-speed vehicles.

[0029] Wherein, the first state information refers to the first position information of the bounding box to which the obstacle belongs, the size of the first bounding box, the orientation angle of the first bounding box, and the first speed information of the obstacle when the obstacle appears for the first time. The second state infor...

Embodiment 2

[0084] figure 2 It is a flow chart of a method for judging the state of an obstacle provided by Embodiment 2 of the present invention. This embodiment is applicable to the situation where an autonomous vehicle perceives and judges the state of an obstacle. This embodiment further optimizes the method for judging the state of an obstacle. For the detailed technical details described in this embodiment, reference may be made to any of the foregoing embodiments. Such as figure 2 As shown, the optimized obstacle state judgment method mainly includes the following steps:

[0085] S210. Obtain the coordinates of the first center point of the bounding box to which the obstacle belongs, the size of the first bounding box, the orientation angle of the first bounding box, and the first speed information of the obstacle in the bounding box when the obstacle appears for the first time, wherein , the coordinates of the first center point include: the X coordinate, the Y coordinate, and...

Embodiment 3

[0093] image 3 It is a flow chart of the source data processing method provided by the third embodiment of the present invention. This embodiment is based on the above-mentioned embodiment and performs specific optimization. The source data obtained after processing the second state information and the first state information is processed. For optimization, technical details not exhaustively described in this embodiment may refer to any of the foregoing embodiments.

[0094] S310. Obtain the X coordinate difference between the X coordinate of the second center point and the X coordinate of the first center point, the Y coordinate difference between the Y coordinate of the second center point and the Y coordinate of the first center point, and the Y coordinate difference of the second center point The Z coordinate difference between the Z coordinate and the Z coordinate of the first center point, the bounding box length difference between the second bounding box length and the...

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Abstract

The invention discloses an obstacle state judgment method and device, equipment and a storage medium. The obstacle state judgment method comprises the steps of obtaining first state information when an obstacle appears for the first time and second state information when the obstacle appears for the second time; processing the second state information and the first state information to obtain source data; and importing the source data into the decision tree model to obtain an analysis result of the decision tree model, the analysis result including whether the obstacle is in a static state ora low-speed driving state. According to the embodiment of the invention, the source data is obtained by processing the first state information and the second state information of the obstacle, and thesource data is analyzed according to the decision tree model to judge whether the obstacle is in a static or low-speed driving state. The problems that in the prior art, false detection is likely tobe caused when a low-speed vehicle is detected, and the speed of part of vehicles stopped beside a road is not zero are solved, rapid judgment of a static vehicle and a low-speed moving vehicle can beachieved, and the accuracy of a judgment result is improved.

Description

technical field [0001] Embodiments of the present invention relate to vehicle technology, and in particular to a method, device, equipment and storage medium for judging an obstacle state. Background technique [0002] With the development of automobile intelligence, the intelligence of vehicles is getting higher and higher. While gradually realizing automatic driving, more stringent requirements are put forward for the automatic driving perception of vehicles. In the existing automatic driving perception scheme, the information of obstacles is obtained based on radar, and the information of obstacles is analyzed and processed by the perception algorithm to judge the status of obstacles. When the obstacle is stationary, due to the unstable size of the bounding box identified by the perception algorithm, the velocity is affected by the unstable position of the object center, center of gravity, and corner points during velocity estimation. The bounding box positions are jitte...

Claims

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Application Information

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IPC IPC(8): G06K9/00
CPCG06V20/58G06V20/584G06V2201/08
Inventor 陈博耿真王宇林崇浩李创辉
Owner CHINA FIRST AUTOMOBILE