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Obstacle detection method and device, vehicle and storage medium

An obstacle detection and obstacle technology, applied in the field of data processing, can solve the problems of long detection distance, affect the subsequent processing of the automatic driving perception system, and the obstacle information of millimeter wave radar is not very accurate, so as to achieve the effect of improving accuracy

Active Publication Date: 2021-03-09
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The biggest reason why millimeter-wave radar has not been abandoned by the market is that it can penetrate dust, fog, rain and snow, is not affected by bad weather, can work around the clock, and has a long detection distance. Metal objects are not sensitive. In many cases, the obstacle information returned by the millimeter-wave radar is not very accurate, which will affect the subsequent processing of the automatic driving perception system.

Method used

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  • Obstacle detection method and device, vehicle and storage medium
  • Obstacle detection method and device, vehicle and storage medium
  • Obstacle detection method and device, vehicle and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] figure 1 It is a flow chart of an obstacle detection method provided by Embodiment 1 of the present invention. This embodiment is applicable to detecting obstacles around the vehicle. The method can be executed by an obstacle detection device, which can be implemented by software and / or or hardware implementation.

[0046] Such as figure 1 As shown, the method specifically includes the following steps:

[0047] Step 110, acquiring the original radar data of the candidate obstacle, and determining the attribute data of the candidate obstacle in combination with the vehicle state data.

[0048] Wherein, the original radar data can be understood as the original data information of the surrounding objects detected by the radar device. Vehicle state data can be understood as the current driving state data of the vehicle. Candidate obstacles can be understood as preliminarily judging possible obstacles based on the original radar data collected by the radar device. Attri...

Embodiment 2

[0061] figure 2 It is a flow chart of an obstacle detection method provided by Embodiment 2 of the present invention. In this embodiment, on the basis of the foregoing embodiments, the foregoing obstacle detection method is further optimized.

[0062] Such as figure 2 As shown, the method specifically includes:

[0063] Step 210, acquiring the original radar data of the candidate obstacles, and determining the attribute data of the candidate obstacles in combination with the vehicle state data.

[0064] Specifically, the obstacle detection device can analyze the received raw radar data, and combine the vehicle state data obtained from other sensors of the vehicle to calculate the attribute data corresponding to each attribute of the candidate obstacle.

[0065] Exemplary, image 3 It is a schematic diagram of determining attribute data in an obstacle detection method provided in Embodiment 2 of the present invention. Such as image 3 As shown, taking the extraction of ...

Embodiment 3

[0092] The obstacle detection device provided in the embodiment of the present invention can execute the obstacle detection method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. Figure 10 is a structural block diagram of an obstacle detection device provided in Embodiment 3 of the present invention, as shown in Figure 10 As shown, the device includes: an attribute data determination module 310 , a detection reliability determination module 320 and an obstacle determination module 330 .

[0093] The attribute data determining module 310 is configured to acquire the original radar data of the candidate obstacles, and determine each attribute data of the candidate obstacles in combination with the vehicle state data.

[0094] The detection reliability determination module 320 is configured to determine the attribute accuracy value corresponding to each attribute data, and determine t...

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Abstract

The invention discloses an obstacle detection method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring original radar data of a candidate obstacle, and determining attribute data of the candidate obstacle in combination with vehicle state data; determining an attribute accurate value corresponding to each attribute data, and determining the detection credibility of the candidate obstacle according to each attribute accurate value; and when the detection credibility is greater than a preset credibility threshold, determining the candidate obstacle as a target obstacle. According to the method, the problem of low accuracy of obstacle information returned by part of radars is solved, whether the detected obstacle information is real and reliable is comprehensively analyzed according to different attribute data of the obstacles detected by the radars, and the effect of improving the accuracy of obstacle information detection by the radars is achieved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of data processing, and in particular to an obstacle detection method, device, vehicle and storage medium. Background technique [0002] In the field of unmanned driving, accurate and comprehensive detection of obstacles around the vehicle is crucial to the safe driving of the vehicle, and the collection of environmental information around the vehicle mainly relies on various vehicle sensors. [0003] Lidar has outstanding capabilities in measurement accuracy and human body detection. It can accurately determine the position, size, and attitude of objects near the vehicle. However, since Lidar detects by emitting light beams, it is greatly affected by the environment. After being blocked, it cannot be used normally, so it cannot be turned on in bad weather such as rain, snow, haze or sandstorms. In terms of anti-interference, millimeter wave radar is even better. The biggest reaso...

Claims

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Application Information

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IPC IPC(8): G01S13/931G06K9/00
CPCG01S13/931G01S2013/9322G06F2218/12Y02A90/10
Inventor 王硕王宇李锦瑭蒋萌孙雪
Owner CHINA FIRST AUTOMOBILE