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Environmental obstacle position information detection method and device

A position information and detection method technology, applied in the field of environmental obstacle position information detection, can solve problems such as high driving risk, untimely obstacle discovery and avoidance, long time-consuming obstacle information detection, etc., to reduce driving risk and reduce data The effect of transfer volume

Pending Publication Date: 2021-04-09
GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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  • Application Information

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Problems solved by technology

[0006] The present invention provides a method and device for detecting location information of environmental obstacles, which are used to solve or partially solve the problem that the time-consuming detection of obstacle information based on grid maps is too long, which may easily lead to untimely detection and avoidance of obstacles by vehicles. Technical issues with excessive driving risk under driving

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  • Environmental obstacle position information detection method and device
  • Environmental obstacle position information detection method and device
  • Environmental obstacle position information detection method and device

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Embodiment Construction

[0053] In the autonomous driving environment, in order to avoid collision accidents. The vehicle must have the ability to identify and locate obstacles, especially the identification and location of moving obstacles. However, by processing the grid map to obtain obstacle location information, there is a problem of long data transmission time and delay in the feedback of obstacle location information.

[0054] In view of this, the embodiments of the present invention provide a method and device for detecting the position information of environmental obstacles, which are used to solve the problem that the time-consuming detection of obstacle information based on the grid map is too long, and it is easy for the vehicle to find and avoid obstacles. In time, the technical problem of excessive driving risk under automatic driving.

[0055] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the e...

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Abstract

The invention discloses an environmental obstacle position information detection method and device. The method comprises the steps of: obtaining a two-dimensional grid map of a position where a vehicle is located; determining a data acquisition area in the two-dimensional grid map; scanning the data acquisition area to obtain reflection point position data; and sending the reflection point position data to a preset data processing module for data processing, and determining position information of at least one environmental obstacle. Since the two-dimensional grid map is not directly transmitted, and a small amount of reflection point position data is extracted from the grid map for transmission, the data transmission amount is reduced, the position information of an obstacle in front of a vehicle can be quickly determined, the vehicle is guided to avoid the obstacle in time, and the driving risk under automatic driving is reduced.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and device for detecting position information of environmental obstacles. Background technique [0002] A raster map, also known as a raster image, refers to an image that has been discretized in both space and brightness. We can consider a raster image as a matrix. Any element in the matrix corresponds to a point in the image, and the corresponding value corresponds to the gray level of the point. The elements in the digital matrix are called pixels. A grid map can divide the environment into a series of grids, where each grid is given a possible value, indicating the probability that the grid is occupied. [0003] In the autonomous driving environment, in order to avoid collision accidents. The vehicle must have the ability to identify and locate obstacles, especially the identification and location of moving obstacles. [0004] In the prior art, the descr...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/06G01S17/931
CPCG01S17/06G01S17/931
Inventor 黄豪
Owner GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD