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Track data processing method and device, vehicle and medium

A data processing and track technology, applied in the field of devices, track data processing methods, vehicles and media, can solve problems such as jumping, track splitting, track tracking errors, etc., achieve accurate obstacle track data, reduce Hardware cost, stability, and the effect of obstacle track data

Pending Publication Date: 2022-05-13
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the track splitting and ID (Identitydocument, encoding) jump of the radar for large vehicles and some small vehicles, resulting in track tracking errors
Brings great danger to the driving of self-driving vehicles

Method used

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  • Track data processing method and device, vehicle and medium
  • Track data processing method and device, vehicle and medium
  • Track data processing method and device, vehicle and medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0027] figure 1 It is a flow chart of a track data processing method provided by Embodiment 1 of the present invention. This embodiment can be applied to the situation of how to perceive the obstacle track, especially for the vehicle driving scene of a high-speed road section or a fast road section. The situation where obstacle track is sensed. The method can be executed by the track data processing device provided in the embodiment of the present invention, and the device can be realized by software and / or hardware. The device can be configured in a terminal device / server / vehicle controller, and the method specifically includes:

[0028] S110. According to the previous track data of the historical obstacle and the current track data of the current obstacle detected by the vehicle radar, determine whether the current obstacle is associated with the historical obstacle.

[0029] Wherein, the previous track data of the historical obstacle is the track data of the obstacle in t...

Embodiment 2

[0048] figure 2 It is a flow chart of a track data processing method provided in Embodiment 2 of the present invention, image 3 A division structure diagram of perception intervals around a vehicle provided by Embodiment 2 of the present invention. This embodiment is optimized on the basis of the above embodiments, and provides a preferred embodiment of a method for processing track data based on obstacle data collected by vehicle radar and vehicle cameras. Specifically, such as figure 2 As shown, the track data processing method provided in this embodiment may include:

[0049] S210. Determine a position correlation threshold of historical obstacles according to the size parameters of historical obstacles collected by the vehicle camera.

[0050] In this embodiment, since the vehicle-mounted camera can generally only collect obstacle information in a part of the area, it is impossible to detect obstacles without blind spots in the sensing area around the vehicle. There...

Embodiment 3

[0064] Figure 4 It is a flow chart of a track data processing method provided by Embodiment 3 of the present invention. optional, such as Figure 4 As shown, taking an autonomous vehicle as an example, the on-board radar may be a millimeter-wave radar.

[0065] The self-driving vehicle judges whether the vehicle is in the ODD (Operational Design Domain) through the on-board computer through the GPS. In this embodiment, the vehicle ODD means that the vehicle is driving in a high-speed road section. In practical applications, other ODD environments may also be used. If the vehicle is driving in ODD, the surrounding perception interval of the autonomous driving vehicle is divided. The on-board computer receives the obstacle track data detected by the camera and the millimeter-wave radar, and uses the Kalman filter algorithm to time-synchronize the obstacle track data collected by the camera and the obstacle track data collected by the radar. For different perception interval...

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Abstract

The invention discloses a track data processing method and device, a vehicle and a medium. Determining whether the current obstacle is associated with the historical obstacle according to the previous track data of the historical obstacle and the current track data of the current obstacle detected by a vehicle radar; and if the current obstacle is associated with the historical obstacle, updating the current track data of the current obstacle according to the current track data of the current obstacle and the previous track data of the historical obstacle. The problem that the automatic driving vehicle cannot accurately detect the track data of the obstacle in the sensing interval around the vehicle only through one radar under the condition of low cost is solved, the hardware cost is reduced, and meanwhile, the track data of the previous obstacle detected by one radar and the track data of the current obstacle are associated and matched; and stable and accurate obstacle track data can be obtained.

Description

technical field [0001] Embodiments of the present invention relate to the field of autonomous vehicles, and in particular to a track data processing method, device, vehicle and medium. Background technique [0002] With the development of intelligent driving technology, the track tracking and processing of autonomous driving vehicles is a problem that needs to be solved in automatic driving. [0003] At present, when the existing schemes only rely on radar to perceive the track of obstacles around the vehicle, the track processing method adopted mostly relies on the processing of the clustering algorithm of the radar point track itself. For the track data processed by the radar, it is directly related to the system The track data is matched and correlated. Track splitting and ID (Identity document, encoding) jumps will occur in the radar for large vehicles and some small vehicles, resulting in track tracking errors. It brings great danger to the driving of self-driving veh...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/41G01S13/931G01S13/86
CPCG01S7/41G01S13/931G01S13/867
Inventor 白天晟吕颖祁旭曲白雪祝铭含杨航
Owner CHINA FIRST AUTOMOBILE
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