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Obstacle identification method and device, obstacle model training method and device, equipment and storage medium

An obstacle identification and obstacle technology, which is applied in the field of devices, model training methods, equipment and storage media, and obstacle identification, can solve the problems of low obstacle detection accuracy and improper detection threshold setting.

Pending Publication Date: 2022-05-27
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Since the detection threshold inside the ultrasonic sensor is artificially set, if the detection threshold is not set properly, there will be a problem of low obstacle detection accuracy

Method used

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  • Obstacle identification method and device, obstacle model training method and device, equipment and storage medium
  • Obstacle identification method and device, obstacle model training method and device, equipment and storage medium
  • Obstacle identification method and device, obstacle model training method and device, equipment and storage medium

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Embodiment Construction

[0039] Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding and should be considered as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted from the following description for clarity and conciseness.

[0040] Before introducing the application scenarios and technical solutions of the present disclosure, some terms involved in the embodiments of the present disclosure are first introduced:

[0041] Single frame: refers to a single detection of the environment by a sensor (including ultrasonic waves, cameras, etc.), such as a single transmission of ultrasonic waves ...

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Abstract

The invention provides an obstacle recognition method and device, a model training method and device, equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the technical field of intelligent traffic, automatic driving, autonomous parking, the Internet of Things and deep learning. The obstacle recognition method comprises the steps that at least two frames of detection data of an ultrasonic sensor are obtained, each frame of detection data carries at least two echo features, and according to the at least two echo features of each frame of detection data, the obstacle distance and the obstacle category detected by each frame of detection data are determined, and according to the obstacle distance and the obstacle category of the at least two frames of detection data, determining an actual obstacle category at the at least one target position. The model training method comprises the following steps: training a preset network by using a detection data sample set to obtain an obstacle recognition model, wherein each frame of detection data sample in the detection data sample set carries an obstacle labeling category, an obstacle labeling distance and at least two echo features.

Description

technical field [0001] The present disclosure relates to the technical fields of intelligent transportation, automatic driving, autonomous parking, Internet of Things, and deep learning in artificial intelligence, and in particular, to an obstacle identification, model training method, device, equipment and storage medium. Background technique [0002] With the rapid development of communication and artificial intelligence technologies, autonomous driving, as the core of intelligent driving, is one of the technologies that people pay more attention to. Obstacle recognition is the most basic condition for autonomous driving. Accurate detection of obstacles around autonomous vehicles can ensure that autonomous vehicles can avoid obstacles accurately, thereby ensuring the safety of autonomous driving. [0003] In the related art, ultrasonic sensors are commonly used to detect obstacles. When using ultrasonic sensors to detect obstacles within a field of view (FOV), the principl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/931G01S15/08G01S7/539G06K9/62
CPCG01S15/931G01S15/08G01S7/539G06F18/214G06F18/24
Inventor 柏文治梁恒练
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD