A method and device for detecting position information of environmental obstacles

Abstract

The present invention discloses a method and device for detecting the position information of an environmental obstacle, wherein the method comprises: obtaining a two-dimensional grid map at the position of a vehicle; determining a data collection area in the two-dimensional grid map; scanning the data collection area to obtain reflection point position data; sending the reflection point position data to a preset data processing module for data processing to determine at least one environmental obstacle position information. Since the present invention does not directly transmit the two-dimensional grid map, but extracts a small amount of reflection point position data from the grid map for transmission, the amount of data transmission is reduced, so that the obstacle position information in front of the vehicle can be quickly determined, and the vehicle can be guided to avoid obstacles in a timely manner, reducing the driving risk under automatic driving.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a method and device for detecting environmental obstacle position information. Background Art

[0002] A raster map, also known as a raster image, is an image that has been discretized in both space and brightness. We can consider a raster image as a matrix, where any element in the matrix corresponds to a point in the image, and the corresponding value corresponds to the grayscale of the point. The elements in the digital matrix are called pixels. A raster map can divide the environment into a series of grids, where each grid is given a possible value, indicating the probability of the grid being occupied.

[0003] In an autonomous driving environment, in order to avoid collision accidents, the vehicle must have the ability to identify and locate obstacles, especially moving obstacles.

[0004] In the prior art, obstacles in the environment are usually described by collecting environmental data and generating a grid map based on the environmental data, and then the obstacle information is determined by transmitting the grid map to a corresponding data processing unit, so as to adjust the vehicle's driving direction and speed according to the obstacle information, thereby avoiding obstacles and avoiding collisions.

[0005] However, the amount of data required to form a raster map is large, which is not easy to transmit and save. In the vehicle driving environment, the transmission time of the raster map to the data processing unit is too long and the display is too slow, which can easily lead to the vehicle's failure to discover and avoid obstacles in an automatic driving environment, especially the failure to discover moving obstacles in time, which will cause positioning deviations in the current position of the moving obstacles and increase driving risks. Summary of the invention

[0006] The present invention provides a method and device for detecting the position information of environmental obstacles, which are used to solve or partially solve the technical problem that obstacle information detection based on a grid map takes too long, which easily leads to the vehicle's untimely discovery and avoidance of obstacles, and excessive driving risks under automatic driving.

[0007] The present invention provides a method for detecting position information of environmental obstacles, the method comprising:

[0008] Obtain a two-dimensional grid map of the vehicle's location;

[0009] Determining a data collection area in the two-dimensional grid map;

[0010] Scanning the data acquisition area to obtain reflection point position data;

[0011] The reflection point position data is sent to a preset data processing module for data processing to determine at least one environmental obstacle position information.

[0012] Optionally, the step of obtaining a two-dimensional grid map of the vehicle's location includes:

[0013] Receiving environmental information of the vehicle's location collected by a preset image collection device;

[0014] A two-dimensional grid map of the vehicle's location is generated based on the environmental information.

[0015] Optionally, the step of determining a data collection area in the two-dimensional grid map includes:

[0016] Determining an initial position and a driving direction of the vehicle in the two-dimensional grid map;

[0017] Taking the initial position of the vehicle in the two-dimensional grid map as a reference point and the driving direction as a reference direction, determining a scanning initial angle and a scanning end angle; the driving direction is between the scanning initial angle and the scanning end angle;

[0018] A sector-shaped area between the scanning initial angle and the scanning termination angle is used as a data acquisition area.

[0019] Optionally, the step of scanning the data acquisition area to obtain the reflection point position data includes:

[0020] Get the deflection angle;

[0021] Taking the vehicle as a reference point and based on the deflection angle, determining a plurality of scanning directions in the data acquisition area;

[0022] Scan each of the scanning directions in sequence to obtain reflection point position data in each of the scanning directions, wherein the reflection point position data is position data of an obstacle closest to the vehicle in the scanning direction.

[0023] Optionally, the step of sending the reflection point position data to a preset data processing module for data processing to determine the position information of at least one environmental obstacle includes:

[0024] Sending the reflection point position data to a preset data processing module;

[0025] The data processing module sequentially calculates the relative position relationship between the position data of two adjacent reflection points;

[0026] The data processing module divides all the reflection point position data according to the relative position relationship to obtain at least one piece of environmental obstacle position information.

[0027] The present invention also provides an environmental obstacle position information detection device, the device comprising:

[0028] A two-dimensional grid map acquisition module is used to acquire a two-dimensional grid map at the location of the vehicle;

[0029] A data collection area determination module, used to determine a data collection area in the two-dimensional grid map;

[0030] A reflection point position data acquisition module, used to scan the data acquisition area and acquire reflection point position data;

[0031] The environmental obstacle position information determination module is used to send the reflection point position data to a preset data processing module for data processing to determine at least one environmental obstacle position information.

[0032] Optionally, the data collection area determination module includes:

[0033] An initial position and driving direction determination submodule, used to determine the initial position and driving direction of the vehicle in the two-dimensional grid map;

[0034] A scanning initial angle and scanning end angle determination submodule, used to determine a scanning initial angle and a scanning end angle with the initial position of the vehicle in the two-dimensional grid map as a reference point and the driving direction as a reference direction; the driving direction is between the scanning initial angle and the scanning end angle;

[0035] The data acquisition area determination submodule is used to use the sector area between the scanning initial angle and the scanning termination angle as the data acquisition area.

[0036] Optionally, the reflection point position data acquisition module includes:

[0037] A deflection angle acquisition submodule is used to obtain the deflection angle;

[0038] A scanning direction determination submodule, for determining a plurality of scanning directions in the data acquisition area based on the deflection angle and taking the vehicle as a reference point;

[0039] The reflection point position data acquisition submodule is used to scan each of the scanning directions in turn to acquire the reflection point position data in each of the scanning directions, wherein the reflection point position data is the position data of the obstacle closest to the vehicle in the scanning direction.

[0040] The present invention also provides an electronic device, the device comprising a processor and a memory:

[0041] The memory is used to store program codes and transmit the program codes to the processor;

[0042] The processor is used to execute the environmental obstacle position information detection method as described in any one of the above items according to the instructions in the program code.

[0043] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store program code, and the program code is used to execute the environmental obstacle position information detection method as described in any one of the above items.

[0044] It can be seen from the above technical solutions that the present invention has the following advantages:

[0045] The present invention obtains a two-dimensional grid map at the location of the vehicle, scans in the data collection area of ​​the two-dimensional grid map, obtains reflection point position data, and sends the reflection point position data to a preset data processing module, so that the data processing module can determine the obstacle position information in front of the vehicle based on the reflection point position data. Since the present invention does not directly transmit the two-dimensional grid map, but extracts a small amount of reflection point position data from the grid map for transmission, the amount of data transmission is reduced, so that the obstacle position information in front of the vehicle can be quickly determined, and the vehicle can be guided to avoid obstacles in time, reducing the driving risk under automatic driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0047] Figure 1 A flowchart of a method for detecting location information of environmental obstacles provided by an embodiment of the present invention;

[0048] Figure 2 A flowchart of a method for detecting location information of environmental obstacles provided by another embodiment of the present invention;

[0049] Figure 3 A flow chart of the steps of determining a data collection area according to an embodiment of the present invention;

[0050] Figure 4 A flowchart of the steps of obtaining reflection point position data according to an embodiment of the present invention;

[0051] Figure 5 A flowchart of the steps of obtaining the location information of environmental obstacles by performing data processing through a data processing module in an embodiment of the present invention;

[0052] Figure 6 A structural block diagram of an environmental obstacle position information detection device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In an autonomous driving environment, in order to avoid collision accidents, the vehicle must be able to identify and locate obstacles, especially moving obstacles. However, the method of obtaining obstacle location information by processing the grid map has the problem of long data transmission time and delayed feedback of obstacle location information.

[0054] In view of this, an embodiment of the present invention provides an environmental obstacle position information detection method and device, which is used to solve the technical problem that obstacle information detection based on a grid map takes too long, which easily leads to the vehicle's untimely discovery and avoidance of obstacles, and excessive driving risks under automatic driving.

[0055] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] See also Figure 1 , Figure 1 A flowchart of the steps of a method for detecting location information of environmental obstacles provided by an embodiment of the present invention.

[0057] The present invention provides a method for detecting the position information of an environmental obstacle, which may specifically include the following steps:

[0058] Step 101, obtaining a two-dimensional grid map of the vehicle's location;

[0059] A raster map, also known as a raster image, refers to an image that has been discretized in space and brightness. We can consider a raster map as a matrix, where any element in the matrix corresponds to a point in the map, and the corresponding value corresponds to the grayscale of the point. The elements in the digital matrix are called pixels. The raster map can divide the environment into a series of grids, where each grid is given a possible value, indicating the probability of the grid being occupied. In an embodiment of the present invention, the raster map maps the environmental data, and each point in the raster map records the world coordinate information in the actual environment. The grayscale value of the grid determines whether there is an obstacle at the world coordinate position corresponding to the grid.

[0060] The two-dimensional grid map at the location of the vehicle can be data generated based on environmental information within a certain radius with the location of the vehicle as the center point, or data generated based on environmental information within a sector in the driving direction with the vehicle as the reference point. The specific data can be determined according to the needs of data collection, and the present invention does not impose specific restrictions on this.

[0061] Step 102, determining a data collection area in a two-dimensional grid map;

[0062] The grid map stores complete information about obstacles, but in actual applications, when the vehicle is performing obstacle avoidance guidance, it does not need to obtain complete information about the obstacles, but only needs to understand the position information of each point on the side of the obstacle facing the vehicle to perform obstacle avoidance planning. Therefore, in an embodiment of the present invention, data extraction can be performed in the grid map to obtain the data required for obstacle avoidance. In addition, in order to reduce the amount of data analysis, a data collection area can be determined in the grid map, and data processing is performed only on this area.

[0063] In the embodiment of the present invention, the data collection area can be an area in any direction based on the vehicle, and can be selected according to actual needs, and the present invention does not impose any specific limitation on this.

[0064] In one example, since obstacles appearing in the direction of vehicle travel are most likely to cause driving risks for the vehicle, the data collection area may be an area in the direction of vehicle travel in a two-dimensional grid map.

[0065] Step 103, scanning the data collection area to obtain reflection point position data;

[0066] In the embodiment of the present invention, the reflection point may be a grid point whose grayscale value reaches a preset value, and is used to represent the obstacle.

[0067] In practical applications, the principle of laser positioning can be combined to simulate the laser emitting from the vehicle position, and the reflection point position data in the two-dimensional grid map can be determined based on the laser emission direction and the time it takes for the laser to reflect back.

[0068] It should be noted that the purpose of obtaining the reflection point position data is to obtain the world position coordinates of the reflection point in the actual environment according to the mapping relationship between the two-dimensional grid map and the actual environment. In the embodiment of the present invention, the reflection point is a mapping of an obstacle, so the world position coordinates of the reflection point are the world position coordinates of the obstacle.

[0069] Step 104: Send the reflection point position data to a preset data processing module for data processing to determine the position information of at least one environmental obstacle.

[0070] After the reflection point position data of each obstacle point in the grid map is obtained by scanning, all the reflection point position data can be sent to the data processing module for analysis to obtain the environmental obstacle position information.

[0071] The present invention obtains a two-dimensional grid map at the location of the vehicle, scans in the data collection area of ​​the two-dimensional grid map, obtains reflection point position data, and sends the reflection point position data to a preset data processing module, so that the data processing module can determine the obstacle position information in front of the vehicle based on the reflection point position data. Since the present invention does not directly transmit the two-dimensional grid map, but extracts a small amount of reflection point position data from the grid map for transmission, the amount of data transmission is reduced, so that the obstacle position information in front of the vehicle can be quickly determined, and the vehicle can be guided to avoid obstacles in time, reducing the driving risk under automatic driving.

[0072] See also Figure 2 , Figure 2 A flowchart of a method for detecting location information of an environmental obstacle provided by another embodiment of the present invention. Specifically, the following steps may be included:

[0073] Step 201, receiving environmental information of the vehicle's location collected by an image acquisition device;

[0074] In an embodiment of the present invention, environmental information of the vehicle's location can be collected by an image acquisition device, wherein the image acquisition device can be a camera installed on the vehicle or other devices capable of image acquisition, and the present invention does not impose any specific limitation on this.

[0075] In one example, the image acquisition device may be a plurality of cameras installed at different positions of the vehicle for acquiring image information in different directions. By fusing the image data of the plurality of cameras, the environmental information of the vehicle's location may be obtained.

[0076] In another example, the camera may also be a rotatable camera installed on the roof of the vehicle, which can collect image data in one direction or in multiple directions according to actual image acquisition requirements.

[0077] Step 202, generating a two-dimensional grid map of the vehicle's location based on the environmental information;

[0078] After obtaining the environmental information of the vehicle's location, the environmental information can be converted into a two-dimensional grid map. Each grid point in the two-dimensional grid map records a world coordinate in the actual environment. The world coordinate can guide the vehicle to plan its route.

[0079] In the specific implementation, when the image data is collected, the world position coordinates of each point in the image data can be obtained by combining the real-time positioning information of the vehicle and the calibration parameters of the camera. According to the grayscale value and world position coordinates of each point in the image data, a two-dimensional grid map of the vehicle's surrounding environment can be generated.

[0080] Step 203, determining a data collection area in a two-dimensional grid map;

[0081] The grid map stores complete information about obstacles, but in actual applications, when the vehicle is performing obstacle avoidance guidance, it does not need to obtain complete information about the obstacles, but only needs to understand the position information of each point on the side of the obstacle facing the vehicle to perform obstacle avoidance planning. Therefore, in an embodiment of the present invention, data extraction can be performed in the grid map to obtain the data required for obstacle avoidance. In addition, in order to reduce the amount of data analysis, a data collection area can be determined in the grid map, and data processing is performed only on this area.

[0082] In the embodiment of the present invention, Figure 3 As shown, the step of determining the data collection area in the two-dimensional grid map may include the following sub-steps:

[0083] S31, determining the initial position and driving direction of the vehicle in the two-dimensional grid map;

[0084] S32, taking the initial position of the vehicle in the two-dimensional grid map as a reference point and the driving direction as a reference direction, determining a scanning initial angle and a scanning end angle; the driving direction is between the scanning initial angle and the scanning end angle;

[0085] S33, taking the sector area between the scanning initial angle and the scanning termination angle as the data acquisition area.

[0086] In a specific implementation, considering the degree of influence of obstacles on the vehicle, the data collection area can be a sector-shaped surface that takes the vehicle as the reference point and spreads along the direction of travel of the vehicle. Based on this, in an embodiment of the present invention, it is first necessary to determine the initial position and travel direction of the vehicle in the two-dimensional grid map. After determining the initial position and travel direction, the travel direction can be used as the center line of the sector-shaped surface, and the angle of the sector-shaped surface can be selected according to the needs, so as to determine the angle of the two side lines of the sector-shaped surface relative to the travel direction, thereby determining the scanning initial angle and scanning end angle of the sector-shaped surface, and then determining the data collection area on the two-dimensional grid map.

[0087] Step 204, scanning the data collection area to obtain reflection point position data;

[0088] In the embodiment of the present invention, the data collection area may be scanned to obtain position information of reflection points representing obstacles in the data collection area.

[0089] In one example, if Figure 4 As shown, step 204 may specifically include the following sub-steps:

[0090] S41, obtaining a deflection angle;

[0091] S42, taking the vehicle as a reference point and based on the deflection angle, determining a plurality of scanning directions in a data collection area;

[0092] S43, scanning each scanning direction in turn to obtain reflection point position data in each scanning direction, where the reflection point position data is the position data of the obstacle closest to the vehicle in the scanning direction.

[0093] In the embodiment of the present invention, a vehicle can be used as a reference point to determine multiple scanning directions along the vehicle's driving direction. The deflection angle between each scanning direction can be selected according to actual needs, and the present invention does not impose any specific limitation on this.

[0094] In the specific implementation, first start from the initial position of the vehicle, scan along the direction corresponding to the initial scanning angle, and record the first collected grid point whose grayscale value reaches the preset value as the first reflection point position data, then deflect by the set deflection angle value in the direction of the scanning end point, and repeat the scanning operation to obtain the reflection point position data in each scanning direction.

[0095] Step 205: Send the reflection point position data to a preset data processing module for data processing to determine the position information of at least one environmental obstacle.

[0096] After the reflection point position data of each obstacle point in the grid map is obtained by scanning, all the reflection point position data can be sent to the data processing module for analysis to obtain the environmental obstacle position information.

[0097] In the embodiment of the present invention, Figure 5 As shown, step 205 may specifically include the following sub-steps:

[0098] S51, sending the reflection point position data to a preset data processing module;

[0099] S52, calculating the relative position relationship between the position data of two adjacent reflection points in sequence through the data processing module;

[0100] S53, dividing the position data of all reflection points according to the relative position relationship through the data processing module to obtain at least one piece of environmental obstacle position information.

[0101] In a specific implementation, since there may be more than one obstacle in the actual environment corresponding to the scanned data acquisition area, the size of the occlusion surface of each obstacle on the vehicle during the vehicle's driving process is also different. In order to determine the number and position of obstacles and the actual occlusion area of ​​each obstacle, the data processing module can calculate the relative position relationship between the position data of two adjacent reflection points in sequence, so as to determine whether the two adjacent points are continuous points. Then, the actual position information of the obstacle and the actual occlusion area are determined by associating adjacent continuous points to form a point set, and the number of obstacles is determined according to the number of point sets.

[0102] The present invention obtains a two-dimensional grid map at the location of the vehicle, scans in the data collection area of ​​the two-dimensional grid map, obtains reflection point position data, and sends the reflection point position data to a preset data processing module, so that the data processing module can determine the obstacle position information in front of the vehicle based on the reflection point position data. Since the present invention does not directly transmit the two-dimensional grid map, but extracts a small amount of reflection point position data from the grid map for transmission, the amount of data transmission is reduced, so that the obstacle position information in front of the vehicle can be quickly determined, and the vehicle can be guided to avoid obstacles in time, reducing the driving risk under automatic driving.

[0103] See also Figure 6 , Figure 6 A structural block diagram of an environmental obstacle position information detection device provided by an embodiment of the present invention.

[0104] An embodiment of the present invention provides an environmental obstacle position information detection device, the device comprising:

[0105] A two-dimensional grid map acquisition module 601 is used to acquire a two-dimensional grid map at the location of the vehicle;

[0106] A data collection area determination module 602 is used to determine a data collection area in a two-dimensional grid map;

[0107] A reflection point position data acquisition module 603 is used to scan the data acquisition area and acquire reflection point position data;

[0108] The environmental obstacle position information determination module 604 is used to send the reflection point position data to a preset data processing module for data processing to determine at least one environmental obstacle position information.

[0109] In the embodiment of the present invention, the vehicle-mounted system communicates with the image acquisition device; the two-dimensional grid map acquisition module 601 may include:

[0110] An environmental information receiving submodule, used to receive environmental information of the vehicle's location collected by the image acquisition device;

[0111] The two-dimensional grid map generation submodule is used to generate a two-dimensional grid map of the vehicle's location based on environmental information.

[0112] In the embodiment of the present invention, the data collection area determination module 602 includes:

[0113] An initial position and driving direction determination submodule is used to determine the initial position and driving direction of the vehicle in a two-dimensional grid map;

[0114] The scanning initial angle and scanning end angle determination submodule is used to determine the scanning initial angle and scanning end angle with the initial position of the vehicle in the two-dimensional grid map as the reference point and the driving direction as the reference direction; the driving direction is between the scanning initial angle and the scanning end angle;

[0115] The data acquisition area determination submodule is used to use the sector area between the scanning initial angle and the scanning termination angle as the data acquisition area.

[0116] In the embodiment of the present invention, the reflection point position data acquisition module 603 includes:

[0117] A deflection angle acquisition submodule is used to obtain the deflection angle;

[0118] A scanning direction determination submodule, for determining a plurality of scanning directions in a data acquisition area based on a deflection angle and taking the vehicle as a reference point;

[0119] The reflection point position data acquisition submodule is used to scan each scanning direction in turn and acquire the reflection point position data in each scanning direction. The reflection point position data is the position data of the obstacle closest to the vehicle in the scanning direction.

[0120] In the embodiment of the present invention, the environmental obstacle position information determination module 604 includes:

[0121] A sending submodule, used for sending the reflection point position data to a preset data processing module;

[0122] A relative position relationship calculation submodule is used to calculate the relative position relationship between the position data of two adjacent reflection points in sequence through the data processing module;

[0123] The environmental obstacle position information determination submodule is used to divide all reflection point position data according to the relative position relationship through the data processing module to obtain at least one environmental obstacle position information.

[0124] An embodiment of the present invention further provides an electronic device, the device comprising a processor and a memory:

[0125] The memory is used to store the program code and transmit the program code to the processor;

[0126] The processor is used to execute the environmental obstacle position information detection method of the embodiment of the present invention according to the instructions in the program code.

[0127] The embodiment of the present invention further provides a computer-readable storage medium, which is used to store program codes, and the program codes are used to execute the environmental obstacle position information detection method of the embodiment of the present invention.

[0128] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0129] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0130] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0131] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0132] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0133] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting location information of environmental obstacles, characterized in that: The method comprises: Obtain a two-dimensional grid map of the vehicle's location; Determining a data collection area in the two-dimensional grid map; Scan the data collection area to obtain the reflection point position data of the reflection point in the two-dimensional grid map; the reflection point is a grid point whose gray value reaches a preset value and is used to characterize the obstacle; Sending the reflection point position data to a preset data processing module for data processing to determine at least one environmental obstacle position information; The step of sending the reflection point position data to a preset data processing module for data processing to determine the position information of at least one environmental obstacle includes: Sending the reflection point position data to a preset data processing module; The data processing module sequentially calculates the relative position relationship between the position data of two adjacent reflection points; The data processing module divides all the reflection point position data according to the relative position relationship to obtain at least one piece of environmental obstacle position information.

2. The method according to claim 1, characterized in that The step of obtaining a two-dimensional grid map at the location of the vehicle includes: Receiving environmental information of the vehicle's location collected by a preset image collection device; A two-dimensional grid map of the vehicle's location is generated based on the environmental information.

3. The method according to claim 1, characterized in that The step of determining the data collection area in the two-dimensional grid map comprises: Determining an initial position and a driving direction of the vehicle in the two-dimensional grid map; Taking the initial position of the vehicle in the two-dimensional grid map as a reference point and the driving direction as a reference direction, determining a scanning initial angle and a scanning end angle; the driving direction is between the scanning initial angle and the scanning end angle; A sector-shaped area between the scanning initial angle and the scanning termination angle is used as a data acquisition area.

4. The method according to claim 3, characterized in that The step of scanning the data acquisition area to obtain the reflection point position data of the reflection point in the two-dimensional grid map includes: Get the deflection angle; Taking the vehicle as a reference point and based on the deflection angle, determining a plurality of scanning directions in the data acquisition area; Scan each of the scanning directions in sequence to obtain reflection point position data in each of the scanning directions, wherein the reflection point position data is position data of an obstacle closest to the vehicle in the scanning direction.

5. An environmental obstacle position information detection device, characterized in that: The device comprises: A two-dimensional grid map acquisition module is used to acquire a two-dimensional grid map at the location of the vehicle; A data collection area determination module, used to determine a data collection area in the two-dimensional grid map; A reflection point position data acquisition module is used to scan the data acquisition area to obtain the reflection point position data of the reflection point in the two-dimensional grid map; the reflection point is a grid point whose gray value reaches a preset value and is used to characterize an obstacle; An environmental obstacle position information determination module, used to send the reflection point position data to a preset data processing module for data processing to determine at least one environmental obstacle position information; Among them, the environmental obstacle position information determination module includes: A sending submodule, used for sending the reflection point position data to a preset data processing module; A relative position relationship calculation submodule is used to calculate the relative position relationship between the position data of two adjacent reflection points in sequence through the data processing module; The environmental obstacle position information determination submodule is used to divide all reflection point position data according to the relative position relationship through the data processing module to obtain at least one environmental obstacle position information.

6. The device according to claim 5, characterized in that The data collection area determination module comprises: An initial position and driving direction determination submodule, used to determine the initial position and driving direction of the vehicle in the two-dimensional grid map; A scanning initial angle and scanning end angle determination submodule, used to determine a scanning initial angle and a scanning end angle with the initial position of the vehicle in the two-dimensional grid map as a reference point and the driving direction as a reference direction; the driving direction is between the scanning initial angle and the scanning end angle; The data acquisition area determination submodule is used to use the sector area between the scanning initial angle and the scanning termination angle as the data acquisition area.

7. The device according to claim 6, characterized in that The reflection point position data acquisition module comprises: A deflection angle acquisition submodule is used to obtain the deflection angle; A scanning direction determination submodule, for determining a plurality of scanning directions in the data acquisition area based on the deflection angle and taking the vehicle as a reference point; The reflection point position data acquisition submodule is used to scan each of the scanning directions in turn to acquire the reflection point position data in each of the scanning directions, wherein the reflection point position data is the position data of the obstacle closest to the vehicle in the scanning direction.

8. An electronic device, characterized in that: The device comprises a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the environmental obstacle position information detection method according to any one of claims 1-4 according to the instructions in the program code.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store program code, and the program code is used to execute the environmental obstacle position information detection method according to any one of claims 1 to 4.

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