Laser radar position determination method and device, equipment, medium and product

Abstract

The invention relates to a laser radar position determination method and device, equipment, a medium and a product. The method comprises the following steps: acquiring vehicle state information, radar state information and preset obstacle information, wherein the radar state information comprises radar position information, a horizontal resolution vector and a vertical resolution vector; determining a scanning area matrix corresponding to the laser radar according to the vehicle state information, the horizontal resolution vector and the vertical resolution vector; obtaining a detection result according to the scanning area matrix and the obstacle information; and under the condition that the detection result meets a preset position condition, taking the radar position information as target position information. By adopting the method, the accuracy of the laser radar position determination method can be improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a laser radar position determination method, device, equipment, medium and product. Background Art

[0002] In the field of autonomous driving technology, in order to ensure driving safety, laser radar is generally used to detect obstacles in the road environment. Therefore, it is necessary to accurately determine the installation position of the laser radar on the vehicle.

[0003] In the related art, the laser radar is installed on the top of the vehicle or the front and rear bumpers. However, the current laser radar position determination method has the problem of low accuracy and cannot accurately identify obstacles in the road environment, especially negative obstacles. Summary of the invention

[0004] Based on this, it is necessary to provide a lidar position determination method, device, equipment, medium and product that can improve the accuracy in order to solve the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a laser radar position determination method, the method comprising:

[0006] Acquiring vehicle status information, radar status information and preset obstacle information, wherein the radar status information includes radar position information, horizontal resolution vector and vertical resolution vector;

[0007] Determine a scanning area matrix corresponding to the laser radar according to the vehicle state information, the horizontal resolution vector and the vertical resolution vector;

[0008] Obtaining a detection result according to the scanning area matrix and the obstacle information;

[0009] When the detection result meets the preset position condition, the radar position information is used as the target position information.

[0010] In one embodiment, the method provides a process of determining a scanning area matrix corresponding to a laser radar according to the vehicle state information, the horizontal resolution vector, and the vertical resolution vector, including:

[0011] Determine the rotation angle corresponding to the laser radar according to the radar position information and the vehicle state information;

[0012] Constructing an initial scanning matrix according to the radar position information, the horizontal resolution vector and the vertical resolution vector;

[0013] The scanning area matrix is ​​obtained according to the rotation angle and the initial scanning matrix.

[0014] In one embodiment, the method provided is to obtain the scanning area matrix according to the rotation angle and the initial scanning matrix, including:

[0015] Constructing a rotation matrix according to the rotation angle;

[0016] Transposing the initial scan matrix to obtain a transposed scan matrix;

[0017] The rotation matrix and the transposed scanning matrix are multiplied to obtain the scanning area matrix.

[0018] In one embodiment, the obstacle information in the provided method includes obstacle data; the process of obtaining the detection result according to the scanning area matrix and the obstacle information in the provided method includes:

[0019] Obtain obstacle identification data using the scanning area matrix and preset obstacle information;

[0020] The obstacle recognition data and the obstacle data are proportionally calculated to obtain the detection result.

[0021] In one embodiment, before obtaining the obstacle information, the method further includes:

[0022] Constructing a central probability density function according to the vehicle state information;

[0023] The obstacle information is obtained according to the central probability density function.

[0024] In one of the embodiments, the provided method further includes: visualizing the vehicle status information, the radar status information and the detection result.

[0025] In a second aspect, the present application also provides a laser radar position determination device, the device comprising:

[0026] An information acquisition module, used to acquire vehicle status information, radar status information and preset obstacle information, wherein the radar status information includes radar position information, horizontal resolution vector and vertical resolution vector;

[0027] A matrix construction module, used to determine a scanning area matrix corresponding to the laser radar according to the vehicle state information, the horizontal resolution vector and the vertical resolution vector;

[0028] A detection simulation module, used to obtain a detection result according to the scanning area matrix and the obstacle information;

[0029] The position determination module is used to use the radar position information as the target position information when the detection result meets the preset position condition.

[0030] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method described in the first aspect are implemented.

[0031] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0032] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0033] The above-mentioned laser radar position determination method, device, equipment, medium and product, one aspect of which provides a laser radar position determination method, including: obtaining vehicle status information, radar status information and preset obstacle information, the radar status information including radar position information, horizontal resolution vector and vertical resolution vector; determining the scanning area matrix corresponding to the laser radar according to the vehicle status information, the horizontal resolution vector and the vertical resolution vector; obtaining the detection result according to the scanning area matrix and the obstacle information; when the detection result meets the preset position condition, the radar position information is used as the target position information. In the present application, the scanning area matrix corresponding to the laser radar is determined by the horizontal resolution vector and the vertical resolution vector in the radar status information, so that obstacles in the scanning area, especially negative obstacles, can be effectively detected, and then the radar position is determined according to the detection result, and the vertical resolution of the laser radar is improved to improve the accuracy of the laser radar position determination method. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] FIG1 is a diagram of an application environment of a laser radar position determination method according to an embodiment;

[0036] FIG2 is a schematic diagram of a flow chart of a laser radar position determination method in one embodiment;

[0037] FIG3 is a schematic diagram of visualizing vehicle status information in one embodiment;

[0038] FIG4 is a schematic diagram showing visualization of vehicle status information and radar status information in one embodiment;

[0039] FIG5 is a schematic diagram of a flow chart of a laser radar position determination method in another embodiment;

[0040] FIG6 is a block diagram of a laser radar position determination device in one embodiment;

[0041] FIG. 7 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0043] The laser radar position determination method provided in the embodiment of the present application can be applied to the application environment shown in Figure 1. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices, and portable wearable devices, and the server 104 can be implemented with an independent server or a server cluster consisting of multiple servers.

[0044] In an exemplary embodiment, as shown in FIG2 , a laser radar position determination method is provided, and the method is applied to the server in FIG1 as an example for explanation. It can be understood that the method can also be applied to a terminal, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. The laser radar position determination method provided in this embodiment includes the following steps 202 to 208. Among them:

[0045] Step 202, obtaining vehicle status information, radar status information and preset obstacle information, wherein the radar status information includes radar position information, horizontal resolution vector and vertical resolution vector.

[0046] Among them, the vehicle status information is the status information corresponding to the vehicle equipped with laser radar, which may specifically include: vehicle location information and vehicle movement information.

[0047] In the embodiment of the present application, the global coordinate system of the vehicle can be expressed as O-XYZ, where O is the origin, the X-axis direction represents the lateral width of the road surface, the Y-axis direction represents the longitudinal length of the road surface, and the Z-axis direction is perpendicular to the road surface.

[0048] In a possible implementation, as shown in FIG3 , the vehicle is set as one or more cuboids in the global coordinate system. For example, when the vehicle is a long-head vehicle, two cuboids are set, as shown in FIG3 , where the smaller cuboid is the vehicle body except for the front window of the cab, and the larger cuboid is the cab and the cargo compartment behind the cab. The coordinates of each vertex of the cuboid are determined by ordered triples in the global coordinate system, and the coordinates of the center point of the cuboid are , the size of the cuboid Represents the length, width and height of the cuboid. According to the coordinates and size of the center point, the coordinates of each vertex of the cuboid in the global coordinate system and the normal vector of each face can be obtained.

[0049] Among them, the laser radar can be approximated by a point in the global coordinate system, and the laser beam can be approximated as a straight line vector in the global coordinate system.

[0050] In a possible implementation, the laser radar is a mechanical rotating laser radar, and the radar position information in the radar status information can be expressed as the radar position coordinates: , and its angular resolution in the horizontal direction is degrees, the horizontal scanning range is [ i h minutes , i h max ] , the angular resolution in the vertical direction is degrees, the vertical scanning range is [ i vmin , i vmax ] According to the number of laser radar scanning lines and angular resolution, the length N of the horizontal resolution vector H is , each element value represents the rotation angle of the laser beam after projection on the O-XY plane in the coordinate system. The length M of the vertical resolution vector V is , each element value represents the rotation angle of the laser beam in the O-YZ plane in the coordinate system. For the rotating laser radar in this example, the value of each element in the horizontal direction vector , the values ​​of each element in the vertical vector .

[0051] Among them, the obstacles preset in the embodiment of the present application are negative obstacles, such as gaps, potholes or step-down areas, and the obstacle information includes obstacle size and obstacle position information.

[0052] Step 204, determining the scanning area matrix corresponding to the laser radar according to the vehicle state information, the horizontal resolution vector and the vertical resolution vector.

[0053] In a possible implementation, step 204 further includes: determining the rotation angle corresponding to the laser radar based on the radar position information and the vehicle status information; constructing an initial scanning matrix based on the radar position information, the horizontal resolution vector and the vertical resolution vector; and obtaining a scanning area matrix based on the rotation angle and the initial scanning matrix.

[0054] Among them, the laser radar has a rotation angle around the coordinate axis due to the layout angle of the vehicle body. ,in, is the rotation angle around the x-axis, indicating the lateral tilt of the vehicle. is the rotation angle around the y-axis, indicating the pitch of the vehicle in the longitudinal direction, is the rotation angle around the z-axis, representing the yaw of the vehicle in the vertical direction.

[0055] Based on the radar position information, the horizontal resolution vector H and the vertical resolution vector V, the initial scanning matrix It can be expressed as:

[0056]

[0057] Among them, A is determined by the radar position coordinates, and can be rounded to the maximum value of the three coordinate values, which can reduce the calculation error. Initial scanning matrix The size is MN×3.

[0058] In a possible implementation, the process of obtaining a scanning area matrix based on the rotation angle and the initial scanning matrix may further include: constructing a rotation matrix based on the rotation angle; transposing the initial scanning matrix to obtain a transposed scanning matrix; and performing multiplication operations on the rotation matrix and the transposed scanning matrix to obtain a scanning area matrix.

[0059] Among them, combined with the angle of the laser radar arrangement, the corresponding laser beam should also be rotated according to the rotation angle Get the rotation matrix , the rotation matrix It can be expressed as:

[0060]

[0061] Initial scan matrix After transposition, it can be expressed as the transposed scan matrix , the scan area matrix obtained after rotation The translation operation should be performed in combination with the actual position coordinates of the laser radar in the global coordinate system, and a flag column should be added to mark whether the laser beam intersects with the object. 1 represents intersection and 0 represents non-intersection. If there is intersection with the vehicle, it means that the laser beam represented by this row has been blocked by the vehicle and needs to be ignored when judging the exploration results. Scanning area matrix It can be expressed as:

[0062]

[0063] In this embodiment, the scanning area matrix is ​​adjusted according to the corresponding rotation angle of the laser radar so that the determined radar position is adapted to the posture change of the vehicle, thereby ensuring that the environmental information obtained by the laser radar is consistent with the overall movement of the vehicle, thereby further improving the accuracy of the laser radar position determination method.

[0064] Step 206, obtaining detection results according to the scan area matrix and obstacle information.

[0065] Among them, the scanning area matrix A row in represents the direction vector corresponding to the emission of a laser beam. The laser beam returns after hitting the surface of the object. The distance and angle of the laser beam are processed to obtain the detection result.

[0066] Exemplarily, the height of the detection point corresponding to the laser beam can be obtained according to the distance and angle of the laser beam. When the height of the detection point is less than a preset height threshold, a negative obstacle is detected as a detection result.

[0067] Step 208: When the detection result meets the preset position condition, the radar position information is used as the target position information.

[0068] Exemplarily, the location condition may be that the detection result is greater than or equal to a preset detection threshold, indicating that the current radar location information can detect obstacles more accurately.

[0069] The above-mentioned laser radar position determination method includes obtaining vehicle state information, radar state information and preset obstacle information, wherein the radar state information includes radar position information, horizontal resolution vector and vertical resolution vector; determining the scanning area matrix corresponding to the laser radar according to the vehicle state information, horizontal resolution vector and vertical resolution vector; obtaining the detection result according to the scanning area matrix and obstacle information; and using the radar position information as the target position information when the detection result meets the preset position condition. In this embodiment, the scanning area matrix corresponding to the laser radar is determined by the horizontal resolution vector and the vertical resolution vector in the radar state information, so that obstacles in the scanning area, especially negative obstacles, can be effectively detected, and then the radar position is determined according to the detection result, and the vertical resolution of the laser radar is improved to improve the accuracy of the laser radar position determination method.

[0070] Based on the embodiment shown in Figure 2, the obstacle information in the method provided in one embodiment of the present application includes obstacle data; the process of obtaining the detection result based on the scanning area matrix and the obstacle information in the provided method includes: obtaining obstacle identification data using the scanning area matrix and preset obstacle information; performing proportional calculation processing on the obstacle identification data and the obstacle data to obtain the detection result.

[0071] In a possible implementation, before obtaining the obstacle information, the method further includes: constructing a central probability density function according to the vehicle state information; and obtaining the obstacle information according to the central probability density function.

[0072] The obstacle information also includes the preset obstacle size L and the obstacle coordinates (x o ,y o ). According to the vehicle position information in the vehicle status information, the projection coordinates of the side edges of the vehicle on the X-axis are obtained. and , the central probability density function can be expressed as:

[0073]

[0074] Among them, k is the normalization coefficient, which is used to ensure that the integral value of this formula is 1 within the road surface range. and It is related to the degree of dispersion when setting obstacles randomly. Multiple center coordinates are randomly generated multiple times according to the center probability density function, and then the center coordinates are used as the center position coordinates of the obstacle in the O-XY plane to generate square obstacles with a side length of L, and the position information and size information of each obstacle are used as obstacle information.

[0075] In a possible implementation, the O-XY plane is divided into T grids, and A obstacles are randomly selected from the grid t (t∈[1,T]). Based on the scanning area matrix, laser detection is performed on the O-XY plane, the coordinates of the laser detection points of each laser radar beam and the O-XY plane are calculated, and the number of each detection point coordinate falling into the obstacle is counted. When the number of laser detection points falling into the same obstacle is greater than or equal to 2, it means that the obstacle is detected, and the obstacle detected in the grid t is set to B, the number of grids detected with obstacles is set to G, and the detection result of the grid t is p t It can be expressed as:

[0076]

[0077] All grids are evaluated, and finally the detection probability of the entire road surface according to the grid distribution is obtained, so as to judge whether the current installation position and installation angle of the lidar can meet the recognition requirements of negative obstacles.

[0078] In a possible implementation, the method further includes: visualizing the vehicle status information, the radar status information, and the detection result. Exemplarily, the visualized vehicle status information and the radar status information are shown in FIG4 .

[0079] In this embodiment, a central probability density function is constructed according to the vehicle state information, and obstacle information is generated according to the central probability density function, which can improve the randomness of obstacles in the detection process, thereby increasing the reliability of the detection results.

[0080] In an exemplary embodiment, as shown in FIG5 , a laser radar position determination method is provided, and the method is applied to the server in FIG1 as an example for description, and the method includes the following steps 501 to 510. Among them:

[0081] Step 501, obtaining vehicle status information, radar status information and preset obstacle information, wherein the radar status information includes radar position information, horizontal resolution vector and vertical resolution vector.

[0082] The obstacle information includes obstacle data. According to the vehicle state information, a central probability density function is constructed; according to the central probability density function, the obstacle information is obtained.

[0083] Step 502, determining the rotation angle corresponding to the laser radar according to the radar position information and the vehicle status information.

[0084] Step 503: construct an initial scanning matrix according to the radar position information, the horizontal resolution vector and the vertical resolution vector.

[0085] Step 504: construct a rotation matrix according to the rotation angle.

[0086] Step 505, transpose the initial scan matrix to obtain a transposed scan matrix.

[0087] Step 506: Perform multiplication operation on the rotation matrix and the transposed scanning matrix to obtain a scanning area matrix.

[0088] Step 507, using the scan area matrix and preset obstacle information, obtain obstacle recognition data.

[0089] Step 508: Perform proportional calculation on the obstacle recognition data and the obstacle data to obtain a detection result.

[0090] Step 509: Visualize the vehicle status information, radar status information and detection results.

[0091] Step 510: When the detection result meets the preset position condition, the radar position information is used as the target position information.

[0092] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0093] Based on the same inventive concept, the embodiment of the present application also provides a laser radar position determination device for implementing the laser radar position determination method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more laser radar position determination device embodiments provided below can refer to the limitations of the laser radar position determination method above, and will not be repeated here.

[0094] In an exemplary embodiment, as shown in FIG6 , a laser radar position determination device is provided, comprising: an information acquisition module 602, a matrix construction module 604, a detection simulation module 606 and a position determination module 608, wherein:

[0095] An information acquisition module 602 is used to acquire vehicle status information, radar status information and preset obstacle information, where the radar status information includes radar position information, horizontal resolution vector and vertical resolution vector;

[0096] A matrix construction module 604 is used to determine a scanning area matrix corresponding to the laser radar according to the vehicle state information, the horizontal resolution vector and the vertical resolution vector;

[0097] The detection simulation module 606 is used to obtain the detection result according to the scanning area matrix and obstacle information;

[0098] The position determination module 608 is used to use the radar position information as the target position information when the detection result meets the preset position condition.

[0099] In one embodiment, the matrix construction module 604 is also used to determine the rotation angle corresponding to the laser radar based on the radar position information and the vehicle status information; construct an initial scanning matrix based on the radar position information, the horizontal resolution vector and the vertical resolution vector; and obtain a scanning area matrix based on the rotation angle and the initial scanning matrix.

[0100] In one embodiment, the matrix construction module 604 is further used to construct a rotation matrix according to the rotation angle; transpose the initial scanning matrix to obtain a transposed scanning matrix; and multiply the rotation matrix and the transposed scanning matrix to obtain a scanning area matrix.

[0101] In one embodiment, the detection simulation module 606 is further used to obtain obstacle identification data using the scanning area matrix and preset obstacle information; and perform proportional calculation processing on the obstacle identification data and the obstacle data to obtain the detection result.

[0102] In one embodiment, the information acquisition module 602 is further used to construct a central probability density function according to the vehicle state information; and obtain obstacle information according to the central probability density function.

[0103] In one of the embodiments, the device further includes: a display module for visualizing vehicle status information, radar status information and detection results.

[0104] Each module in the above-mentioned laser radar position determination device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0105] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG7. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store vehicle status information, radar status information and preset obstacle information. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a laser radar position determination method is implemented.

[0106] Those skilled in the art will understand that the structure shown in FIG. 7 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0107] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0108] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0109] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0110] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0111] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0112] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0113] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A laser radar position determination method, characterized in that: The method comprises: Acquiring vehicle status information, radar status information and preset obstacle information, wherein the radar status information includes radar position information, horizontal resolution vector and vertical resolution vector; Determine a scanning area matrix corresponding to the laser radar according to the vehicle state information, the horizontal resolution vector and the vertical resolution vector; Obtaining a detection result according to the scanning area matrix and the obstacle information; When the detection result meets the preset position condition, the radar position information is used as the target position information.

2. The method according to claim 1, characterized in that The step of determining a scanning area matrix corresponding to the laser radar according to the vehicle state information, the horizontal resolution vector, and the vertical resolution vector includes: Determine the rotation angle corresponding to the laser radar according to the radar position information and the vehicle state information; Constructing an initial scanning matrix according to the radar position information, the horizontal resolution vector and the vertical resolution vector; The scanning area matrix is ​​obtained according to the rotation angle and the initial scanning matrix.

3. The method according to claim 2, characterized in that The step of obtaining the scanning area matrix according to the rotation angle and the initial scanning matrix comprises: Constructing a rotation matrix according to the rotation angle; Transposing the initial scan matrix to obtain a transposed scan matrix; The rotation matrix and the transposed scanning matrix are multiplied to obtain the scanning area matrix.

4. The method according to claim 1, characterized in that: The obstacle information includes obstacle data; and obtaining a detection result according to the scanning area matrix and the obstacle information includes: Obtain obstacle identification data using the scanning area matrix and preset obstacle information; The obstacle recognition data and the obstacle data are proportionally calculated to obtain the detection result.

5. The method according to claim 1, characterized in that Before obtaining the obstacle information, the method further includes: Constructing a central probability density function according to the vehicle state information; The obstacle information is obtained according to the central probability density function.

6. The method according to claim 1, characterized in that The method further includes: visualizing the vehicle status information, the radar status information and the detection result.

7. A laser radar position determination device, characterized in that: The device comprises: An information acquisition module, used to acquire vehicle status information, radar status information and preset obstacle information, wherein the radar status information includes radar position information, horizontal resolution vector and vertical resolution vector; A matrix construction module, used to determine a scanning area matrix corresponding to the laser radar according to the vehicle state information, the horizontal resolution vector and the vertical resolution vector; A detection simulation module, used to obtain a detection result according to the scanning area matrix and the obstacle information; The position determination module is used to use the radar position information as the target position information when the detection result meets the preset position condition.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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