CN110691990A - 一种障碍物检测方法及设备 - Google Patents

一种障碍物检测方法及设备 Download PDF

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CN110691990A
CN110691990A CN201780091513.XA CN201780091513A CN110691990A CN 110691990 A CN110691990 A CN 110691990A CN 201780091513 A CN201780091513 A CN 201780091513A CN 110691990 A CN110691990 A CN 110691990A
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CN110691990B (zh
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曹彤彤
邵云峰
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Huawei Technologies Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G01S13/726—Multiple target tracking
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

一种障碍物检测方法及***(100)，用以提升障碍物识别精度的同时避免较大的数据处理量，方法包括：障碍物信息处理设备(110)接收障碍物检测数据采集器(120)针对目标交通工具采集的n个障碍物的描述信息，根据n个障碍物的描述信息更新障碍物信息列表，获得更新后的障碍物信息列表；障碍物信息处理设备(110)根据更新后的障碍物信息列表获得目标区域信息和非目标区域信息，并将目标区域信息和非目标区域信息发送给激光雷达数据采集器(130)；障碍物信息处理设备(110)接收激光雷达数据采集器(130)采集的采样点集合；最后，障碍物信息处理设备(110)根据采样点集合和更新后的障碍物信息列表，获得障碍物检测结果。因此，避免较大的数据处理量，同时保证了障碍物识别精度。

Description

PCT国内申请，说明书已公开。

Claims (25)

  1. PCT国内申请，权利要求书已公开。
CN201780091513.XA 2017-06-02 2017-06-02 一种障碍物检测方法及设备 Active CN110691990B (zh)

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CN112132929A (zh) * 2020-09-01 2020-12-25 北京布科思科技有限公司 一种基于深度视觉和单线激光雷达的栅格地图标记方法
CN113075668A (zh) * 2021-03-25 2021-07-06 广州小鹏自动驾驶科技有限公司 一种动态障碍物对象识别方法和装置
CN113469159A (zh) * 2021-09-06 2021-10-01 禾多科技（北京）有限公司 障碍物信息生成方法、装置、电子设备和计算机可读介质
CN113538966A (zh) * 2020-04-13 2021-10-22 丰田自动车株式会社 车载传感器***
CN113552575A (zh) * 2021-07-16 2021-10-26 铁将军汽车电子股份有限公司 泊车障碍物侦测方法及装置
CN116204791A (zh) * 2023-04-25 2023-06-02 山东港口渤海湾港集团有限公司 车辆行为预测场景数据集的构建和管理方法及其***

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CN110889350B (zh) * 2019-11-18 2023-05-23 四川西南交大铁路发展股份有限公司 一种基于三维成像的线路障碍物监测报警***及方法
CN111474560B (zh) * 2020-04-16 2023-11-24 苏州大学 一种障碍物定位方法、装置及设备
US20230156568A1 (en) * 2020-05-08 2023-05-18 Lg Electronics Inc. Method and apparatus for updating data transfer disturbance in multi-agent multi-device ml operations
CN112306061B (zh) * 2020-10-28 2024-06-21 深圳优地科技有限公司 一种机器人控制方法以及机器人
CN112764035B (zh) * 2020-12-28 2024-01-30 南京市德赛西威汽车电子有限公司 一种基于bsd雷达左右通信的虚假目标检测优化方法

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CN113538966A (zh) * 2020-04-13 2021-10-22 丰田自动车株式会社 车载传感器***
CN113538966B (zh) * 2020-04-13 2023-02-28 丰田自动车株式会社 车载传感器***
CN112132929A (zh) * 2020-09-01 2020-12-25 北京布科思科技有限公司 一种基于深度视觉和单线激光雷达的栅格地图标记方法
CN112132929B (zh) * 2020-09-01 2024-01-26 北京布科思科技有限公司 一种基于深度视觉和单线激光雷达的栅格地图标记方法
CN113075668A (zh) * 2021-03-25 2021-07-06 广州小鹏自动驾驶科技有限公司 一种动态障碍物对象识别方法和装置
CN113075668B (zh) * 2021-03-25 2024-03-08 广州小鹏自动驾驶科技有限公司 一种动态障碍物对象识别方法和装置
CN113552575A (zh) * 2021-07-16 2021-10-26 铁将军汽车电子股份有限公司 泊车障碍物侦测方法及装置
CN113552575B (zh) * 2021-07-16 2024-05-07 铁将军汽车电子股份有限公司 泊车障碍物侦测方法及装置
CN113469159A (zh) * 2021-09-06 2021-10-01 禾多科技（北京）有限公司 障碍物信息生成方法、装置、电子设备和计算机可读介质
CN113469159B (zh) * 2021-09-06 2021-12-07 禾多科技（北京）有限公司 障碍物信息生成方法、装置、电子设备和计算机可读介质
CN116204791A (zh) * 2023-04-25 2023-06-02 山东港口渤海湾港集团有限公司 车辆行为预测场景数据集的构建和管理方法及其***
CN116204791B (zh) * 2023-04-25 2023-08-11 山东港口渤海湾港集团有限公司 车辆行为预测场景数据集的构建和管理方法及其***

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EP3623844A4 (en) 2020-05-20
US20200110173A1 (en) 2020-04-09
WO2018218680A1 (zh) 2018-12-06
EP3623844A1 (en) 2020-03-18
CN110691990B (zh) 2021-10-26

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