CN115100628A - 一种自动驾驶车辆的障碍物识别方法及装置 - Google Patents
一种自动驾驶车辆的障碍物识别方法及装置 Download PDFInfo
- Publication number
- CN115100628A CN115100628A CN202210710731.XA CN202210710731A CN115100628A CN 115100628 A CN115100628 A CN 115100628A CN 202210710731 A CN202210710731 A CN 202210710731A CN 115100628 A CN115100628 A CN 115100628A
- Authority
- CN
- China
- Prior art keywords
- obstacle
- real
- time image
- target
- specified
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 65
- 238000001914 filtration Methods 0.000 claims abstract description 11
- 238000009826 distribution Methods 0.000 claims description 34
- 238000003860 storage Methods 0.000 claims description 18
- 238000013145 classification model Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 11
- 238000012795 verification Methods 0.000 claims description 11
- 241001464837 Viridiplantae Species 0.000 description 15
- 230000008569 process Effects 0.000 description 14
- 230000004888 barrier function Effects 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 12
- 238000004590 computer program Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 7
- 230000003068 static effect Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000005070 sampling Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Images
Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- Databases & Information Systems (AREA)
- Computing Systems (AREA)
- Artificial Intelligence (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210710731.XA CN115100628A (zh) | 2022-06-22 | 2022-06-22 | 一种自动驾驶车辆的障碍物识别方法及装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210710731.XA CN115100628A (zh) | 2022-06-22 | 2022-06-22 | 一种自动驾驶车辆的障碍物识别方法及装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN115100628A true CN115100628A (zh) | 2022-09-23 |
Family
ID=83293154
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210710731.XA Pending CN115100628A (zh) | 2022-06-22 | 2022-06-22 | 一种自动驾驶车辆的障碍物识别方法及装置 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN115100628A (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024124546A1 (zh) * | 2022-12-16 | 2024-06-20 | 华为技术有限公司 | 一种自动泊车的方法、装置以及车辆 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120081542A1 (en) * | 2010-10-01 | 2012-04-05 | Andong University Industry-Academic Cooperation Foundation | Obstacle detecting system and method |
US20170369051A1 (en) * | 2016-06-28 | 2017-12-28 | Toyota Motor Engineering & Manufacturing North America, Inc. | Occluded obstacle classification for vehicles |
CN109817021A (zh) * | 2019-01-15 | 2019-05-28 | 北京百度网讯科技有限公司 | 一种激光雷达路侧盲区交通参与者避让方法和装置 |
CN111291697A (zh) * | 2020-02-19 | 2020-06-16 | 北京百度网讯科技有限公司 | 用于识别障碍物的方法和装置 |
CN112462368A (zh) * | 2020-11-25 | 2021-03-09 | 中国第一汽车股份有限公司 | 一种障碍物检测方法、装置、车辆及存储介质 |
CN114494075A (zh) * | 2022-02-14 | 2022-05-13 | 北京路凯智行科技有限公司 | 基于三维点云的障碍物识别方法、电子设备和存储介质 |
CN114475660A (zh) * | 2022-02-28 | 2022-05-13 | 苏州挚途科技有限公司 | 自动驾驶车辆防碰撞的方法、装置及电子设备 |
-
2022
- 2022-06-22 CN CN202210710731.XA patent/CN115100628A/zh active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120081542A1 (en) * | 2010-10-01 | 2012-04-05 | Andong University Industry-Academic Cooperation Foundation | Obstacle detecting system and method |
US20170369051A1 (en) * | 2016-06-28 | 2017-12-28 | Toyota Motor Engineering & Manufacturing North America, Inc. | Occluded obstacle classification for vehicles |
CN109817021A (zh) * | 2019-01-15 | 2019-05-28 | 北京百度网讯科技有限公司 | 一种激光雷达路侧盲区交通参与者避让方法和装置 |
CN111291697A (zh) * | 2020-02-19 | 2020-06-16 | 北京百度网讯科技有限公司 | 用于识别障碍物的方法和装置 |
CN112462368A (zh) * | 2020-11-25 | 2021-03-09 | 中国第一汽车股份有限公司 | 一种障碍物检测方法、装置、车辆及存储介质 |
CN114494075A (zh) * | 2022-02-14 | 2022-05-13 | 北京路凯智行科技有限公司 | 基于三维点云的障碍物识别方法、电子设备和存储介质 |
CN114475660A (zh) * | 2022-02-28 | 2022-05-13 | 苏州挚途科技有限公司 | 自动驾驶车辆防碰撞的方法、装置及电子设备 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024124546A1 (zh) * | 2022-12-16 | 2024-06-20 | 华为技术有限公司 | 一种自动泊车的方法、装置以及车辆 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN113119963B (zh) | 智能超声***、车辆后方碰撞警告装置及其控制方法 | |
CN112069643B (zh) | 一种自动驾驶仿真场景生成方法及装置 | |
US20220048536A1 (en) | Method and device for testing a driver assistance system | |
JP2019149150A (ja) | 点群データを処理するための方法及び装置 | |
CN108133484B (zh) | 基于场景分割的自动驾驶处理方法及装置、计算设备 | |
CN109871787B (zh) | 一种障碍物检测方法及装置 | |
JP2021165080A (ja) | 車両制御装置、車両制御方法及び車両制御用コンピュータプログラム | |
CN114596712B (zh) | 一种车辆跟驰控制方法和*** | |
KR102493930B1 (ko) | 강화학습 기반 신호 제어 장치 및 신호 제어 방법 | |
JP2017538915A (ja) | 測位・マッピング方法及び測位・マッピングシステム | |
US11423661B2 (en) | Object recognition apparatus | |
CN115100628A (zh) | 一种自动驾驶车辆的障碍物识别方法及装置 | |
CN114675295A (zh) | 一种障碍物判定的方法、装置、设备及存储介质 | |
CN114202936A (zh) | 一种交通指挥机器人及其控制方法 | |
CN113008249A (zh) | 移动机器人的避让点检测方法、避让方法以及移动机器人 | |
CN115792945B (zh) | 一种浮空障碍物检测方法、装置和电子设备、存储介质 | |
US20230258813A1 (en) | LiDAR Free Space Data Generator and LiDAR Signal Processing Method Using Multi-Modal Noise Filtering Scheme | |
CN112489466B (zh) | 交通信号灯识别方法和装置 | |
CN113917453A (zh) | 一种基于雷达和视频的多传感器融合方法 | |
CN113837222A (zh) | 一种用于毫米波雷达路口车流量监测***的云边协同的机器学习部署应用方法及装置 | |
CN112163471A (zh) | 一种拥堵检测的方法和装置 | |
CN116381698B (zh) | 道路遗撒物的检测方法、装置及电子设备 | |
CN116541715B (zh) | 目标检测方法、模型的训练方法、目标检测***及装置 | |
CN116229420A (zh) | 一种道路物体识别方法及装置 | |
US20240203107A1 (en) | Obstacle identification method, vehicle-mounted device and storage medium |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB02 | Change of applicant information | ||
CB02 | Change of applicant information |
Address after: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant after: United New Energy Automobile Co.,Ltd. Address before: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant before: Hozon New Energy Automobile Co., Ltd. |
|
TA01 | Transfer of patent application right |
Effective date of registration: 20240710 Address after: Room 209, 2nd Floor, Building 2, No. 602 Tongpu Road, Putuo District, Shanghai, 200062 Applicant after: Nezha Zhihe New Energy Vehicle Technology (Shanghai) Co.,Ltd. Country or region after: China Address before: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant before: United New Energy Automobile Co.,Ltd. Country or region before: China |