The embodiment of the invention provides an obstacle fusion method and device, a vehicle and a computer readable storage medium, and relates to the technical field of intelligent driving. According to the method and the device, all-round obstacles, driving sensing obstacles and ultrasonic obstacles can be obtained, the all-round obstacles are detected based on all-round cameras, the driving sensing obstacles are obtained based on data fusion of multiple sensing sensors, and the multiple sensing sensors comprise front-view cameras, side-view cameras, millimeter wave radars and laser radars. The ultrasonic obstacle is obtained based on ultrasonic radar detection; correcting the size and position of the driving sensing obstacle according to the looking-around obstacle; and correcting the azimuth angle of the driving sensing obstacle according to the ultrasonic obstacle. The detection result of the obstacles around the vehicle can be optimized, the technical problem that a blind area exists when a driving sensor detects the close-range obstacles is solved, the intention of the obstacles around the vehicle is accurately predicted, and driving safety and smoothness are improved.
本申请实施例提供一种障碍物融合方法、装置、车辆及计算机可读取存储介质,涉及智能驾驶技术领域。本申请可以获取环视障碍物、行车感知障碍物以及超声障碍物,其中,环视障碍物基于环视摄像头检测得到,行车感知障碍物基于多个感知传感器数据融合得到,多个感知传感器包括前视摄像头、侧视摄像头、毫米波雷达和激光雷达,超声障碍物基于超声波雷达检测得到;根据环视障碍物修正行车感知障碍物的尺寸和位置;根据超声障碍物修正行车感知障碍物的方位角。本申请能够优化自车周围的障碍物的检测结果,解决行车传感器探测近距离障碍物存在盲区的技术问题,准确预测自车周围的障碍物的意图,提高行车安全性和流畅性。
Obstacle fusion method and device, vehicle and computer readable storage medium
障碍物融合方法、装置、车辆及计算机可读取存储介质
27.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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