The invention provides an obstacle detection method and a vehicle path planning method and device.The obstacle detection method comprises the steps that the historical state value of an obstacle within a certain time in a target area where a target vehicle is located is obtained, and the historical state value of the obstacle comprises position information and speed information of the obstacle; judging whether the obstacle is a static obstacle based on the historical state value of the obstacle; updating the current state value of the obstacle based on the judgment result and the historical state value of the obstacle; and based on the current state value of the obstacle, detecting the obstacle to obtain an obstacle detection result. The obstacle is analyzed and judged, misjudgment caused by slight shaking of the obstacle is avoided, the frequency of subsequent invalid vehicle path planning is greatly shortened while the static obstacle sensing effect is improved, and the production efficiency is further improved.

    本发明提供了一种障碍物检测方法及车辆路径规划方法、装置,其中,障碍物检测方法包括:获取目标车辆所在目标区域中一定时间内障碍物的历史状态值,障碍物的历史状态值包括障碍物的位置信息、速度信息;基于障碍物的历史状态值,判断障碍物是否为静态障碍物;基于判断结果和障碍物的历史状态值,更新障碍物的当前状态值;基于障碍物的当前状态值,对所述障碍物进行检测,得到障碍物检测结果。通过对障碍物进行分析判断,避免由于障碍物的轻微抖动造成误判,在改善静态障碍物感知效果的同时,大幅缩短后续无效车辆路径规划的次数,进一步提高生产效率。


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    Title :

    Obstacle detection method and vehicle path planning method and device


    Additional title:

    一种障碍物检测方法及车辆路径规划方法、装置


    Contributors:
    LUO HENGRONG (author) / JIANG BO (author) / WANG MIAOMIAO (author)

    Publication date :

    2022-12-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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