The invention discloses an obstacle detection method, a path planning method, a vehicle and a storage medium, and the method comprises the steps: if the absolute value of the difference value between the first height, measured by a first type sensor, of a static obstacle and the reference height, measured by the first type sensor, of the vehicle exceeds a preset obstacle height range; acquiring a second height and a third height of the static obstacle measured by the second type sensor and the third type sensor; performing weighted summation on the first height and the second height to obtain a height detection result of the static obstacle; determining a target height detection result of the static obstacle based on the difference between the height detection result and the third height; if the absolute value of the difference value between the target height detection result and the reference height exceeds the preset obstacle height range, obtaining lane line information, the transverse and longitudinal distance between the static obstacle and the vehicle and attribute detection results of other attributes of the static obstacle so as to adjust the current planning track. According to the invention, the problem of low detection accuracy of the static obstacle on the road surface on which the vehicle runs can be solved.

    本发明公开了一种障碍物检测方法、路径规划方法、车辆及存储介质,包括:若第一类型传感器测得的静态障碍物的第一高度与其测得的车辆的基准高度的差值绝对值超出预设障碍高度范围,获取第二类型传感器和第三类型传感器测得的静态障碍物的第二高度和第三高度;对第一高度和第二高度进行加权求和,得到静态障碍物的高度检测结果;基于高度检测结果与第三高度的差异,确定静态障碍物的目标高度检测结果;若目标高度检测结果与基准高度的差值绝对值超出预设障碍高度范围,获取车道线信息、静态障碍物与车辆的横纵向距离及静态障碍物其他属性的属性检测结果,以调整当前规划轨迹。本发明能够解决对车辆行驶路面上的静态障碍物的检测准确性较低的问题。


    Access

    Download


    Export, share and cite



    Title :

    Obstacle detection method, path planning method, vehicle and storage medium


    Additional title:

    障碍物检测方法、路径规划方法、车辆及存储介质


    Contributors:
    LI YUHAN (author)

    Publication date :

    2023-10-24


    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



    Obstacle avoidance planning path generation method and device, vehicle and storage medium

    ZHANG FANG / DONG ZHIHUA / XU JIANJIANG | European Patent Office | 2024

    Free access

    Obstacle detection method and vehicle path planning method and device

    LUO HENGRONG / JIANG BO / WANG MIAOMIAO | European Patent Office | 2022

    Free access

    OBSTACLE DETECTION METHOD, OBSTACLE DETECTION DEVICE, ELECTRONIC APPARATUS, VEHICLE AND STORAGE MEDIUM

    CHEN DONGMING / SUN XUN / WANG LIANG | European Patent Office | 2020

    Free access

    Vehicle obstacle avoidance route planning method, vehicle obstacle avoidance method, computer readable storage medium and AGV

    FU FENGFENG / JIANG ZHIQIANG / LIN LINQI | European Patent Office | 2021

    Free access

    Obstacle detection method, vehicle control method, vehicle and storage medium

    CAO FUZHUANG | European Patent Office | 2022

    Free access