The invention discloses an obstacle recognition method and device, equipment and a storage medium, and relates to the technical field of automatic driving. A specific embodiment of the method comprises the following steps: acquiring driving information of a vehicle and road condition information of a target road; determining a first obstacle area under the first road coordinate system according to the driving information and the road condition information of the target road; an original obstacle area of the vehicle in the second road coordinate system is obtained, the original obstacle area is converted into a second obstacle area in the first road coordinate system, the area, facing the inner side of the target road, of the second obstacle area is smaller than the area, facing the outer side of the target road, of the second obstacle area, and the first obstacle area is located on the inner side of the target road; and determining at least one traffic participant falling into the first obstacle area and/or the second obstacle area as an obstacle of the vehicle on the target road.
本申请公开了一种障碍物识别的方法、装置、设备及存储介质,涉及自动驾驶技术领域。该方法的一具体实施方式包括:获取自车的行驶信息,以及目标道路的路况信息;根据行驶信息和目标道路的路况信息,确定第一道路坐标系下的第一障碍区域;获取自车在第二道路坐标系下的原始障碍区域,并将原始障碍区域转化为在第一道路坐标系下的第二障碍区域,其中,第二障碍区域朝向目标道路的内侧的面积小于朝向目标道路的外侧的面积,第一障碍区域位于目标道路的内侧;将落入第一障碍区域和/或第二障碍区域中的至少一个交通参与者,确定为自车在目标道路上的障碍物。
Obstacle identification method and device, equipment and storage medium
障碍物识别的方法、装置、设备及存储介质
2024-06-11
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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